mirror of https://github.com/ArduPilot/ardupilot
Copter: use new throttle interface
This commit is contained in:
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f3555d0d43
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b27b9dd86e
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@ -20,9 +20,7 @@ static void acro_run()
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// if motors not running reset angle targets
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if(!motors.armed() || g.rc_3.control_in <= 0) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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return;
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}
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@ -27,9 +27,7 @@ static void althold_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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@ -57,10 +55,7 @@ static void althold_run()
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
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pos_control.set_alt_target_to_current_alt();
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}else{
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// call attitude controller
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@ -114,9 +114,7 @@ static void auto_takeoff_run()
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// initialise wpnav targets
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wp_nav.shift_wp_origin_to_current_pos();
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// reset attitude control targets
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// tell motors to do a slow start
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motors.slow_start(true);
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return;
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@ -162,9 +160,7 @@ static void auto_wp_run()
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if(!ap.auto_armed) {
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// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
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// (of course it would be better if people just used take-off)
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// tell motors to do a slow start
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motors.slow_start(true);
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return;
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@ -220,9 +216,7 @@ static void auto_spline_run()
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if(!ap.auto_armed) {
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// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
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// (of course it would be better if people just used take-off)
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// tell motors to do a slow start
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motors.slow_start(true);
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return;
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@ -289,9 +283,7 @@ static void auto_land_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// set target to current position
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wp_nav.init_loiter_target();
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return;
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@ -457,9 +449,7 @@ void auto_loiter_run()
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{
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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return;
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}
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@ -263,9 +263,7 @@ static void autotune_run()
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// if not auto armed set throttle to zero and exit immediately
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// this should not actually be possible because of the autotune_init() checks
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if (!ap.auto_armed) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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@ -292,10 +290,8 @@ static void autotune_run()
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
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pos_control.set_alt_target_to_current_alt();
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}else{
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// check if pilot is overriding the controls
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@ -35,9 +35,7 @@ static void circle_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete) {
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// To-Do: add some initialisation of position controllers
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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@ -48,9 +48,7 @@ static void drift_run()
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// if not armed or landed and throttle at zero, set throttle to zero and exit immediately
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if(!motors.armed() || (ap.land_complete && ap.throttle_zero)) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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return;
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}
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@ -218,5 +218,9 @@ static void flip_run()
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}
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// output pilot's throttle without angle boost
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if (throttle_out == 0.0f) {
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attitude_control.set_throttle_out_unstabilized(0,false);
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} else {
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attitude_control.set_throttle_out(throttle_out, false);
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}
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}
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@ -161,9 +161,7 @@ static void guided_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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// To-Do: reset waypoint controller?
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
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return;
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}
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@ -202,9 +200,7 @@ static void guided_takeoff_run()
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// initialise wpnav targets
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wp_nav.shift_wp_origin_to_current_pos();
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// reset attitude control targets
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// tell motors to do a slow start
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motors.slow_start(true);
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return;
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@ -52,9 +52,7 @@ static void land_gps_run()
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// if not auto armed or landed set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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wp_nav.init_loiter_target();
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#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
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@ -127,9 +125,7 @@ static void land_nogps_run()
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// if not auto armed or landed set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
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// disarm when the landing detector says we've landed and throttle is at minimum
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if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
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@ -35,9 +35,7 @@ static void loiter_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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wp_nav.init_loiter_target();
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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@ -76,10 +74,8 @@ static void loiter_run()
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// when landed reset targets and output zero throttle
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if (ap.land_complete) {
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wp_nav.init_loiter_target();
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
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pos_control.set_alt_target_to_current_alt();
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}else{
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// run loiter controller
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@ -156,9 +156,7 @@ static void poshold_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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wp_nav.init_loiter_target();
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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@ -191,10 +189,8 @@ static void poshold_run()
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// if landed initialise loiter targets, set throttle to zero and exit
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if (ap.land_complete) {
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wp_nav.init_loiter_target();
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}else{
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@ -134,9 +134,7 @@ static void rtl_climb_return_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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// reset attitude control targets
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// To-Do: re-initialise wpnav targets
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return;
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}
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@ -192,9 +190,7 @@ static void rtl_loiterathome_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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// reset attitude control targets
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// To-Do: re-initialise wpnav targets
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return;
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}
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@ -263,9 +259,7 @@ static void rtl_descent_run()
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// set target to current position
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wp_nav.init_loiter_target();
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return;
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@ -327,9 +321,7 @@ static void rtl_land_run()
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float target_yaw_rate = 0;
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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// set target to current position
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wp_nav.init_loiter_target();
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@ -26,9 +26,7 @@ static void sport_run()
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// if not armed or throttle at zero, set throttle to zero and exit immediately
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if(!motors.armed() || g.rc_3.control_in <= 0) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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@ -77,10 +75,8 @@ static void sport_run()
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
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pos_control.set_alt_target_to_current_alt();
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}else{
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@ -25,9 +25,7 @@ static void stabilize_run()
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// if not armed or throttle at zero, set throttle to zero and exit immediately
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if(!motors.armed() || g.rc_3.control_in <= 0) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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attitude_control.set_throttle_out_unstabilized(0,true);
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return;
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}
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