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Copter: AltHold state machine

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This commit is contained in:
Robert Lefebvre 2015-06-09 20:06:33 -04:00 committed by Randy Mackay
parent 84ac8abc42
commit a642c88e34
2 changed files with 71 additions and 22 deletions
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85
ArduCopter/control_althold.cpp
View File

@ -23,37 +23,54 @@ bool Copter::althold_init(bool ignore_checks)
// should be called at 100hz or more
void Copter::althold_run()
{
float target_roll, target_pitch;
float target_yaw_rate;
float target_climb_rate;
AltHoldModeState althold_state;
float takeoff_climb_rate = 0.0f;
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || !motors.get_interlock()) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
return;
}
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
float target_roll, target_pitch;
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// Alt Hold State Machine Determination
if(!ap.auto_armed || !motors.get_interlock()) {
althold_state = AltHold_Disarmed;
} else if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))){
althold_state = AltHold_Takeoff;
} else if (ap.land_complete){
althold_state = AltHold_Landed;
} else {
althold_state = AltHold_Flying;
}
// Alt Hold State Machine
switch (althold_state) {
case AltHold_Disarmed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // Multirotors do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case AltHold_Takeoff:
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}
@ -62,13 +79,37 @@ void Copter::althold_run()
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
// reset target lean angles and heading while landed
if (ap.land_complete) {
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop
// call throttle controller
// ToDo: Should we really run surface_tracking during takeoff?
// if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
// target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
// }
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
case AltHold_Landed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#else // Multirotors do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
}else{
break;
case AltHold_Flying:
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop
@ -81,7 +122,7 @@ void Copter::althold_run()
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
}
}

8
ArduCopter/defines.h
View File

@ -202,6 +202,14 @@ enum RTLState {
RTL_Land
};
// Alt_Hold states
enum AltHoldModeState {
AltHold_Disarmed,
AltHold_Takeoff,
AltHold_Flying,
AltHold_Landed
};
// Flip states
enum FlipState {
Flip_Start,