mirror of https://github.com/ArduPilot/ardupilot
86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
#include "Copter.h"
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
/*
|
|
* Init and run calls for stabilize flight mode for trad heli
|
|
*/
|
|
|
|
// stabilize_init - initialise stabilize controller
|
|
bool ModeStabilize_Heli::init(bool ignore_checks)
|
|
{
|
|
// be aware that when adding code to this function that it is *NOT
|
|
// RUN* at vehicle startup!
|
|
|
|
// set stab collective true to use stabilize scaled collective pitch range
|
|
copter.input_manager.set_use_stab_col(true);
|
|
|
|
return true;
|
|
}
|
|
|
|
// stabilize_run - runs the main stabilize controller
|
|
// should be called at 100hz or more
|
|
void ModeStabilize_Heli::run()
|
|
{
|
|
float target_roll, target_pitch;
|
|
float target_yaw_rate;
|
|
float pilot_throttle_scaled;
|
|
|
|
// apply SIMPLE mode transform to pilot inputs
|
|
update_simple_mode();
|
|
|
|
// convert pilot input to lean angles
|
|
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
|
|
|
|
// get pilot's desired yaw rate
|
|
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
|
|
|
|
// get pilot's desired throttle
|
|
pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
|
|
|
|
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
|
|
// we may be in autorotation flight. This is so that the servos move in a realistic fashion while disarmed
|
|
// for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero
|
|
// so the swash servos move.
|
|
|
|
if (!motors->armed()) {
|
|
// Motors should be Stopped
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
|
|
} else {
|
|
// heli will not let the spool state progress to THROTTLE_UNLIMITED until motor interlock is enabled
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
}
|
|
|
|
switch (motors->get_spool_state()) {
|
|
case AP_Motors::SpoolState::SHUT_DOWN:
|
|
// Motors Stopped
|
|
attitude_control->reset_yaw_target_and_rate(false);
|
|
attitude_control->reset_rate_controller_I_terms();
|
|
break;
|
|
case AP_Motors::SpoolState::GROUND_IDLE:
|
|
// If aircraft is landed, set target heading to current and reset the integrator
|
|
// Otherwise motors could be at ground idle for practice autorotation
|
|
if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
|
|
attitude_control->reset_yaw_target_and_rate(false);
|
|
attitude_control->reset_rate_controller_I_terms_smoothly();
|
|
}
|
|
break;
|
|
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
|
|
if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
|
|
attitude_control->reset_rate_controller_I_terms_smoothly();
|
|
}
|
|
break;
|
|
case AP_Motors::SpoolState::SPOOLING_UP:
|
|
case AP_Motors::SpoolState::SPOOLING_DOWN:
|
|
// do nothing
|
|
break;
|
|
}
|
|
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
|
|
|
|
// output pilot's throttle - note that TradHeli does not used angle-boost
|
|
attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
|
|
}
|
|
|
|
#endif //HELI_FRAME
|