mirror of https://github.com/ArduPilot/ardupilot
261 lines
11 KiB
C++
261 lines
11 KiB
C++
#include "Copter.h"
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Mode::_TakeOff Mode::takeoff;
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_AutoTakeoff Mode::auto_takeoff;
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// This file contains the high-level takeoff logic for Loiter, PosHold, AltHold, Sport modes.
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// The take-off can be initiated from a GCS NAV_TAKEOFF command which includes a takeoff altitude
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// A safe takeoff speed is calculated and used to calculate a time_ms
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// the pos_control target is then slowly increased until time_ms expires
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bool Mode::do_user_takeoff_start(float takeoff_alt_cm)
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{
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copter.flightmode->takeoff.start(takeoff_alt_cm);
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return true;
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}
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// initiate user takeoff - called when MAVLink TAKEOFF command is received
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bool Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
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{
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if (!copter.motors->armed()) {
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return false;
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}
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if (!copter.ap.land_complete) {
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// can't takeoff again!
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return false;
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}
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if (!has_user_takeoff(must_navigate)) {
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// this mode doesn't support user takeoff
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return false;
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}
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if (takeoff_alt_cm <= copter.current_loc.alt) {
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// can't takeoff downwards...
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return false;
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}
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// Vehicles using motor interlock should return false if motor interlock is disabled.
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// Interlock must be enabled to allow the controller to spool up the motor(s) for takeoff.
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if (!motors->get_interlock() && copter.ap.using_interlock) {
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return false;
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}
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if (!do_user_takeoff_start(takeoff_alt_cm)) {
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return false;
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}
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copter.set_auto_armed(true);
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return true;
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}
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// start takeoff to specified altitude above home in centimeters
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void Mode::_TakeOff::start(float alt_cm)
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{
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// initialise takeoff state
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_running = true;
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take_off_start_alt = copter.pos_control->get_pos_target_z_cm();
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take_off_complete_alt = take_off_start_alt + alt_cm;
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}
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// stop takeoff
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void Mode::_TakeOff::stop()
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{
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_running = false;
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// Check if we have progressed far enough through the takeoff process that the
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// aircraft may have left the ground but not yet detected the climb.
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if (copter.attitude_control->get_throttle_in() > copter.get_non_takeoff_throttle()) {
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copter.set_land_complete(false);
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}
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}
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// do_pilot_takeoff - controls the vertical position controller during the process of taking off
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// take off is complete when the vertical target reaches the take off altitude.
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// climb is cancelled if pilot_climb_rate_cm becomes negative
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// sets take off to complete when target altitude is within 1% of the take off altitude
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void Mode::_TakeOff::do_pilot_takeoff(float& pilot_climb_rate_cm)
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{
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// return pilot_climb_rate if take-off inactive
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if (!_running) {
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return;
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}
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if (copter.ap.land_complete) {
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// send throttle to attitude controller with angle boost
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float throttle = constrain_float(copter.attitude_control->get_throttle_in() + copter.G_Dt / copter.g2.takeoff_throttle_slew_time, 0.0, 1.0);
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copter.attitude_control->set_throttle_out(throttle, true, 0.0);
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// tell position controller to reset alt target and reset I terms
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copter.pos_control->init_z_controller();
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if (throttle >= MIN(copter.g2.takeoff_throttle_max, 0.9) ||
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(copter.pos_control->get_z_accel_cmss() >= 0.5 * copter.pos_control->get_max_accel_z_cmss()) ||
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(copter.pos_control->get_vel_desired_cms().z >= constrain_float(pilot_climb_rate_cm, copter.pos_control->get_max_speed_up_cms() * 0.1, copter.pos_control->get_max_speed_up_cms() * 0.5)) ||
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(is_positive(take_off_complete_alt - take_off_start_alt) && copter.pos_control->get_pos_target_z_cm() - take_off_start_alt > 0.5 * (take_off_complete_alt - take_off_start_alt))) {
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// throttle > 90%
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// acceleration > 50% maximum acceleration
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// velocity > 10% maximum velocity && commanded climb rate
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// velocity > 50% maximum velocity
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// altitude change greater than half complete alt from start off alt
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copter.set_land_complete(false);
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}
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} else {
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float pos_z = take_off_complete_alt;
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float vel_z = pilot_climb_rate_cm;
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// command the aircraft to the take off altitude and current pilot climb rate
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copter.pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0);
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// stop take off early and return if negative climb rate is commanded or we are within 0.1% of our take off altitude
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if (is_negative(pilot_climb_rate_cm) ||
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(take_off_complete_alt - take_off_start_alt) * 0.999f < copter.pos_control->get_pos_target_z_cm() - take_off_start_alt) {
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stop();
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}
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}
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}
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// auto_takeoff_run - controls the vertical position controller during the process of taking off in auto modes
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// auto_takeoff_complete set to true when target altitude is within 10% of the take off altitude and less than 50% max climb rate
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void _AutoTakeoff::run()
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{
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const auto &g2 = copter.g2;
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const auto &inertial_nav = copter.inertial_nav;
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const auto &wp_nav = copter.wp_nav;
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auto *motors = copter.motors;
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auto *pos_control = copter.pos_control;
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auto *attitude_control = copter.attitude_control;
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// if not armed set throttle to zero and exit immediately
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if (!motors->armed() || !copter.ap.auto_armed) {
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// do not spool down tradheli when on the ground with motor interlock enabled
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copter.flightmode->make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
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// update auto_takeoff_no_nav_alt_cm
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no_nav_alt_cm = inertial_nav.get_position_z_up_cm() + g2.wp_navalt_min * 100;
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return;
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}
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// get terrain offset
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float terr_offset = 0.0f;
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if (terrain_alt && !wp_nav->get_terrain_offset(terr_offset)) {
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// trigger terrain failsafe
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copter.failsafe_terrain_on_event();
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return;
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}
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// set motors to full range
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// aircraft stays in landed state until rotor speed run up has finished
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if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
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// motors have not completed spool up yet so relax navigation and position controllers
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pos_control->relax_velocity_controller_xy();
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pos_control->update_xy_controller();
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pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
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pos_control->update_z_controller();
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attitude_control->reset_yaw_target_and_rate();
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0);
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// update auto_takeoff_no_nav_alt_cm
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no_nav_alt_cm = inertial_nav.get_position_z_up_cm() + g2.wp_navalt_min * 100;
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return;
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}
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// aircraft stays in landed state until vertical movement is detected or 90% throttle is reached
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if (copter.ap.land_complete) {
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// send throttle to attitude controller with angle boost
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float throttle = constrain_float(copter.attitude_control->get_throttle_in() + copter.G_Dt / copter.g2.takeoff_throttle_slew_time, 0.0, 1.0);
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copter.attitude_control->set_throttle_out(throttle, true, 0.0);
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// tell position controller to reset alt target and reset I terms
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copter.pos_control->init_z_controller();
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pos_control->relax_velocity_controller_xy();
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pos_control->update_xy_controller();
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0);
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if (throttle >= MIN(copter.g2.takeoff_throttle_max, 0.9) ||
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(copter.pos_control->get_z_accel_cmss() >= 0.5 * copter.pos_control->get_max_accel_z_cmss()) ||
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(copter.pos_control->get_vel_desired_cms().z >= 0.1 * copter.pos_control->get_max_speed_up_cms()) ||
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( no_nav_active && (inertial_nav.get_position_z_up_cm() >= no_nav_alt_cm))) {
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// throttle > 90%
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// acceleration > 50% maximum acceleration
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// velocity > 10% maximum velocity
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// altitude change greater than half auto_takeoff_no_nav_alt_cm
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copter.set_land_complete(false);
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}
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return;
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}
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// check if we are not navigating because of low altitude
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if (no_nav_active) {
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// check if vehicle has reached no_nav_alt threshold
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if (inertial_nav.get_position_z_up_cm() >= no_nav_alt_cm) {
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no_nav_active = false;
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}
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pos_control->relax_velocity_controller_xy();
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} else {
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Vector2f vel;
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Vector2f accel;
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pos_control->input_vel_accel_xy(vel, accel);
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}
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pos_control->update_xy_controller();
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// command the aircraft to the take off altitude
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float pos_z = complete_alt_cm + terr_offset;
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float vel_z = 0.0;
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copter.pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0.0);
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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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// call attitude controller with auto yaw
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attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), copter.flightmode->auto_yaw.get_heading());
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// takeoff complete when we are less than 1% of the stopping distance from the target altitude
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// and 10% our maximum climb rate
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const float vel_threshold_fraction = 0.1;
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// stopping distance from vel_threshold_fraction * max velocity
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const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss();
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bool reached_altitude = copter.pos_control->get_pos_target_z_cm() >= pos_z - stop_distance;
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bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * vel_threshold_fraction;
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complete = reached_altitude && reached_climb_rate;
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// calculate completion for location in case it is needed for a smooth transition to wp_nav
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if (complete) {
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const Vector3p& _complete_pos = copter.pos_control->get_pos_target_cm();
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complete_pos = Vector3p{_complete_pos.x, _complete_pos.y, pos_z};
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}
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}
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void _AutoTakeoff::start(float _complete_alt_cm, bool _terrain_alt)
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{
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// auto_takeoff_complete_alt_cm is a problem if equal to auto_takeoff_start_alt_cm
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complete_alt_cm = _complete_alt_cm;
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terrain_alt = _terrain_alt;
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complete = false;
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// initialise auto_takeoff_no_nav_alt_cm
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const auto &g2 = copter.g2;
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const auto &inertial_nav = copter.inertial_nav;
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no_nav_alt_cm = inertial_nav.get_position_z_up_cm() + g2.wp_navalt_min * 100;
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if ((g2.wp_navalt_min > 0) && (copter.flightmode->is_disarmed_or_landed() || !copter.motors->get_interlock())) {
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// we are not flying, climb with no navigation to current alt-above-ekf-origin + wp_navalt_min
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no_nav_active = true;
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} else {
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no_nav_active = false;
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}
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}
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// return takeoff final position if takeoff has completed successfully
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bool _AutoTakeoff::get_position(Vector3p& _complete_pos)
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{
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// only provide location if takeoff has completed
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if (!complete) {
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return false;
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}
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complete_pos = _complete_pos;
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return true;
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}
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bool Mode::is_taking_off() const
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{
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if (!has_user_takeoff(false)) {
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return false;
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}
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return takeoff.running();
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}
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