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Plane: moved takeoff code to a new file

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This commit is contained in:
Andrew Tridgell 2014-05-21 18:09:16 +10:00
parent 5c82711578
commit f2556535da
2 changed files with 83 additions and 81 deletions
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81
ArduPlane/Attitude.pde
View File

@ -477,87 +477,6 @@ static void throttle_slew_limit(int16_t last_throttle)
}
/* Check for automatic takeoff conditions being met using the following sequence:
* 1) Check for adequate GPS lock - if not return false
* 2) Check the gravity compensated longitudinal acceleration against the threshold and start the timer if true
* 3) Wait until the timer has reached the specified value (increments of 0.1 sec) and then check the GPS speed against the threshold
* 4) If the GPS speed is above the threshold and the attitude is within limits then return true and reset the timer
* 5) If the GPS speed and attitude within limits has not been achieved after 2.5 seconds, return false and reset the timer
* 6) If the time lapsed since the last timecheck is greater than 0.2 seconds, return false and reset the timer
* NOTE : This function relies on the TECS 50Hz processing for its acceleration measure.
*/
static bool auto_takeoff_check(void)
{
// this is a more advanced check that relies on TECS
uint32_t now = hal.scheduler->millis();
static bool launchTimerStarted;
static uint32_t last_tkoff_arm_time;
static uint32_t last_check_ms;
// Reset states if process has been interrupted
if (last_check_ms && (now - last_check_ms) > 200) {
gcs_send_text_fmt(PSTR("Timer Interrupted AUTO"));
launchTimerStarted = false;
last_tkoff_arm_time = 0;
last_check_ms = now;
return false;
}
last_check_ms = now;
// Check for bad GPS
if (gps.status() < AP_GPS::GPS_OK_FIX_3D) {
// no auto takeoff without GPS lock
return false;
}
// Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing
if (!launchTimerStarted &&
g.takeoff_throttle_min_accel != 0.0 &&
SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
goto no_launch;
}
// we've reached the acceleration threshold, so start the timer
if (!launchTimerStarted) {
launchTimerStarted = true;
last_tkoff_arm_time = now;
gcs_send_text_fmt(PSTR("Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec"),
SpdHgt_Controller->get_VXdot(), 0.1f*float(min(g.takeoff_throttle_delay,25)));
}
// Only perform velocity check if not timed out
if ((now - last_tkoff_arm_time) > 2500) {
gcs_send_text_fmt(PSTR("Timeout AUTO"));
goto no_launch;
}
// Check aircraft attitude for bad launch
if (ahrs.pitch_sensor <= -3000 ||
ahrs.pitch_sensor >= 4500 ||
abs(ahrs.roll_sensor) > 3000) {
gcs_send_text_fmt(PSTR("Bad Launch AUTO"));
goto no_launch;
}
// Check ground speed and time delay
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || g.takeoff_throttle_min_speed == 0.0)) &&
((now - last_tkoff_arm_time) >= min(uint16_t(g.takeoff_throttle_delay)*100,2500))) {
gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), gps.ground_speed());
launchTimerStarted = false;
last_tkoff_arm_time = 0;
return true;
}
// we're not launching yet, but the timer is still going
return false;
no_launch:
launchTimerStarted = false;
last_tkoff_arm_time = 0;
return false;
}
/**
Do we think we are flying?

83
ArduPlane/takeoff.pde Normal file
View File

@ -0,0 +1,83 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/* Check for automatic takeoff conditions being met using the following sequence:
* 1) Check for adequate GPS lock - if not return false
* 2) Check the gravity compensated longitudinal acceleration against the threshold and start the timer if true
* 3) Wait until the timer has reached the specified value (increments of 0.1 sec) and then check the GPS speed against the threshold
* 4) If the GPS speed is above the threshold and the attitude is within limits then return true and reset the timer
* 5) If the GPS speed and attitude within limits has not been achieved after 2.5 seconds, return false and reset the timer
* 6) If the time lapsed since the last timecheck is greater than 0.2 seconds, return false and reset the timer
* NOTE : This function relies on the TECS 50Hz processing for its acceleration measure.
*/
static bool auto_takeoff_check(void)
{
// this is a more advanced check that relies on TECS
uint32_t now = hal.scheduler->millis();
static bool launchTimerStarted;
static uint32_t last_tkoff_arm_time;
static uint32_t last_check_ms;
// Reset states if process has been interrupted
if (last_check_ms && (now - last_check_ms) > 200) {
gcs_send_text_fmt(PSTR("Timer Interrupted AUTO"));
launchTimerStarted = false;
last_tkoff_arm_time = 0;
last_check_ms = now;
return false;
}
last_check_ms = now;
// Check for bad GPS
if (gps.status() < AP_GPS::GPS_OK_FIX_3D) {
// no auto takeoff without GPS lock
return false;
}
// Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing
if (!launchTimerStarted &&
g.takeoff_throttle_min_accel != 0.0 &&
SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
goto no_launch;
}
// we've reached the acceleration threshold, so start the timer
if (!launchTimerStarted) {
launchTimerStarted = true;
last_tkoff_arm_time = now;
gcs_send_text_fmt(PSTR("Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec"),
SpdHgt_Controller->get_VXdot(), 0.1f*float(min(g.takeoff_throttle_delay,25)));
}
// Only perform velocity check if not timed out
if ((now - last_tkoff_arm_time) > 2500) {
gcs_send_text_fmt(PSTR("Timeout AUTO"));
goto no_launch;
}
// Check aircraft attitude for bad launch
if (ahrs.pitch_sensor <= -3000 ||
ahrs.pitch_sensor >= 4500 ||
abs(ahrs.roll_sensor) > 3000) {
gcs_send_text_fmt(PSTR("Bad Launch AUTO"));
goto no_launch;
}
// Check ground speed and time delay
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || g.takeoff_throttle_min_speed == 0.0)) &&
((now - last_tkoff_arm_time) >= min(uint16_t(g.takeoff_throttle_delay)*100,2500))) {
gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), gps.ground_speed());
launchTimerStarted = false;
last_tkoff_arm_time = 0;
return true;
}
// we're not launching yet, but the timer is still going
return false;
no_launch:
launchTimerStarted = false;
last_tkoff_arm_time = 0;
return false;
}