mirror of https://github.com/ArduPilot/ardupilot
122 lines
4.9 KiB
C++
122 lines
4.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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* control_sport.pde - 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 Copter::sport_init(bool ignore_checks)
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{
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// initialize vertical speed and acceleration
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise position and desired velocity
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pos_control.set_alt_target(inertial_nav.get_altitude());
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
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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 Copter::sport_run()
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{
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float target_roll_rate, target_pitch_rate, target_yaw_rate;
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float target_climb_rate = 0;
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float takeoff_climb_rate = 0.0f;
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// initialize vertical speed and acceleration
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// if not armed or throttle at zero, set throttle to zero and exit immediately
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if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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return;
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}
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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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target_roll_rate = channel_roll->control_in * g.acro_rp_p;
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target_pitch_rate = channel_pitch->control_in * g.acro_rp_p;
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int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
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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(ahrs.pitch_sensor);
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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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if (roll_angle > aparm.angle_max){
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target_roll_rate -= g.acro_rp_p*(roll_angle-aparm.angle_max);
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}else if (roll_angle < -aparm.angle_max) {
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target_roll_rate -= g.acro_rp_p*(roll_angle+aparm.angle_max);
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}
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if (pitch_angle > aparm.angle_max){
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target_pitch_rate -= g.acro_rp_p*(pitch_angle-aparm.angle_max);
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}else if (pitch_angle < -aparm.angle_max) {
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target_pitch_rate -= g.acro_rp_p*(pitch_angle+aparm.angle_max);
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}
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
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target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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// get takeoff adjusted pilot and takeoff climb rates
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takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
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// check for take-off
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if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
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if (!takeoff_state.running) {
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takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
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}
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// indicate we are taking off
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set_land_complete(false);
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// clear i term when we're taking off
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set_throttle_takeoff();
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}
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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if (ap.throttle_zero) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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}else{
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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}
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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}else{
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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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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// call throttle controller
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if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
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// if sonar is ok, use surface tracking
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target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// call position controller
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pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
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pos_control.update_z_controller();
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}
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}
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