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Copter: add in additional acro options

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Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
This commit is contained in:
Andy Piper 2020-06-16 21:01:19 +01:00 committed by Randy Mackay
parent b697a44aed
commit 12c9578a66
8 changed files with 86 additions and 15 deletions
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9
ArduCopter/Parameters.cpp
View File

@ -969,6 +969,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPPTR(mode_zigzag_ptr, "ZIGZ_", 38, ParametersG2, ModeZigZag),
#endif
#if MODE_ACRO_ENABLED == ENABLED
// @Param: ACRO_OPTIONS
// @DisplayName: Acro mode options
// @Description: A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.
// @Bitmask: 0:Air-mode,1:Rate Loop Only
// @User: Advanced
AP_GROUPINFO("ACRO_OPTIONS", 39, ParametersG2, acro_options, 0),
#endif
AP_GROUPEND
};

4
ArduCopter/Parameters.h
View File

@ -616,6 +616,10 @@ public:
void *mode_zigzag_ptr;
#endif
#if MODE_ACRO_ENABLED == ENABLED
AP_Int8 acro_options;
#endif
};
extern const AP_Param::Info var_info[];

35
ArduCopter/RC_Channel.cpp
View File

@ -112,9 +112,11 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
case AUX_FUNC::SUPERSIMPLE_MODE:
case AUX_FUNC::SURFACE_TRACKING:
case AUX_FUNC::WINCH_ENABLE:
case AUX_FUNC::AIRMODE:
do_aux_function(ch_option, ch_flag);
break;
case AUX_FUNC::AIRMODE:
do_aux_function_change_air_mode(ch_flag);
break;
default:
RC_Channel::init_aux_function(ch_option, ch_flag);
break;
@ -596,17 +598,11 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
break;
case AUX_FUNC::AIRMODE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.air_mode = AirMode::AIRMODE_ENABLED;
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
copter.air_mode = AirMode::AIRMODE_DISABLED;
break;
}
break;
do_aux_function_change_air_mode(ch_flag);
#if MODE_ACRO_ENABLED == ENABLED && FRAME_CONFIG != HELI_FRAME
copter.mode_acro.air_mode_aux_changed();
#endif
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);
@ -614,6 +610,21 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
}
}
// change air-mode status
void RC_Channel_Copter::do_aux_function_change_air_mode(const AuxSwitchPos ch_flag)
{
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.air_mode = AirMode::AIRMODE_ENABLED;
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
copter.air_mode = AirMode::AIRMODE_DISABLED;
break;
}
}
// save_trim - adds roll and pitch trims from the radio to ahrs
void Copter::save_trim()
{

1
ArduCopter/RC_Channel.h
View File

@ -19,6 +19,7 @@ private:
void do_aux_function_armdisarm(const AuxSwitchPos ch_flag) override;
void do_aux_function_change_mode(const Mode::Number mode,
const AuxSwitchPos ch_flag);
void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);
// called when the mode switch changes position:
void mode_switch_changed(modeswitch_pos_t new_pos) override;

6
ArduCopter/mode.cpp
View File

@ -362,6 +362,12 @@ void Copter::exit_mode(Mode *&old_flightmode,
}
#endif
#if MODE_ACRO_ENABLED == ENABLED
if (old_flightmode == &mode_acro) {
mode_acro.exit();
}
#endif
#if FRAME_CONFIG == HELI_FRAME
// firmly reset the flybar passthrough to false when exiting acro mode.
if (old_flightmode == &mode_acro) {

11
ArduCopter/mode.h
View File

@ -265,12 +265,21 @@ public:
LIMITED = 2,
};
enum class AcroOptions {
AIR_MODE = 1 << 0,
RATE_LOOP_ONLY = 1 << 1,
};
virtual void run() override;
bool requires_GPS() const override { return false; }
bool has_manual_throttle() const override { return true; }
bool allows_arming(bool from_gcs) const override { return true; };
bool is_autopilot() const override { return false; }
bool init(bool ignore_checks) override;
void exit();
// whether an air-mode aux switch has been toggled
void air_mode_aux_changed();
protected:
@ -282,7 +291,7 @@ protected:
float throttle_hover() const override;
private:
bool disable_air_mode_reset;
};
#endif

29
ArduCopter/mode_acro.cpp
View File

@ -51,7 +51,11 @@ void ModeAcro::run()
}
// run attitude controller
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
if (g2.acro_options.get() & uint8_t(AcroOptions::RATE_LOOP_ONLY)) {
attitude_control->input_rate_bf_roll_pitch_yaw_2(target_roll, target_pitch, target_yaw);
} else {
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}
// output pilot's throttle without angle boost
attitude_control->set_throttle_out(get_pilot_desired_throttle(),
@ -59,6 +63,29 @@ void ModeAcro::run()
copter.g.throttle_filt);
}
bool ModeAcro::init(bool ignore_checks)
{
if (g2.acro_options.get() & uint8_t(AcroOptions::AIR_MODE)) {
disable_air_mode_reset = false;
copter.air_mode = AirMode::AIRMODE_ENABLED;
}
return true;
}
void ModeAcro::exit()
{
if (!disable_air_mode_reset && (g2.acro_options.get() & uint8_t(AcroOptions::AIR_MODE))) {
copter.air_mode = AirMode::AIRMODE_DISABLED;
}
disable_air_mode_reset = false;
}
void ModeAcro::air_mode_aux_changed()
{
disable_air_mode_reset = true;
}
float ModeAcro::throttle_hover() const
{
if (g2.acro_thr_mid > 0) {

6
ArduCopter/mode_acro_heli.cpp
View File

@ -88,7 +88,11 @@ void ModeAcro_Heli::run()
}
// run attitude controller
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
if (g2.acro_options.get() & uint8_t(AcroOptions::RATE_LOOP_ONLY)) {
attitude_control->input_rate_bf_roll_pitch_yaw_2(target_roll, target_pitch, target_yaw);
} else {
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}
}else{
/*
for fly-bar passthrough use control_in values with no