ardupilot/ArduSub/control_surface.cpp

65 lines
2.1 KiB
C++

#include "Sub.h"
bool Sub::surface_init()
{
if(!control_check_barometer()) {
return false;
}
// initialize vertical speeds and acceleration
pos_control.set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
pos_control.set_correction_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise position and desired velocity
pos_control.init_z_controller();
return true;
}
void Sub::surface_run()
{
float target_roll, target_pitch;
float target_yaw_rate;
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.output_min();
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.init_z_controller();
return;
}
// Already at surface, hold depth at surface
if (ap.at_surface) {
set_mode(ALT_HOLD, ModeReason::SURFACE_COMPLETE);
}
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// set target climb rate
float cmb_rate = constrain_float(fabsf(wp_nav.get_default_speed_up()), 1, pos_control.get_max_speed_up_cms());
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// update altitude target and call position controller
pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate);
pos_control.update_z_controller();
// pilot has control for repositioning
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
}