mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.9 KiB
C++
54 lines
1.9 KiB
C++
#include "Copter.h"
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/*
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* Init and run calls for stabilize flight mode
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*/
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// stabilize_run - runs the main stabilize controller
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// should be called at 100hz or more
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void Copter::ModeStabilize::run()
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{
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// apply simple mode transform to pilot inputs
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update_simple_mode();
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// convert pilot input to lean angles
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float target_roll, target_pitch;
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get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
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} else if (ap.throttle_zero) {
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// Attempting to Land
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motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
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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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if (motors->get_spool_mode() == AP_Motors::SHUT_DOWN) {
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// Motors Stopped
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attitude_control->set_yaw_target_to_current_heading();
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attitude_control->reset_rate_controller_I_terms();
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} else if (motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
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// Landed
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attitude_control->set_yaw_target_to_current_heading();
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attitude_control->reset_rate_controller_I_terms();
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} else if (motors->get_spool_mode() == AP_Motors::THROTTLE_UNLIMITED) {
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// clear landing flag above zero throttle
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if (!motors->limit.throttle_lower) {
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set_land_complete(false);
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}
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}
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// output pilot's throttle
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attitude_control->set_throttle_out(get_pilot_desired_throttle(),
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true,
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g.throttle_filt);
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}
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