TradHeli: heli_control_stabilize

ArduCopter/heli_control_stabilize.pde

@@ -0,0 +1,55 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+#if FRAME_CONFIG == HELI_FRAME
+/*
+ * heli_control_stabilize.pde - init and run calls for stabilize flight mode for trad heli
+ */
+
+// stabilize_init - initialise stabilize controller
+static bool heli_stabilize_init(bool ignore_checks)
+{
+    // set target altitude to zero for reporting
+    // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
+    pos_control.set_alt_target(0);
+    return true;
+}
+
+// stabilize_run - runs the main stabilize controller
+// should be called at 100hz or more
+static void heli_stabilize_run()
+{
+    int16_t target_roll, target_pitch;
+    float target_yaw_rate;
+    int16_t pilot_throttle_scaled;
+
+    // To-Do: should tradheli reset roll, pitch, yaw targets when motors are not runup?
+
+    // apply SIMPLE mode transform to pilot inputs
+    update_simple_mode();
+
+    // convert pilot input to 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's desired throttle
+    pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
+
+    // call attitude controller
+    attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+
+    // output pilot's throttle - note that TradHeli does not used angle-boost
+    attitude_control.set_throttle_out(pilot_throttle_scaled, false);
+
+    // re-fetch 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;
+
+    // update estimate of throttle cruise
+    update_throttle_cruise(motors.get_collective_out());
+}
+
+#endif  //HELI_FRAME