ardupilot/ArduCopter/takeoff.cpp

261 lines
11 KiB
C++

#include "Copter.h"
Mode::_TakeOff Mode::takeoff;
_AutoTakeoff Mode::auto_takeoff;
// This file contains the high-level takeoff logic for Loiter, PosHold, AltHold, Sport modes.
// The take-off can be initiated from a GCS NAV_TAKEOFF command which includes a takeoff altitude
// A safe takeoff speed is calculated and used to calculate a time_ms
// the pos_control target is then slowly increased until time_ms expires
bool Mode::do_user_takeoff_start(float takeoff_alt_cm)
{
copter.flightmode->takeoff.start(takeoff_alt_cm);
return true;
}
// initiate user takeoff - called when MAVLink TAKEOFF command is received
bool Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
{
if (!copter.motors->armed()) {
return false;
}
if (!copter.ap.land_complete) {
// can't takeoff again!
return false;
}
if (!has_user_takeoff(must_navigate)) {
// this mode doesn't support user takeoff
return false;
}
if (takeoff_alt_cm <= copter.current_loc.alt) {
// can't takeoff downwards...
return false;
}
// Vehicles using motor interlock should return false if motor interlock is disabled.
// Interlock must be enabled to allow the controller to spool up the motor(s) for takeoff.
if (!motors->get_interlock() && copter.ap.using_interlock) {
return false;
}
if (!do_user_takeoff_start(takeoff_alt_cm)) {
return false;
}
copter.set_auto_armed(true);
return true;
}
// start takeoff to specified altitude above home in centimeters
void Mode::_TakeOff::start(float alt_cm)
{
// initialise takeoff state
_running = true;
take_off_start_alt = copter.pos_control->get_pos_desired_z_cm();
take_off_complete_alt = take_off_start_alt + alt_cm;
}
// stop takeoff
void Mode::_TakeOff::stop()
{
_running = false;
// Check if we have progressed far enough through the takeoff process that the
// aircraft may have left the ground but not yet detected the climb.
if (copter.attitude_control->get_throttle_in() > copter.get_non_takeoff_throttle()) {
copter.set_land_complete(false);
}
}
// do_pilot_takeoff - controls the vertical position controller during the process of taking off
// take off is complete when the vertical target reaches the take off altitude.
// climb is cancelled if pilot_climb_rate_cm becomes negative
// sets take off to complete when target altitude is within 1% of the take off altitude
void Mode::_TakeOff::do_pilot_takeoff(float& pilot_climb_rate_cm)
{
// return pilot_climb_rate if take-off inactive
if (!_running) {
return;
}
if (copter.ap.land_complete) {
// send throttle to attitude controller with angle boost
float throttle = constrain_float(copter.attitude_control->get_throttle_in() + copter.G_Dt / copter.g2.takeoff_throttle_slew_time, 0.0, 1.0);
copter.attitude_control->set_throttle_out(throttle, true, 0.0);
// tell position controller to reset alt target and reset I terms
copter.pos_control->init_z_controller();
if (throttle >= MIN(copter.g2.takeoff_throttle_max, 0.9) ||
(copter.pos_control->get_z_accel_cmss() >= 0.5 * copter.pos_control->get_max_accel_z_cmss()) ||
(copter.pos_control->get_vel_desired_cms().z >= constrain_float(pilot_climb_rate_cm, copter.pos_control->get_max_speed_up_cms() * 0.1, copter.pos_control->get_max_speed_up_cms() * 0.5)) ||
(is_positive(take_off_complete_alt - take_off_start_alt) && copter.pos_control->get_pos_desired_z_cm() - take_off_start_alt > 0.5 * (take_off_complete_alt - take_off_start_alt))) {
// throttle > 90%
// acceleration > 50% maximum acceleration
// velocity > 10% maximum velocity && commanded climb rate
// velocity > 50% maximum velocity
// altitude change greater than half complete alt from start off alt
copter.set_land_complete(false);
}
} else {
float pos_z = take_off_complete_alt;
float vel_z = pilot_climb_rate_cm;
// command the aircraft to the take off altitude and current pilot climb rate
copter.pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0);
// stop take off early and return if negative climb rate is commanded or we are within 0.1% of our take off altitude
if (is_negative(pilot_climb_rate_cm) ||
(take_off_complete_alt - take_off_start_alt) * 0.999f < copter.pos_control->get_pos_desired_z_cm() - take_off_start_alt) {
stop();
}
}
}
// auto_takeoff_run - controls the vertical position controller during the process of taking off in auto modes
// auto_takeoff_complete set to true when target altitude is within 10% of the take off altitude and less than 50% max climb rate
void _AutoTakeoff::run()
{
const auto &g2 = copter.g2;
const auto &inertial_nav = copter.inertial_nav;
const auto &wp_nav = copter.wp_nav;
auto *motors = copter.motors;
auto *pos_control = copter.pos_control;
auto *attitude_control = copter.attitude_control;
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !copter.ap.auto_armed) {
// do not spool down tradheli when on the ground with motor interlock enabled
copter.flightmode->make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
// update auto_takeoff_no_nav_alt_cm
no_nav_alt_cm = inertial_nav.get_position_z_up_cm() + g2.wp_navalt_min * 100;
return;
}
// get terrain offset
float terr_offset = 0.0f;
if (terrain_alt && !wp_nav->get_terrain_offset(terr_offset)) {
// trigger terrain failsafe
copter.failsafe_terrain_on_event();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// aircraft stays in landed state until rotor speed run up has finished
if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
// motors have not completed spool up yet so relax navigation and position controllers
pos_control->relax_velocity_controller_xy();
pos_control->update_xy_controller();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
pos_control->update_z_controller();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0);
// update auto_takeoff_no_nav_alt_cm
no_nav_alt_cm = inertial_nav.get_position_z_up_cm() + g2.wp_navalt_min * 100;
return;
}
// aircraft stays in landed state until vertical movement is detected or 90% throttle is reached
if (copter.ap.land_complete) {
// send throttle to attitude controller with angle boost
float throttle = constrain_float(copter.attitude_control->get_throttle_in() + copter.G_Dt / copter.g2.takeoff_throttle_slew_time, 0.0, 1.0);
copter.attitude_control->set_throttle_out(throttle, true, 0.0);
// tell position controller to reset alt target and reset I terms
copter.pos_control->init_z_controller();
pos_control->relax_velocity_controller_xy();
pos_control->update_xy_controller();
attitude_control->reset_rate_controller_I_terms();
attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0);
if (throttle >= MIN(copter.g2.takeoff_throttle_max, 0.9) ||
(copter.pos_control->get_z_accel_cmss() >= 0.5 * copter.pos_control->get_max_accel_z_cmss()) ||
(copter.pos_control->get_vel_desired_cms().z >= 0.1 * copter.pos_control->get_max_speed_up_cms()) ||
( no_nav_active && (inertial_nav.get_position_z_up_cm() >= no_nav_alt_cm))) {
// throttle > 90%
// acceleration > 50% maximum acceleration
// velocity > 10% maximum velocity
// altitude change greater than half auto_takeoff_no_nav_alt_cm
copter.set_land_complete(false);
}
return;
}
// check if we are not navigating because of low altitude
if (no_nav_active) {
// check if vehicle has reached no_nav_alt threshold
if (inertial_nav.get_position_z_up_cm() >= no_nav_alt_cm) {
no_nav_active = false;
}
pos_control->relax_velocity_controller_xy();
} else {
Vector2f vel;
Vector2f accel;
pos_control->input_vel_accel_xy(vel, accel);
}
pos_control->update_xy_controller();
// command the aircraft to the take off altitude
float pos_z = complete_alt_cm + terr_offset;
float vel_z = 0.0;
copter.pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0.0);
// run the vertical position controller and set output throttle
pos_control->update_z_controller();
// call attitude controller with auto yaw
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), copter.flightmode->auto_yaw.get_heading());
// takeoff complete when we are less than 1% of the stopping distance from the target altitude
// and 10% our maximum climb rate
const float vel_threshold_fraction = 0.1;
// stopping distance from vel_threshold_fraction * max velocity
const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss();
bool reached_altitude = copter.pos_control->get_pos_desired_z_cm() >= pos_z - stop_distance;
bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * vel_threshold_fraction;
complete = reached_altitude && reached_climb_rate;
// calculate completion for location in case it is needed for a smooth transition to wp_nav
if (complete) {
const Vector3p& _complete_pos = copter.pos_control->get_pos_desired_cm();
complete_pos = Vector3p{_complete_pos.x, _complete_pos.y, pos_z};
}
}
void _AutoTakeoff::start(float _complete_alt_cm, bool _terrain_alt)
{
// auto_takeoff_complete_alt_cm is a problem if equal to auto_takeoff_start_alt_cm
complete_alt_cm = _complete_alt_cm;
terrain_alt = _terrain_alt;
complete = false;
// initialise auto_takeoff_no_nav_alt_cm
const auto &g2 = copter.g2;
const auto &inertial_nav = copter.inertial_nav;
no_nav_alt_cm = inertial_nav.get_position_z_up_cm() + g2.wp_navalt_min * 100;
if ((g2.wp_navalt_min > 0) && (copter.flightmode->is_disarmed_or_landed() || !copter.motors->get_interlock())) {
// we are not flying, climb with no navigation to current alt-above-ekf-origin + wp_navalt_min
no_nav_active = true;
} else {
no_nav_active = false;
}
}
// return takeoff final target position in cm from the EKF origin if takeoff has completed successfully
bool _AutoTakeoff::get_completion_pos(Vector3p& pos_neu_cm)
{
// only provide location if takeoff has completed
if (!complete) {
return false;
}
pos_neu_cm = complete_pos;
return true;
}
bool Mode::is_taking_off() const
{
if (!has_user_takeoff(false)) {
return false;
}
return takeoff.running();
}