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Copter: removed althold, drift, sport from control_stabilize

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Randy Mackay 2014-01-28 17:32:08 +09:00 committed by Andrew Tridgell
parent d85c57999d
commit 245bcd7c2c
1 changed files with 1 additions and 103 deletions
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104
ArduCopter/control_stabilize.pde
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@ -1,7 +1,7 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_stabilize.pde - init and run calls for stabilize, althold, drift and sport flight modes
* control_stabilize.pde - init and run calls for stabilize flight mode
*/
// stabilize_init - initialise stabilize controller
@ -75,105 +75,3 @@ static void stabilize_run()
}
}
}
// althold_init - initialise althold controller
static bool althold_init(bool ignore_checks)
{
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
static void althold_run()
{
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t target_climb_rate;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
// To-Do: reset altitude target if we're somehow not landed?
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
}
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.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();
}
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.init_targets();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
}else{
// call attitude controller
attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, G_Dt);
}
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// drift_init - initialise drift controller
static bool drift_init(bool ignore_checks)
{
return true;
}
// drift_run - runs the drift controller
// should be called at 100hz or more
static void drift_run()
{
// if we have landed reset yaw target to current heading
//if (ap.land_complete) {
// control_yaw = ahrs.yaw_sensor;
//}
//get_yaw_drift();
}
// sport_init - initialise sport controller
static bool sport_init(bool ignore_checks)
{
return true;
}
// sport_run - runs the sport controller
// should be called at 100hz or more
static void sport_run()
{
}