mirror of https://github.com/ArduPilot/ardupilot
59 lines
2.0 KiB
Plaintext
59 lines
2.0 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
* control_stabilize.pde - init and run calls for stabilize flight mode
|
|
*/
|
|
|
|
// stabilize_init - initialise stabilize controller
|
|
static bool stabilize_init(bool ignore_checks)
|
|
{
|
|
// set target altitude to zero for reporting
|
|
// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
|
|
pos_control.set_alt_target(0);
|
|
|
|
// stabilize should never be made to fail
|
|
return true;
|
|
}
|
|
|
|
// stabilize_run - runs the main stabilize controller
|
|
// should be called at 100hz or more
|
|
static void stabilize_run()
|
|
{
|
|
int16_t target_roll, target_pitch;
|
|
float target_yaw_rate;
|
|
int16_t pilot_throttle_scaled;
|
|
|
|
// if not armed or throttle at zero, set throttle to zero and exit immediately
|
|
if(!motors.armed() || g.rc_3.control_in <= 0) {
|
|
attitude_control.init_targets();
|
|
attitude_control.set_throttle_out(0, false);
|
|
return;
|
|
}
|
|
|
|
// apply SIMPLE mode transform to pilot inputs
|
|
update_simple_mode();
|
|
|
|
// convert pilot input to lean angles
|
|
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
|
|
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
|
|
|
|
// get pilot's desired yaw rate
|
|
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
|
|
|
|
// get pilot's desired throttle
|
|
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
|
|
|
|
// reset target lean angles and heading while landed
|
|
if (ap.land_complete) {
|
|
attitude_control.init_targets();
|
|
}else{
|
|
// call attitude controller
|
|
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
|
|
|
|
// body-frame rate controller is run directly from 100hz loop
|
|
}
|
|
|
|
// output pilot's throttle
|
|
attitude_control.set_throttle_out(pilot_throttle_scaled, true);
|
|
}
|