mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.4 KiB
Plaintext
74 lines
2.4 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* control_sport.pde - init and run calls for sport flight mode
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*/
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// sport_init - initialise sport controller
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static bool sport_init(bool ignore_checks)
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{
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return true;
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}
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// sport_run - runs the sport controller
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// should be called at 100hz or more
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static void sport_run()
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{
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float target_roll_rate, target_pitch_rate, target_yaw_rate;
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float target_climb_rate = 0;
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// if not armed or throttle at zero, set throttle to zero and exit immediately
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if(!motors.armed() || g.rc_3.control_in <= 0) {
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attitude_control.init_targets();
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attitude_control.set_throttle_out(0, false);
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return;
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}
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// apply SIMPLE mode transform
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update_simple_mode();
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// get pilot's desired roll and pitch rates
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target_roll_rate = g.rc_1.control_in;
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target_pitch_rate = g.rc_2.control_in;
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
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// check for pilot requested take-off
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if (ap.land_complete && target_climb_rate > 0) {
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// indicate we are taking off
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set_land_complete(false);
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// clear i term when we're taking off
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set_throttle_takeoff();
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}
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.init_targets();
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// move throttle to minimum to keep us on the ground
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attitude_control.set_throttle_out(0, false);
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}else{
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// call attitude controller
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attitude_control.rateef_rpy(target_roll_rate, target_pitch_rate, target_yaw_rate);
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// call throttle controller
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if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
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// if sonar is ok, use surface tracking
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target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// call position controller
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pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
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pos_control.update_z_controller();
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}
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// re-fetch angle targets for reporting
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const Vector3f angle_target = attitude_control.angle_ef_targets();
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control_roll = angle_target.x;
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control_pitch = angle_target.y;
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control_yaw = angle_target.z;
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}
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