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