ardupilot/ArduCopter/mode_circle.cpp

92 lines
3.3 KiB
C++

#include "Copter.h"
/*
* Init and run calls for circle flight mode
*/
// circle_init - initialise circle controller flight mode
bool Copter::ModeCircle::init(bool ignore_checks)
{
if (_copter.position_ok() || ignore_checks) {
pilot_yaw_override = false;
// initialize speeds and accelerations
pos_control->set_speed_xy(wp_nav->get_speed_xy());
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_jerk_xy_to_default();
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed
circle_nav->init();
return true;
}else{
return false;
}
}
// circle_run - runs the circle flight mode
// should be called at 100hz or more
void Copter::ModeCircle::run()
{
float target_yaw_rate = 0;
float target_climb_rate = 0;
// initialize speeds and accelerations
pos_control->set_speed_xy(wp_nav->get_speed_xy());
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z);
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
// To-Do: add some initialisation of position controllers
zero_throttle_and_relax_ac();
pos_control->set_alt_target_to_current_alt();
return;
}
// process pilot inputs
if (!_copter.failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
pilot_yaw_override = true;
}
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
// check for pilot requested take-off
if (ap.land_complete && target_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run circle controller
circle_nav->update();
// call attitude controller
if (pilot_yaw_override) {
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(circle_nav->get_roll(), circle_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
}else{
attitude_control->input_euler_angle_roll_pitch_yaw(circle_nav->get_roll(), circle_nav->get_pitch(), circle_nav->get_yaw(),true, get_smoothing_gain());
}
// adjust climb rate using rangefinder
if (_copter.rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control->update_z_controller();
}