ardupilot/ArduCopter/mode_circle.cpp

94 lines
3.3 KiB
C++

#include "Copter.h"
#if MODE_CIRCLE_ENABLED == ENABLED
/*
* Init and run calls for circle flight mode
*/
// circle_init - initialise circle controller flight mode
bool Copter::ModeCircle::init(bool ignore_checks)
{
pilot_yaw_override = false;
// initialize speeds and accelerations
pos_control->set_max_speed_xy(wp_nav->get_default_speed_xy());
pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_max_accel_z(g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed
copter.circle_nav->init();
return true;
}
// circle_run - runs the circle flight mode
// should be called at 100hz or more
void Copter::ModeCircle::run()
{
// initialize speeds and accelerations
pos_control->set_max_speed_xy(wp_nav->get_default_speed_xy());
pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_max_accel_z(g.pilot_accel_z);
// get pilot's desired yaw rate (or zero if in radio failsafe)
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
pilot_yaw_override = true;
}
// get pilot desired climb rate (or zero if in radio failsafe)
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
// adjust climb rate using rangefinder
if (copter.rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
}
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_spool_down();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run circle controller
copter.circle_nav->update();
// call attitude controller
if (pilot_yaw_override) {
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(copter.circle_nav->get_roll(),
copter.circle_nav->get_pitch(),
target_yaw_rate);
} else {
attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(),
copter.circle_nav->get_pitch(),
copter.circle_nav->get_yaw(), true);
}
// update altitude target and call position controller
// protects heli's from inflight motor interlock disable
if (motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::GROUND_IDLE && !ap.land_complete) {
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
} else {
pos_control->set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
}
pos_control->update_z_controller();
}
uint32_t Copter::ModeCircle::wp_distance() const
{
return copter.circle_nav->get_distance_to_target();
}
int32_t Copter::ModeCircle::wp_bearing() const
{
return copter.circle_nav->get_bearing_to_target();
}
#endif