mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.6 KiB
C++
111 lines
3.6 KiB
C++
#include "Copter.h"
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/*
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* Init and run calls for althold, flight mode
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*/
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// althold_init - initialise althold controller
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bool Copter::ModeAltHold::init(bool ignore_checks)
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{
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// initialise position and desired velocity
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if (!pos_control->is_active_z()) {
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pos_control->set_alt_target_to_current_alt();
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pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
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}
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return true;
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}
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// althold_run - runs the althold controller
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// should be called at 100hz or more
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void Copter::ModeAltHold::run()
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{
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float takeoff_climb_rate = 0.0f;
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// initialize vertical speeds and acceleration
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pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
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pos_control->set_max_accel_z(g.pilot_accel_z);
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// get pilot desired lean angles
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float target_roll, target_pitch;
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get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max());
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// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// get pilot desired climb rate
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
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// Alt Hold State Machine Determination
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AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate);
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// Alt Hold State Machine
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switch (althold_state) {
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case AltHold_MotorStopped:
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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break;
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case AltHold_Landed_Ground_Idle:
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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// FALLTHROUGH
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case AltHold_Landed_Pre_Takeoff:
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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break;
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case AltHold_Takeoff:
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// initiate take-off
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if (!takeoff.running()) {
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takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
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}
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// get take-off adjusted pilot and takeoff climb rates
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takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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// set position controller targets
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pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
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break;
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case AltHold_Flying:
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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#if AC_AVOID_ENABLED == ENABLED
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// apply avoidance
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copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
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#endif
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// adjust climb rate using rangefinder
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target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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break;
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}
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// call z-axis position controller
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pos_control->update_z_controller();
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}
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