ardupilot/ArduCopter/control_althold.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
/*
* control_althold.pde - init and run calls for althold, flight mode
*/
// althold_init - initialise althold controller
bool Copter::althold_init(bool ignore_checks)
{
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter Alt Hold if the Rotor Runup is not complete
if (!ignore_checks && !motors.rotor_runup_complete()){
return false;
}
#endif
// initialize vertical speeds and leash lengths
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
// stop takeoff if running
takeoff_stop();
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
void Copter::althold_run()
{
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AltHoldModeState althold_state;
float takeoff_climb_rate = 0.0f;
// initialize vertical speeds and acceleration
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
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float target_roll, target_pitch;
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
#if FRAME_CONFIG == HELI_FRAME
// helicopters are held on the ground until rotor speed runup has finished
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.rotor_runup_complete());
#else
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.spool_up_complete());
#endif
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// Alt Hold State Machine Determination
if (!motors.armed() || !motors.get_interlock()) {
althold_state = AltHold_MotorStop;
} else if (!ap.auto_armed){
althold_state = AltHold_Disarmed;
} else if (takeoff_state.running || takeoff_triggered){
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althold_state = AltHold_Takeoff;
} else if (ap.land_complete){
althold_state = AltHold_Landed;
} else {
althold_state = AltHold_Flying;
}
// Alt Hold State Machine
switch (althold_state) {
case AltHold_Disarmed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
attitude_control.set_yaw_target_to_current_heading();
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// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// Multicopter do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case AltHold_MotorStop:
#if FRAME_CONFIG == HELI_FRAME
// helicopters are capable of flying even with the motor stopped, therefore we will attempt to keep flying
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// force descent rate and call position controller
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller();
#else // Multicopter do not stabilize roll/pitch/yaw when motor are stopped
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
#endif // HELI_FRAME
break;
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case AltHold_Takeoff:
// initiate take-off
if (!takeoff_state.running) {
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takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
// slow start if landed
if (ap.land_complete) {
motors.slow_start(true);
}
return;
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// call position controller
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
case AltHold_Landed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
attitude_control.set_yaw_target_to_current_heading();
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// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#else // Multicopter stabilize roll/pitch/yaw when landed
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
}else{
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
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#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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break;
case AltHold_Flying:
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// call throttle controller
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
// if sonar is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call position controller
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();
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break;
}
}