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Copter: zigzag supports arming, takeoff and landing

This commit is contained in:
Randy Mackay 2020-02-06 11:33:15 +09:00 committed by Andrew Tridgell
parent 126c6e589b
commit c1915cd889
2 changed files with 91 additions and 25 deletions
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2
ArduCopter/mode.h
View File

@ -1357,7 +1357,7 @@ public:
bool requires_GPS() const override { return true; }
bool has_manual_throttle() const override { return false; }
bool allows_arming(bool from_gcs) const override { return false; }
bool allows_arming(bool from_gcs) const override { return true; }
bool is_autopilot() const override { return true; }
// save current position as A (dest_num = 0) or B (dest_num = 1). If both A and B have been saved move to the one specified

114
ArduCopter/mode_zigzag.cpp
View File

@ -11,8 +11,20 @@
// initialise zigzag controller
bool ModeZigZag::init(bool ignore_checks)
{
// initialize's loiter position and velocity on xy-axes from current pos and velocity
loiter_nav->clear_pilot_desired_acceleration();
if (!copter.failsafe.radio) {
// apply simple mode transform to pilot inputs
update_simple_mode();
// convert pilot input to lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
loiter_nav->clear_pilot_desired_acceleration();
}
loiter_nav->init_target();
// initialise position_z and desired velocity_z
@ -37,16 +49,13 @@ void ModeZigZag::run()
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_max_accel_z(g.pilot_accel_z);
// if not auto armed or motors not enabled set throttle to zero and exit immediately
if (is_disarmed_or_landed() || !motors->get_interlock() ) {
zero_throttle_and_relax_ac(copter.is_tradheli() && motors->get_interlock());
return;
}
// auto control
if (stage == AUTO) {
// if vehicle has reached destination switch to manual control
if (reached_destination()) {
if (is_disarmed_or_landed() || !motors->get_interlock()) {
// vehicle should be under manual control when disarmed or landed
return_to_manual_control(false);
} else if (reached_destination()) {
// if vehicle has reached destination switch to manual control
AP_Notify::events.waypoint_complete = 1;
return_to_manual_control(true);
} else {
@ -169,6 +178,7 @@ void ModeZigZag::manual_control()
{
float target_yaw_rate = 0.0f;
float target_climb_rate = 0.0f;
float takeoff_climb_rate = 0.0f;
// process pilot inputs unless we are in radio failsafe
if (!copter.failsafe.radio) {
@ -194,26 +204,82 @@ void ModeZigZag::manual_control()
loiter_nav->clear_pilot_desired_acceleration();
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// relax loiter target if we might be landed
if (copter.ap.land_complete_maybe) {
loiter_nav->soften_for_landing();
}
// run loiter controller
loiter_nav->update();
// Loiter State Machine Determination
AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate);
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
// althold state machine
switch (althold_state) {
// adjust climb rate using rangefinder
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
loiter_nav->init_target();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
pos_control->update_z_controller();
break;
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}
// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
// get takeoff adjusted pilot and takeoff climb rates
takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
// adjusts target up or down using a climb rate
pos_control->update_z_controller();
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// run loiter controller
loiter_nav->update();
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate_ff(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_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
loiter_nav->init_target();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller();
break;
case AltHold_Flying:
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run loiter controller
loiter_nav->update();
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
// adjust climb rate using rangefinder
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->update_z_controller();
break;
}
}
// return true if vehicle is within a small area around the destination