ardupilot/ArduCopter/mode_althold.cpp

Ignoring revisions in .git-blame-ignore-revs. Click here to bypass and see the normal blame view.

103 lines
3.6 KiB
C++
Raw Normal View History

#include "Copter.h"
/*
* Init and run calls for althold, flight mode
*/
// althold_init - initialise althold controller
bool ModeAltHold::init(bool ignore_checks)
{
2021-05-19 11:07:38 -03:00
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
2021-05-11 01:42:02 -03:00
pos_control->init_z_controller();
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
pos_control->set_correction_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
void ModeAltHold::run()
{
2021-05-19 11:07:38 -03:00
// set vertical speed and acceleration limits
2021-05-11 01:42:02 -03:00
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
2015-06-09 21:06:33 -03:00
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate
ArduCopter: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
2016-05-08 05:46:59 -03:00
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
2015-06-09 21:06:33 -03:00
// Alt Hold State Machine Determination
AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate);
2015-06-09 21:06:33 -03:00
// Alt Hold State Machine
switch (althold_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(false);
2021-05-19 11:07:38 -03:00
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly();
2021-05-19 11:07:38 -03:00
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break;
2015-06-09 21:06:33 -03:00
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
2021-05-19 11:07:38 -03:00
// set position controller targets adjusted for pilot input
2021-05-13 02:40:05 -03:00
takeoff.do_pilot_takeoff(target_climb_rate);
2015-06-09 21:06:33 -03:00
break;
case AltHold_Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if AC_AVOID_ENABLED == ENABLED
// apply avoidance
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
#endif
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// update the vertical offset based on the surface measurement
copter.surface_tracking.update_surface_offset();
// Send the commanded climb rate to the position controller
pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
2015-06-09 21:06:33 -03:00
break;
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
2021-05-19 11:07:38 -03:00
// run the vertical position controller and set output throttle
pos_control->update_z_controller();
}