mirror of https://github.com/ArduPilot/ardupilot
54 lines
2.1 KiB
C++
54 lines
2.1 KiB
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeQStabilize::_enter()
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{
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plane.throttle_allows_nudging = true;
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plane.auto_navigation_mode = false;
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if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
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plane.control_mode = plane.previous_mode;
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} else {
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plane.auto_throttle_mode = false;
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plane.auto_state.vtol_mode = true;
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}
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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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if (plane.quadplane.tailsitter_active() && (plane.control_mode == &plane.mode_qacro)) {
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// get nav_roll and nav_pitch from multicopter attitude controller
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Vector3f att_target = plane.quadplane.attitude_control->get_att_target_euler_cd();
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plane.nav_pitch_cd = att_target.y;
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plane.nav_roll_cd = att_target.x;
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return;
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}
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// set nav_roll and nav_pitch using sticks
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int16_t roll_limit = MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
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float pitch_input = plane.channel_pitch->norm_input();
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// Scale from normalized input [-1,1] to centidegrees
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if (plane.quadplane.tailsitter_active()) {
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// separate limit for tailsitter roll, if set
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if (plane.quadplane.tailsitter.max_roll_angle > 0) {
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roll_limit = plane.quadplane.tailsitter.max_roll_angle * 100.0f;
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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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} else {
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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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plane.nav_pitch_cd = constrain_int32(plane.nav_pitch_cd, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
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}
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plane.nav_roll_cd = (plane.channel_roll->get_control_in() / 4500.0) * roll_limit;
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plane.nav_roll_cd = constrain_int32(plane.nav_roll_cd, -roll_limit, roll_limit);
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}
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