mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.4 KiB
Plaintext
44 lines
1.4 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* heli_control_acro.pde - init and run calls for acro flight mode for trad heli
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*/
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// heli_acro_init - initialise acro controller
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static bool heli_acro_init(bool ignore_checks)
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{
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// clear stabilized rate errors
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attitude_control.init_targets();
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return true;
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}
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// heli_acro_run - runs the acro controller
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// should be called at 100hz or more
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static void heli_acro_run()
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{
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float target_roll, target_pitch, target_yaw;
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int16_t pilot_throttle_scaled;
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// if not armed or main rotor not up to full speed clear stabilized rate errors
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// unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
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if(!motors.armed() || !motors.motor_runup_complete()) {
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attitude_control.init_targets();
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}
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// To-Do: add support for flybarred helis
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// convert the input to the desired body frame rate
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get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
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// get pilot's desired throttle
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pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
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// run attitude controller
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attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
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// output pilot's throttle without angle boost
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attitude_control.set_throttle_out(pilot_throttle_scaled, false);
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}
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#endif //HELI_FRAME
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