ardupilot/ArduCopter/control_loiter.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_loiter.pde - init and run calls for loiter flight mode
*/
// loiter_init - initialise loiter controller
static bool loiter_init(bool ignore_checks)
{
if (GPS_ok() || ignore_checks) {
// set target to current position
wp_nav.init_loiter_target();
// initialize vertical speed and accelerationj
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
return true;
}else{
return false;
}
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
static void loiter_run()
{
float target_yaw_rate = 0;
float target_climb_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
pos_control.set_alt_target_to_current_alt();
return;
}
// process pilot inputs
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.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();
}
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
wp_nav.clear_pilot_desired_acceleration();
}
// relax loiter target if we might be landed
if (land_complete_maybe()) {
wp_nav.loiter_soften_for_landing();
}
// when landed reset targets and output zero throttle
if (ap.land_complete) {
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
pos_control.set_alt_target_to_current_alt();
}else{
// run loiter controller
wp_nav.update_loiter();
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(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);
pos_control.update_z_controller();
}
}