ardupilot/ArduPlane/mode_qloiter.cpp

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#include "mode.h"
#include "Plane.h"
bool ModeQLoiter::_enter()
{
return plane.mode_qstabilize._enter();
}
void ModeQLoiter::init()
{
// initialise loiter
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
quadplane.init_throttle_wait();
// remember initial pitch
quadplane.loiter_initial_pitch_cd = MAX(plane.ahrs.pitch_sensor, 0);
// prevent re-init of target position
quadplane.last_loiter_ms = AP_HAL::millis();
}
void ModeQLoiter::update()
{
plane.mode_qstabilize.update();
}
// run quadplane loiter controller
void ModeQLoiter::run()
{
if (quadplane.throttle_wait) {
quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0, true, 0);
quadplane.relax_attitude_control();
pos_control->relax_z_controller(0);
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
return;
}
if (!quadplane.motors->armed()) {
plane.mode_qloiter.init();
}
quadplane.check_attitude_relax();
if (quadplane.should_relax()) {
loiter_nav->soften_for_landing();
}
const uint32_t now = AP_HAL::millis();
if (now - quadplane.last_loiter_ms > 500) {
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
}
quadplane.last_loiter_ms = now;
// motors use full range
quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
// process pilot's roll and pitch input
float target_roll_cd, target_pitch_cd;
quadplane.get_pilot_desired_lean_angles(target_roll_cd, target_pitch_cd, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
loiter_nav->set_pilot_desired_acceleration(target_roll_cd, target_pitch_cd);
// run loiter controller
if (!pos_control->is_active_xy()) {
pos_control->init_xy_controller();
}
loiter_nav->update();
// nav roll and pitch are controller by loiter controller
plane.nav_roll_cd = loiter_nav->get_roll();
plane.nav_pitch_cd = loiter_nav->get_pitch();
if (now - quadplane.last_pidz_init_ms < (uint32_t)quadplane.transition_time_ms*2 && !quadplane.tailsitter.enabled()) {
// we limit pitch during initial transition
float pitch_limit_cd = linear_interpolate(quadplane.loiter_initial_pitch_cd, quadplane.aparm.angle_max,
now,
quadplane.last_pidz_init_ms, quadplane.last_pidz_init_ms+quadplane.transition_time_ms*2);
if (plane.nav_pitch_cd > pitch_limit_cd) {
plane.nav_pitch_cd = pitch_limit_cd;
pos_control->set_externally_limited_xy();
}
}
// call attitude controller with conservative smoothing gain of 4.0f
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
quadplane.get_desired_yaw_rate_cds());
if (plane.control_mode == &plane.mode_qland) {
if (poscontrol.get_state() < QuadPlane::QPOS_LAND_FINAL && quadplane.check_land_final()) {
poscontrol.set_state(QuadPlane::QPOS_LAND_FINAL);
quadplane.setup_target_position();
// cut IC engine if enabled
if (quadplane.land_icengine_cut != 0) {
plane.g2.ice_control.engine_control(0, 0, 0);
}
}
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
float descent_rate_cms = quadplane.landing_descent_rate_cms(height_above_ground);
if (poscontrol.get_state() == QuadPlane::QPOS_LAND_FINAL && (quadplane.options & QuadPlane::OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
quadplane.ahrs.set_touchdown_expected(true);
}
quadplane.set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
quadplane.check_land_complete();
} else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) {
quadplane.set_climb_rate_cms(0, false);
} else {
// update altitude target and call position controller
quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms(), false);
}
quadplane.run_z_controller();
}