mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.3 KiB
C++
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);
|
|
}
|