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Plane: clean up qacro

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This commit is contained in:
Mark Whitehorn 2019-05-03 17:37:10 -06:00 committed by Andrew Tridgell
parent 791b6effdd
commit 4a7ce1b384
4 changed files with 21 additions and 12 deletions
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18
ArduPlane/mode_qacro.cpp
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@ -3,12 +3,24 @@
bool ModeQAcro::_enter()
{
//return false;
return plane.mode_qstabilize._enter();
plane.throttle_allows_nudging = false;
plane.auto_navigation_mode = false;
if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
plane.control_mode = plane.previous_mode;
} else {
plane.auto_throttle_mode = false;
plane.auto_state.vtol_mode = true;
}
return true;
}
void ModeQAcro::update()
{
plane.mode_qstabilize.update();
// get nav_roll and nav_pitch from multicopter attitude controller
Vector3f att_target = plane.quadplane.attitude_control->get_att_target_euler_cd();
plane.nav_pitch_cd = att_target.y;
plane.nav_roll_cd = att_target.x;
return;
}

7
ArduPlane/mode_qstabilize.cpp
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@ -17,13 +17,6 @@ bool ModeQStabilize::_enter()
void ModeQStabilize::update()
{
if (plane.quadplane.tailsitter_active() && (plane.control_mode == &plane.mode_qacro)) {
// get nav_roll and nav_pitch from multicopter attitude controller
Vector3f att_target = plane.quadplane.attitude_control->get_att_target_euler_cd();
plane.nav_pitch_cd = att_target.y;
plane.nav_roll_cd = att_target.x;
return;
}
// set nav_roll and nav_pitch using sticks
int16_t roll_limit = MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
float pitch_input = plane.channel_pitch->norm_input();

7
ArduPlane/quadplane.cpp
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@ -1869,9 +1869,12 @@ void QuadPlane::control_run(void)
switch (plane.control_mode->mode_number()) {
case Mode::Number::QACRO:
control_qacro();
// QACRO uses only the multicopter controller
// so skip the Plane attitude control calls below
if (!is_tailsitter()) {
// also stabilize using fixed wing surfaces
plane.stabilize_acro(plane.get_speed_scaler());
}
return;
break;
case Mode::Number::QSTABILIZE:
control_stabilize();
break;

1
ArduPlane/quadplane.h
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@ -35,6 +35,7 @@ public:
friend class ModeQRTL;
friend class ModeQStabilize;
friend class ModeQAutotune;
friend class ModeQAcro;
QuadPlane(AP_AHRS_NavEKF &_ahrs);