mirror of https://github.com/ArduPilot/ardupilot
Copter: Initial creation of control_stop file
This commit is contained in:
parent
c73945686c
commit
8e4268ddd3
|
@ -0,0 +1,66 @@
|
|||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
/*
|
||||
* control_stop.pde - init and run calls for stop flight mode
|
||||
*/
|
||||
|
||||
// stop_init - initialise stop controller
|
||||
static bool stop_init(bool ignore_checks)
|
||||
{
|
||||
if (position_ok() || optflow_position_ok() || ignore_checks) {
|
||||
|
||||
// set desired acceleration to zero
|
||||
wp_nav.clear_pilot_desired_acceleration();
|
||||
|
||||
// set target to current position
|
||||
wp_nav.init_stop_target(STOP_MODE_DECEL_RATE);
|
||||
|
||||
// initialize vertical speed and acceleration
|
||||
pos_control.set_speed_z(0, 0);
|
||||
pos_control.set_accel_z(STOP_MODE_DECEL_RATE);
|
||||
|
||||
// initialise altitude target to stopping point
|
||||
pos_control.set_target_to_stopping_point_z();
|
||||
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// stop_run - runs the stop controller
|
||||
// should be called at 100hz or more
|
||||
static void stop_run()
|
||||
{
|
||||
float target_yaw_rate = 0;
|
||||
float target_climb_rate = 0;
|
||||
|
||||
// if not auto armed set throttle to zero and exit immediately
|
||||
if(!ap.auto_armed) {
|
||||
wp_nav.init_stop_target(STOP_MODE_DECEL_RATE);
|
||||
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
|
||||
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
|
||||
return;
|
||||
}
|
||||
|
||||
if (ap.land_complete) {
|
||||
// ToDo: What do we do if we are landed? Disarm?)
|
||||
}
|
||||
|
||||
// relax stop target if we might be landed
|
||||
if (land_complete_maybe()) {
|
||||
// ToDo: What do we do here?
|
||||
}
|
||||
|
||||
// run stop controller
|
||||
wp_nav.update_stop(ekfGndSpdLimit, ekfNavVelGainScaler);
|
||||
|
||||
// call attitude controller
|
||||
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
|
||||
|
||||
// body-frame rate controller is run directly from 100hz loop
|
||||
|
||||
// update altitude target and call position controller
|
||||
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
|
||||
pos_control.update_z_controller();
|
||||
}
|
Loading…
Reference in New Issue