mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.4 KiB
C++
100 lines
3.4 KiB
C++
#include "Plane.h"
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#if SOARING_ENABLED == ENABLED
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/*
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* ArduSoar support function
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*
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* Peter Braswell, Samuel Tabor, Andrey Kolobov, and Iain Guilliard
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*/
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void Plane::update_soaring() {
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if (!g2.soaring_controller.is_active()) {
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return;
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}
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g2.soaring_controller.update_vario();
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// Check for throttle suppression change.
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switch (control_mode->mode_number()) {
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case Mode::Number::AUTO:
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g2.soaring_controller.suppress_throttle();
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break;
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case Mode::Number::FLY_BY_WIRE_B:
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case Mode::Number::CRUISE:
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if (!g2.soaring_controller.suppress_throttle()) {
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: forcing RTL");
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set_mode(mode_rtl, ModeReason::SOARING_FBW_B_WITH_MOTOR_RUNNING);
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}
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break;
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case Mode::Number::LOITER:
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// Do nothing. We will switch back to auto/rtl before enabling throttle.
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break;
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default:
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// This does not affect the throttle since suppressed is only checked in the above three modes.
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// It ensures that the soaring always starts with throttle suppressed though.
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g2.soaring_controller.set_throttle_suppressed(true);
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break;
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}
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// Nothing to do if we are in powered flight
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if (!g2.soaring_controller.get_throttle_suppressed() && aparm.throttle_max > 0) {
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return;
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}
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switch (control_mode->mode_number()) {
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case Mode::Number::AUTO:
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case Mode::Number::FLY_BY_WIRE_B:
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case Mode::Number::CRUISE:
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// Test for switch into thermalling mode
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g2.soaring_controller.update_cruising();
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if (g2.soaring_controller.check_thermal_criteria()) {
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering loiter");
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set_mode(mode_loiter, ModeReason::SOARING_THERMAL_DETECTED);
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}
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break;
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case Mode::Number::LOITER:
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// Update thermal estimate and check for switch back to AUTO
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g2.soaring_controller.update_thermalling(); // Update estimate
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if (g2.soaring_controller.check_cruise_criteria()) {
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// Exit as soon as thermal state estimate deteriorates
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switch (previous_mode->mode_number()) {
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case Mode::Number::FLY_BY_WIRE_B:
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal ended, entering RTL");
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set_mode(mode_rtl, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
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break;
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case Mode::Number::CRUISE: {
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// return to cruise with old ground course
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CruiseState cruise = cruise_state;
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal ended, restoring CRUISE");
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set_mode(mode_cruise, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
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cruise_state = cruise;
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set_target_altitude_current();
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break;
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}
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case Mode::Number::AUTO:
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal ended, restoring AUTO");
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set_mode(mode_auto, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
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break;
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default:
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break;
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}
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} else {
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// still in thermal - need to update the wp location
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g2.soaring_controller.get_target(next_WP_loc);
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}
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break;
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default:
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// nothing to do
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break;
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}
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}
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#endif // SOARING_ENABLED
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