mirror of https://github.com/ArduPilot/ardupilot
112 lines
4.3 KiB
C++
112 lines
4.3 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_loiter.pde - init and run calls for loiter flight mode
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*/
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// loiter_init - initialise loiter controller
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bool Copter::loiter_init(bool ignore_checks)
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{
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if (position_ok() || optflow_position_ok() || ignore_checks) {
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// set target to current position
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wp_nav.init_loiter_target();
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// initialize vertical speed and accelerationj
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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 altitude target to stopping point
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pos_control.set_target_to_stopping_point_z();
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return true;
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}else{
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return false;
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}
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}
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// loiter_run - runs the loiter controller
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// should be called at 100hz or more
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void Copter::loiter_run()
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{
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float target_yaw_rate = 0;
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float target_climb_rate = 0;
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float takeoff_climb_rate = 0.0f;
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if(!ap.auto_armed || !motors.get_interlock()) {
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wp_nav.init_loiter_target();
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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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// process pilot inputs
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if (!failsafe.radio) {
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// process pilot's roll and pitch input
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wp_nav.set_pilot_desired_acceleration(channel_roll->control_in, channel_pitch->control_in);
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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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} else {
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// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
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wp_nav.clear_pilot_desired_acceleration();
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}
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// relax loiter target if we might be landed
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if (ap.land_complete_maybe) {
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wp_nav.loiter_soften_for_landing();
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}
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// when landed reset targets and output zero throttle
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if (ap.land_complete) {
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wp_nav.init_loiter_target();
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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_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),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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}else{
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// run loiter controller
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wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
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// body-frame rate controller is run directly from 100hz loop
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// run altitude 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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// update altitude target and call position controller
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pos_control.set_alt_target_from_climb_rate(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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