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Copter: integrate AttControl's set_yaw_target_to_current_heading

This commit is contained in:
Randy Mackay 2014-06-06 14:45:49 +09:00
parent 2bb30b3ef9
commit 08801eebf2
14 changed files with 28 additions and 0 deletions
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1
ArduCopter/control_acro.pde
View File

@ -21,6 +21,7 @@ static void acro_run()
// if motors not running reset angle targets
if(!motors.armed() || g.rc_3.control_in <= 0) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}

2
ArduCopter/control_althold.pde
View File

@ -29,6 +29,7 @@ static void althold_run()
if(!ap.auto_armed) {
// To-Do: reset altitude target if we're somehow not landed?
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
@ -57,6 +58,7 @@ static void althold_run()
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
}else{

4
ArduCopter/control_auto.pde
View File

@ -98,6 +98,7 @@ static void auto_takeoff_run()
if(!ap.auto_armed) {
// reset attitude control targets
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// tell motors to do a slow start
motors.slow_start(true);
@ -146,6 +147,7 @@ static void auto_wp_run()
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// tell motors to do a slow start
motors.slow_start(true);
@ -203,6 +205,7 @@ static void auto_spline_run()
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// tell motors to do a slow start
motors.slow_start(true);
@ -268,6 +271,7 @@ static void auto_land_run()
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// set target to current position
wp_nav.init_loiter_target();

2
ArduCopter/control_autotune.pde
View File

@ -214,6 +214,7 @@ static void autotune_run()
// this should not actually be possible because of the autotune_init() checks
if(!ap.auto_armed) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
@ -241,6 +242,7 @@ static void autotune_run()
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
}else{

1
ArduCopter/control_circle.pde
View File

@ -36,6 +36,7 @@ static void circle_run()
if(!ap.auto_armed || ap.land_complete) {
// To-Do: add some initialisation of position controllers
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}

1
ArduCopter/control_drift.pde
View File

@ -45,6 +45,7 @@ static void drift_run()
// if not armed or landed and throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || (ap.land_complete && g.rc_3.control_in <= 0)) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}

1
ArduCopter/control_guided.pde
View File

@ -54,6 +54,7 @@ static void guided_run()
if(!ap.auto_armed) {
// To-Do: reset waypoint controller?
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
return;

2
ArduCopter/control_hybrid.pde
View File

@ -158,6 +158,7 @@ static void hybrid_run()
if(!ap.auto_armed || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
@ -186,6 +187,7 @@ static void hybrid_run()
if (ap.land_complete) {
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}else{

2
ArduCopter/control_land.pde
View File

@ -48,6 +48,7 @@ static void land_gps_run()
// if not auto armed or landed set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
wp_nav.init_loiter_target();
@ -103,6 +104,7 @@ static void land_nogps_run()
// if not auto armed or landed set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum

2
ArduCopter/control_loiter.pde
View File

@ -36,6 +36,7 @@ static void loiter_run()
if(!ap.auto_armed || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
@ -70,6 +71,7 @@ static void loiter_run()
if (ap.land_complete) {
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
}else{
// run loiter controller

2
ArduCopter/control_ofloiter.pde
View File

@ -37,6 +37,7 @@ static void ofloiter_run()
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
reset_optflow_I();
return;
@ -68,6 +69,7 @@ static void ofloiter_run()
// when landed reset targets and output zero throttle
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
reset_optflow_I();
}else{

4
ArduCopter/control_rtl.pde
View File

@ -128,6 +128,7 @@ static void rtl_climb_return_run()
if(!ap.auto_armed) {
// reset attitude control targets
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// To-Do: re-initialise wpnav targets
return;
@ -185,6 +186,7 @@ static void rtl_loiterathome_run()
if(!ap.auto_armed) {
// reset attitude control targets
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// To-Do: re-initialise wpnav targets
return;
@ -252,6 +254,7 @@ static void rtl_descent_run()
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// set target to current position
wp_nav.init_loiter_target();
@ -311,6 +314,7 @@ static void rtl_land_run()
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// set target to current position
wp_nav.init_loiter_target();

2
ArduCopter/control_sport.pde
View File

@ -27,6 +27,7 @@ static void sport_run()
// if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || g.rc_3.control_in <= 0) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
@ -76,6 +77,7 @@ static void sport_run()
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
}else{

2
ArduCopter/control_stabilize.pde
View File

@ -26,6 +26,7 @@ static void stabilize_run()
// if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || g.rc_3.control_in <= 0) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
@ -46,6 +47,7 @@ static void stabilize_run()
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
}else{
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());