ardupilot/ArduCopter/mode_stabilize.cpp

44 lines
1.3 KiB
C++

#include "Copter.h"
/*
* Init and run calls for stabilize flight mode
*/
// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void Copter::ModeStabilize::run()
{
float target_roll, target_pitch;
float target_yaw_rate;
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || ap.throttle_zero || !motors->get_interlock()) {
zero_throttle_and_relax_ac();
return;
}
// clear landing flag
set_land_complete(false);
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// output pilot's throttle
attitude_control->set_throttle_out(get_pilot_desired_throttle(),
true,
g.throttle_filt);
}