mirror of https://github.com/ArduPilot/ardupilot
127 lines
5.1 KiB
C++
127 lines
5.1 KiB
C++
#include "Copter.h"
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#if MODE_SPORT_ENABLED == ENABLED
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/*
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* Init and run calls for sport flight mode
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*/
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// sport_init - initialise sport controller
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bool ModeSport::init(bool ignore_checks)
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{
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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pos_control->set_correction_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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// initialise the vertical position controller
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if (!pos_control->is_active_z()) {
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pos_control->init_z_controller();
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}
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return true;
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}
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// sport_run - runs the sport controller
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// should be called at 100hz or more
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void ModeSport::run()
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{
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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// apply SIMPLE mode transform
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update_simple_mode();
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// get pilot's desired roll and pitch rates
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// calculate rate requests
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float target_roll_rate = channel_roll->get_control_in() * g2.command_model_acro_rp.get_rate() * 100.0 / ROLL_PITCH_YAW_INPUT_MAX;
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float target_pitch_rate = channel_pitch->get_control_in() * g2.command_model_acro_rp.get_rate() * 100.0 / ROLL_PITCH_YAW_INPUT_MAX;
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// get attitude targets
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const Vector3f att_target = attitude_control->get_att_target_euler_cd();
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// Calculate trainer mode earth frame rate command for roll
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int32_t roll_angle = wrap_180_cd(att_target.x);
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target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
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// Calculate trainer mode earth frame rate command for pitch
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int32_t pitch_angle = wrap_180_cd(att_target.y);
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target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
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const float angle_max = copter.aparm.angle_max;
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if (roll_angle > angle_max){
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target_roll_rate += sqrt_controller(angle_max - roll_angle, g2.command_model_acro_rp.get_rate() * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_roll_max_cdss(), G_Dt);
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}else if (roll_angle < -angle_max) {
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target_roll_rate += sqrt_controller(-angle_max - roll_angle, g2.command_model_acro_rp.get_rate() * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_roll_max_cdss(), G_Dt);
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}
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if (pitch_angle > angle_max){
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target_pitch_rate += sqrt_controller(angle_max - pitch_angle, g2.command_model_acro_rp.get_rate() * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
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}else if (pitch_angle < -angle_max) {
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target_pitch_rate += sqrt_controller(-angle_max - pitch_angle, g2.command_model_acro_rp.get_rate() * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
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}
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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->norm_input_dz());
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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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// Sport State Machine Determination
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AltHoldModeState sport_state = get_alt_hold_state(target_climb_rate);
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// State Machine
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switch (sport_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->reset_yaw_target_and_rate(false);
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pos_control->relax_z_controller(0.0f); // forces throttle output to decay 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 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 adjusted for pilot input
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takeoff.do_pilot_takeoff(target_climb_rate);
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break;
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case AltHold_Landed_Ground_Idle:
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attitude_control->reset_yaw_target_and_rate();
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FALLTHROUGH;
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case AltHold_Landed_Pre_Takeoff:
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attitude_control->reset_rate_controller_I_terms_smoothly();
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pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
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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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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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// update the vertical offset based on the surface measurement
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copter.surface_tracking.update_surface_offset();
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// Send the commanded climb rate to the position controller
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pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
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break;
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}
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// call attitude controller
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attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
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// run the vertical position controller and set output throttle
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pos_control->update_z_controller();
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}
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#endif
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