mirror of https://github.com/ArduPilot/ardupilot
85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
#include "mode.h"
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#include "Plane.h"
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#if HAL_QUADPLANE_ENABLED
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bool ModeQStabilize::_enter()
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{
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quadplane.throttle_wait = false;
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return true;
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}
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void ModeQStabilize::update()
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{
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// set nav_roll and nav_pitch using sticks
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// Beware that QuadPlane::tailsitter_check_input (called from Plane::read_radio)
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// may alter the control_in values for roll and yaw, but not the corresponding
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// radio_in values. This means that the results for norm_input would not necessarily
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// be correct for tailsitters, so get_control_in() must be used instead.
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// normalize control_input to [-1,1]
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const float roll_input = (float)plane.channel_roll->get_control_in() / plane.channel_roll->get_range();
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const float pitch_input = (float)plane.channel_pitch->get_control_in() / plane.channel_pitch->get_range();
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// then scale to target angles in centidegrees
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if (plane.quadplane.tailsitter.active()) {
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// tailsitters are different
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set_tailsitter_roll_pitch(roll_input, pitch_input);
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return;
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}
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if ((plane.quadplane.options & QuadPlane::OPTION_INGORE_FW_ANGLE_LIMITS_IN_Q_MODES) == 0) {
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// by default angles are also constrained by forward flight limits
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set_limited_roll_pitch(roll_input, pitch_input);
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} else {
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// use angle max for both roll and pitch
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plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
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plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
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}
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}
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// quadplane stabilize mode
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void ModeQStabilize::run()
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{
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// special check for ESC calibration in QSTABILIZE
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if (quadplane.esc_calibration != 0) {
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quadplane.run_esc_calibration();
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return;
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}
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// normal QSTABILIZE mode
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float pilot_throttle_scaled = quadplane.get_pilot_throttle();
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quadplane.hold_stabilize(pilot_throttle_scaled);
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}
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// set the desired roll and pitch for a tailsitter
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void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const float pitch_input)
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{
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// separate limit for roll, if set
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if (plane.quadplane.tailsitter.max_roll_angle > 0) {
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// roll param is in degrees not centidegrees
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plane.nav_roll_cd = plane.quadplane.tailsitter.max_roll_angle * 100.0f * roll_input;
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} else {
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plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
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}
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// angle max for tailsitter pitch
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plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
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plane.quadplane.transition->set_VTOL_roll_pitch_limit(plane.nav_roll_cd, plane.nav_pitch_cd);
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}
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// set the desired roll and pitch for normal quadplanes, also limited by forward flight limtis
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void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
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{
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plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
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// pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
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// tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
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if (pitch_input > 0) {
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plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
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} else {
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plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
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}
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}
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#endif
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