mirror of https://github.com/ArduPilot/ardupilot
184 lines
7.7 KiB
C++
184 lines
7.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#include "Copter.h"
|
|
|
|
|
|
/*
|
|
* control_althold.pde - init and run calls for althold, flight mode
|
|
*/
|
|
|
|
// althold_init - initialise althold controller
|
|
bool Copter::althold_init(bool ignore_checks)
|
|
{
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// do not allow helis to enter Alt Hold if the Rotor Runup is not complete
|
|
if (!ignore_checks && !motors.rotor_runup_complete()){
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
// initialize vertical speeds and leash lengths
|
|
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 position and desired velocity
|
|
pos_control.set_alt_target(inertial_nav.get_altitude());
|
|
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
|
|
|
|
// stop takeoff if running
|
|
takeoff_stop();
|
|
|
|
return true;
|
|
}
|
|
|
|
// althold_run - runs the althold controller
|
|
// should be called at 100hz or more
|
|
void Copter::althold_run()
|
|
{
|
|
AltHoldModeState althold_state;
|
|
float takeoff_climb_rate = 0.0f;
|
|
|
|
// initialize vertical speeds and acceleration
|
|
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
|
|
pos_control.set_accel_z(g.pilot_accel_z);
|
|
|
|
// apply SIMPLE mode transform to pilot inputs
|
|
update_simple_mode();
|
|
|
|
// get pilot desired lean angles
|
|
float target_roll, target_pitch;
|
|
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
|
|
|
|
// get pilot's desired yaw rate
|
|
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
|
|
|
|
// get pilot desired climb rate
|
|
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
|
|
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// helicopters are held on the ground until rotor speed runup has finished
|
|
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.rotor_runup_complete());
|
|
#else
|
|
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.spool_up_complete());
|
|
#endif
|
|
|
|
// Alt Hold State Machine Determination
|
|
if (!motors.armed() || !motors.get_interlock()) {
|
|
althold_state = AltHold_MotorStop;
|
|
} else if (!ap.auto_armed){
|
|
althold_state = AltHold_Disarmed;
|
|
} else if (takeoff_state.running || takeoff_triggered){
|
|
althold_state = AltHold_Takeoff;
|
|
} else if (ap.land_complete){
|
|
althold_state = AltHold_Landed;
|
|
} else {
|
|
althold_state = AltHold_Flying;
|
|
}
|
|
|
|
// Alt Hold State Machine
|
|
switch (althold_state) {
|
|
|
|
case AltHold_Disarmed:
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
|
|
attitude_control.set_yaw_target_to_current_heading();
|
|
// call attitude controller
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
|
|
attitude_control.set_throttle_out(0,false,g.throttle_filt);
|
|
#else
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
|
|
// Multicopter do not stabilize roll/pitch/yaw when disarmed
|
|
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
|
|
#endif // HELI_FRAME
|
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
|
|
break;
|
|
|
|
case AltHold_MotorStop:
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// helicopters are capable of flying even with the motor stopped, therefore we will attempt to keep flying
|
|
// call attitude controller
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
|
|
|
|
// force descent rate and call position controller
|
|
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
|
|
pos_control.update_z_controller();
|
|
#else // Multicopter do not stabilize roll/pitch/yaw when motor are stopped
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
|
|
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
|
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
|
|
#endif // HELI_FRAME
|
|
break;
|
|
|
|
case AltHold_Takeoff:
|
|
|
|
// initiate take-off
|
|
if (!takeoff_state.running) {
|
|
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
|
|
// indicate we are taking off
|
|
set_land_complete(false);
|
|
// clear i terms
|
|
set_throttle_takeoff();
|
|
}
|
|
|
|
// get take-off adjusted pilot and takeoff climb rates
|
|
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
|
|
|
|
|
|
// if throttle zero reset attitude and exit immediately
|
|
if (ap.throttle_zero) {
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
|
|
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
|
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
|
|
return;
|
|
}
|
|
|
|
// set motors to full range
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
|
|
|
// call attitude controller
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
|
|
|
|
// call position controller
|
|
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
|
|
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
|
|
pos_control.update_z_controller();
|
|
break;
|
|
|
|
case AltHold_Landed:
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
|
|
attitude_control.set_yaw_target_to_current_heading();
|
|
// call attitude controller
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
|
|
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
|
|
#else // Multicopter stabilize roll/pitch/yaw when landed
|
|
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
|
|
// if throttle zero reset attitude and exit immediately
|
|
if (ap.throttle_zero) {
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
|
|
}else{
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
|
}
|
|
#endif
|
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
|
|
break;
|
|
|
|
case AltHold_Flying:
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
|
// call attitude controller
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
|
|
|
|
// call throttle controller
|
|
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
|
|
// if sonar is ok, use surface tracking
|
|
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
|
|
}
|
|
|
|
// call position controller
|
|
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
|
|
pos_control.update_z_controller();
|
|
break;
|
|
}
|
|
}
|