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Copter: add loiter controller to onion

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Also add ignore_checks to flight mode initialisation
This commit is contained in:
Randy Mackay 2014-01-11 17:03:48 +09:00 committed by Andrew Tridgell
parent 7e37b16ccb
commit a52e220724
2 changed files with 96 additions and 25 deletions
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97
ArduCopter/control_stabilize.pde
View File

@ -1,7 +1,7 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// acro_init - initialise acro controller
static bool acro_init()
static bool acro_init(bool ignore_checks)
{
return true;
}
@ -39,7 +39,7 @@ static void acro_run()
}
// stabilize_init - initialise stabilize controller
static bool stabilize_init()
static bool 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?
@ -126,7 +126,7 @@ static void stabilize_run()
}
// althold_init - initialise althold controller
static bool althold_init()
static bool althold_init(bool ignore_checks)
{
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
@ -226,7 +226,7 @@ static void althold_run()
}
// auto_init - initialise auto controller
static bool auto_init()
static bool auto_init(bool ignore_checks)
{
return true;
}
@ -265,7 +265,7 @@ static void auto_run()
}
// circle_init - initialise circle controller
static bool circle_init()
static bool circle_init(bool ignore_checks)
{
return true;
}
@ -277,19 +277,90 @@ static void circle_run()
}
// loiter_init - initialise loiter controller
static bool loiter_init()
static bool loiter_init(bool ignore_checks)
{
return true;
if (GPS_ok() || ignore_checks) {
// set target to current position
// To-Do: supply zero velocity below?
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
return true;
}else{
return false;
}
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
static void loiter_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 || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
}
// process pilot inputs
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
// To-Do: do we need to clear out feed forward if this is not called?
wp_nav.move_loiter_target(g.rc_1.control_in, g.rc_2.control_in, G_Dt);
// 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 (target_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
}
// when landed reset targets and output zero throttle
if (ap.land_complete) {
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
}else{
// run loiter controller
wp_nav.update_loiter();
// call attitude controller
attitude_control.angleef_rp_rateef_y(wp_nav.get_desired_roll(), wp_nav.get_desired_pitch(), target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
get_throttle_surface_tracking(target_climb_rate);
}else{
// if no sonar fall back stabilize rate controller
pos_control.climb_at_rate(target_climb_rate);
}
}
// 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;
}
// guided_init - initialise guided controller
static bool guided_init()
static bool guided_init(bool ignore_checks)
{
return true;
}
@ -301,7 +372,7 @@ static void guided_run()
}
// land_init - initialise land controller
static bool land_init()
static bool land_init(bool ignore_checks)
{
return true;
}
@ -314,7 +385,7 @@ static void land_run()
}
// rtl_init - initialise rtl controller
static bool rtl_init()
static bool rtl_init(bool ignore_checks)
{
return true;
}
@ -327,7 +398,7 @@ static void rtl_run()
}
// ofloiter_init - initialise ofloiter controller
static bool ofloiter_init()
static bool ofloiter_init(bool ignore_checks)
{
return true;
}
@ -339,7 +410,7 @@ static void ofloiter_run()
}
// drift_init - initialise drift controller
static bool drift_init()
static bool drift_init(bool ignore_checks)
{
return true;
}
@ -351,7 +422,7 @@ static void drift_run()
}
// sport_init - initialise sport controller
static bool sport_init()
static bool sport_init(bool ignore_checks)
{
return true;
}

24
ArduCopter/system.pde
View File

@ -388,7 +388,7 @@ static bool set_mode(uint8_t mode)
switch(mode) {
case ACRO:
success = acro_init();
success = acro_init(ignore_checks);
set_yaw_mode(ACRO_YAW);
set_roll_pitch_mode(ACRO_RP);
set_throttle_mode(ACRO_THR);
@ -396,19 +396,19 @@ static bool set_mode(uint8_t mode)
break;
case STABILIZE:
success = stabilize_init();
success = stabilize_init(ignore_checks);
set_nav_mode(NAV_NONE);
break;
case ALT_HOLD:
success = althold_init();
success = althold_init(ignore_checks);
set_nav_mode(NAV_NONE);
break;
case AUTO:
// check we have a GPS and at least one mission command (note the home position is always command 0)
if ((GPS_ok() && g.command_total > 1) || ignore_checks) {
success = auto_init();
success = auto_init(ignore_checks);
// roll-pitch, throttle and yaw modes will all be set by the first nav command
init_commands(); // clear the command queues. will be reloaded when "run_autopilot" calls "update_commands" function
}
@ -416,7 +416,7 @@ static bool set_mode(uint8_t mode)
case CIRCLE:
if (GPS_ok() || ignore_checks) {
success = circle_init();
success = circle_init(ignore_checks);
set_roll_pitch_mode(CIRCLE_RP);
set_throttle_mode(CIRCLE_THR);
set_nav_mode(CIRCLE_NAV);
@ -426,7 +426,7 @@ static bool set_mode(uint8_t mode)
case LOITER:
if (GPS_ok() || ignore_checks) {
success = loiter_init();
success = loiter_init(ignore_checks);
set_yaw_mode(LOITER_YAW);
set_roll_pitch_mode(LOITER_RP);
set_throttle_mode(LOITER_THR);
@ -446,7 +446,7 @@ static bool set_mode(uint8_t mode)
case GUIDED:
if (GPS_ok() || ignore_checks) {
success = guided_init();
success = guided_init(ignore_checks);
set_yaw_mode(get_wp_yaw_mode(false));
set_roll_pitch_mode(GUIDED_RP);
set_throttle_mode(GUIDED_THR);
@ -455,20 +455,20 @@ static bool set_mode(uint8_t mode)
break;
case LAND:
success = land_init();
success = land_init(ignore_checks);
do_land(NULL); // land at current location
break;
case RTL:
if (GPS_ok() || ignore_checks) {
success = rtl_init();
success = rtl_init(ignore_checks);
do_RTL();
}
break;
case OF_LOITER:
if (g.optflow_enabled || ignore_checks) {
success = ofloiter_init();
success = ofloiter_init(ignore_checks);
set_yaw_mode(OF_LOITER_YAW);
set_roll_pitch_mode(OF_LOITER_RP);
set_throttle_mode(OF_LOITER_THR);
@ -477,7 +477,7 @@ static bool set_mode(uint8_t mode)
break;
case DRIFT:
success = drift_init();
success = drift_init(ignore_checks);
set_yaw_mode(YAW_DRIFT);
set_roll_pitch_mode(ROLL_PITCH_DRIFT);
set_nav_mode(NAV_NONE);
@ -485,7 +485,7 @@ static bool set_mode(uint8_t mode)
break;
case SPORT:
success = sport_init();
success = sport_init(ignore_checks);
set_yaw_mode(SPORT_YAW);
set_roll_pitch_mode(SPORT_RP);
set_throttle_mode(SPORT_THR);