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Copter: Guided: use common initialisation

This commit is contained in:
Leonard Hall 2021-07-08 13:41:54 +09:30 committed by Randy Mackay
parent dfbd757f82
commit 80e856af20
2 changed files with 21 additions and 34 deletions
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1
ArduCopter/mode.h
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@ -905,6 +905,7 @@ private:
DoNotStabilizeVelocityXY = (1U << 5),
};
void pva_control_start();
void pos_control_start();
void accel_control_start();
void velaccel_control_start();

54
ArduCopter/mode_guided.cpp
View File

@ -139,12 +139,9 @@ bool ModeGuided::do_user_takeoff_start(float takeoff_alt_cm)
return true;
}
// initialise guided mode's position controller
void ModeGuided::pos_control_start()
// initialise position controller
void ModeGuided::pva_control_start()
{
// set to position control mode
guided_mode = SubMode::WP;
// initialise horizontal speed, acceleration
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
@ -154,6 +151,16 @@ void ModeGuided::pos_control_start()
// initialise velocity controller
pos_control->init_z_controller();
pos_control->init_xy_controller();
}
// initialise guided mode's position controller
void ModeGuided::pos_control_start()
{
// set to position control mode
guided_mode = SubMode::WP;
// initialise position controller
pva_control_start();
// initialise yaw
auto_yaw.set_mode_to_default(false);
@ -165,55 +172,34 @@ void ModeGuided::accel_control_start()
// set guided_mode to velocity controller
guided_mode = SubMode::Accel;
// initialise horizontal speed, acceleration
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
// initialise the position controller
pos_control->init_z_controller();
pos_control->init_xy_controller();
// initialise position controller
pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// initialise guided mode's velocity controller
// initialise guided mode's velocity and acceleration controller
void ModeGuided::velaccel_control_start()
{
// set guided_mode to velocity controller
guided_mode = SubMode::VelAccel;
// initialise horizontal speed, acceleration
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
// initialise the position controller
pos_control->init_z_controller();
pos_control->init_xy_controller();
// initialise position controller
pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// initialise guided mode's posvel controller
// initialise guided mode's position, velocity and acceleration controller
void ModeGuided::posvelaccel_control_start()
{
// set guided_mode to velocity controller
guided_mode = SubMode::PosVelAccel;
// initialise horizontal speed, acceleration
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
// initialise the position controller
pos_control->init_z_controller();
pos_control->init_xy_controller();
// initialise position controller
pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);