ardupilot/ArduCopter/mode.cpp

277 lines
8.0 KiB
C++

#include "Copter.h"
/*
* High level calls to set and update flight modes logic for individual
* flight modes is in control_acro.cpp, control_stabilize.cpp, etc
*/
// return the static controller object corresponding to supplied mode
Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
{
Copter::Mode *ret = nullptr;
switch (mode) {
case ACRO:
ret = &mode_acro;
break;
case STABILIZE:
ret = &mode_stabilize;
break;
case ALT_HOLD:
ret = &mode_althold;
break;
case AUTO:
ret = &mode_auto;
break;
case CIRCLE:
ret = &mode_circle;
break;
case LOITER:
ret = &mode_loiter;
break;
case GUIDED:
ret = &mode_guided;
break;
case LAND:
ret = &mode_land;
break;
case RTL:
ret = &mode_rtl;
break;
case DRIFT:
ret = &mode_drift;
break;
case SPORT:
ret = &mode_sport;
break;
case FLIP:
ret = &mode_flip;
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
ret = &mode_autotune;
break;
#endif
case POSHOLD:
ret = &mode_poshold;
break;
case BRAKE:
ret = &mode_brake;
break;
case THROW:
ret = &mode_throw;
break;
case AVOID_ADSB:
ret = &mode_avoid_adsb;
break;
case GUIDED_NOGPS:
ret = &mode_guided_nogps;
break;
case SMART_RTL:
ret = &mode_smartrtl;
break;
default:
break;
}
return ret;
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
{
// return immediately if we are already in the desired mode
if (mode == control_mode) {
control_mode_reason = reason;
return true;
}
Copter::Mode *new_flightmode = mode_from_mode_num(mode);
if (new_flightmode == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
bool ignore_checks = !motors->armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter a non-manual throttle mode if the
// rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
#endif
if (!new_flightmode->init(ignore_checks)) {
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
// perform any cleanup required by previous flight mode
exit_mode(flightmode, new_flightmode);
// update flight mode
flightmode = new_flightmode;
control_mode = mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode);
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode);
#endif
#if CAMERA == ENABLED
camera.set_is_auto_mode(control_mode == AUTO);
#endif
// update notify object
notify_flight_mode();
// return success
return true;
}
// update_flight_mode - calls the appropriate attitude controllers based on flight mode
// called at 100hz or more
void Copter::update_flight_mode()
{
// Update EKF speed limit - used to limit speed when we are using optical flow
ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
flightmode->run();
}
// exit_mode - high level call to organise cleanup as a flight mode is exited
void Copter::exit_mode(Copter::Mode *&old_flightmode,
Copter::Mode *&new_flightmode)
{
#if AUTOTUNE_ENABLED == ENABLED
if (old_flightmode == &mode_autotune) {
mode_autotune.stop();
}
#endif
// stop mission when we leave auto mode
if (old_flightmode == &mode_auto) {
if (mission.state() == AP_Mission::MISSION_RUNNING) {
mission.stop();
}
#if MOUNT == ENABLED
camera_mount.set_mode_to_default();
#endif // MOUNT == ENABLED
}
// smooth throttle transition when switching from manual to automatic flight modes
if (old_flightmode->has_manual_throttle() && !new_flightmode->has_manual_throttle() && motors->armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle();
}
// cancel any takeoffs in progress
takeoff_stop();
// call smart_rtl cleanup
if (old_flightmode == &mode_smartrtl) {
mode_smartrtl.exit();
}
#if FRAME_CONFIG == HELI_FRAME
// firmly reset the flybar passthrough to false when exiting acro mode.
if (old_flightmode == &mode_acro) {
attitude_control->use_flybar_passthrough(false, false);
motors->set_acro_tail(false);
}
// if we are changing from a mode that did not use manual throttle,
// stab col ramp value should be pre-loaded to the correct value to avoid a twitch
// heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
if (!old_flightmode->has_manual_throttle()){
if (new_flightmode == &mode_stabilize){
input_manager.set_stab_col_ramp(1.0);
} else if (new_flightmode == &mode_acro){
input_manager.set_stab_col_ramp(0.0);
}
}
#endif //HELI_FRAME
}
// notify_flight_mode - sets notify object based on current flight mode. Only used for OreoLED notify device
void Copter::notify_flight_mode() {
AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();
notify.set_flight_mode_str(flightmode->name4());
}
void Copter::Mode::update_navigation()
{
// run autopilot to make high level decisions about control modes
run_autopilot();
}
bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
{
if (!ap.land_complete) {
// can't take off if we're already flying
return false;
}
if (target_climb_rate <= 0.0f) {
// can't takeoff unless we want to go up...
return false;
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors->rotor_runup_complete()) {
// hold heli on the ground until rotor speed runup has finished
return false;
}
#endif
return true;
}
void Copter::Mode::zero_throttle_and_relax_ac()
{
#if FRAME_CONFIG == HELI_FRAME
// Helicopters always stabilize roll/pitch/yaw
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
attitude_control->set_throttle_out(0.0f, false, g.throttle_filt);
#else
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0.0f, true, g.throttle_filt);
#endif
}