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Sub: Implement circle mode

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This commit is contained in:
Jacob Walser 2017-03-04 19:46:00 -05:00 committed by Randy Mackay
parent b98573d55f
commit 15a7f7742f
1 changed files with 36 additions and 38 deletions
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74
ArduSub/control_circle.cpp
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@ -7,25 +7,23 @@
// circle_init - initialise circle controller flight mode
bool Sub::circle_init(bool ignore_checks)
{
return false; // Not implemented
if (position_ok() || ignore_checks) {
circle_pilot_yaw_override = false;
// if (position_ok() || ignore_checks) {
// circle_pilot_yaw_override = false;
//
// // initialize speeds and accelerations
// pos_control.set_speed_xy(wp_nav.get_speed_xy());
// pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
// pos_control.set_jerk_xy_to_default();
// 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 circle controller including setting the circle center based on vehicle speed
// circle_nav.init();
//
// return true;
// }else{
// return false;
// }
// initialize speeds and accelerations
pos_control.set_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_jerk_xy_to_default();
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 circle controller including setting the circle center based on vehicle speed
circle_nav.init();
return true;
}else{
return false;
}
}
// circle_run - runs the circle flight mode
@ -35,7 +33,7 @@ void Sub::circle_run()
float target_yaw_rate = 0;
float target_climb_rate = 0;
// initialize speeds and accelerations
// update parameters, to allow changing at runtime
pos_control.set_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
@ -53,36 +51,36 @@ void Sub::circle_run()
}
// process pilot inputs
if (!failsafe.manual_control) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
circle_pilot_yaw_override = true;
}
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
// // check for pilot requested take-off
// if (ap.land_complete && target_climb_rate > 0) {
// // indicate we are taking off
// set_land_complete(false);
// // clear i term when we're taking off
// set_throttle_takeoff();
// }
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
circle_pilot_yaw_override = true;
}
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run circle controller
circle_nav.update();
///////////////////////
// update xy outputs //
float lateral_out, forward_out;
translate_circle_nav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
// call attitude controller
if (circle_pilot_yaw_override) {
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate, get_smoothing_gain());
} else {
attitude_control.input_euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true, get_smoothing_gain());
}
// adjust climb rate using rangefinder