mirror of https://github.com/ArduPilot/ardupilot
83 lines
3.1 KiB
C++
83 lines
3.1 KiB
C++
#include "Copter.h"
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* Init and run calls for stabilize flight mode for trad heli
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*/
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// stabilize_init - initialise stabilize controller
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bool ModeStabilize_Heli::init(bool ignore_checks)
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{
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// set stab collective true to use stabilize scaled collective pitch range
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copter.input_manager.set_use_stab_col(true);
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return true;
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}
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// stabilize_run - runs the main stabilize controller
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// should be called at 100hz or more
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void ModeStabilize_Heli::run()
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{
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float target_roll, target_pitch;
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float target_yaw_rate;
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float pilot_throttle_scaled;
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// convert pilot input to lean angles
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get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// get pilot's desired throttle
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pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
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// we may be in autorotation flight. This is so that the servos move in a realistic fashion while disarmed
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// for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero
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// so the swash servos move.
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
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} else {
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// heli will not let the spool state progress to THROTTLE_UNLIMITED until motor interlock is enabled
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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switch (motors->get_spool_state()) {
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case AP_Motors::SpoolState::SHUT_DOWN:
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// Motors Stopped
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attitude_control->set_yaw_target_to_current_heading();
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attitude_control->reset_rate_controller_I_terms();
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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// If aircraft is landed, set target heading to current and reset the integrator
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// Otherwise motors could be at ground idle for practice autorotation
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if (copter.ap.land_complete) {
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attitude_control->set_yaw_target_to_current_heading();
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attitude_control->reset_rate_controller_I_terms();
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}
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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if (copter.ap.land_complete) {
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attitude_control->reset_rate_controller_I_terms();
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}
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break;
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case AP_Motors::SpoolState::SPOOLING_UP:
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case AP_Motors::SpoolState::SPOOLING_DOWN:
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// do nothing
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break;
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}
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// output pilot's throttle - note that TradHeli does not used angle-boost
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attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
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#endif //HELI_FRAME
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