ardupilot/ArduCopter/mode_stabilize_heli.cpp

75 lines
2.9 KiB
C++

#include "Copter.h"
#if FRAME_CONFIG == HELI_FRAME
/*
* Init and run calls for stabilize flight mode for trad heli
*/
// stabilize_init - initialise stabilize controller
bool Copter::ModeStabilize_Heli::init(bool ignore_checks)
{
// set target altitude to zero for reporting
// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
pos_control->set_alt_target(0);
// set stab collective true to use stabilize scaled collective pitch range
_copter.input_manager.set_use_stab_col(true);
return true;
}
// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void Copter::ModeStabilize_Heli::run()
{
float target_roll, target_pitch;
float target_yaw_rate;
float pilot_throttle_scaled;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors->armed()) {
_copter.heli_flags.init_targets_on_arming = true;
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
}
if(motors->armed() && _copter.heli_flags.init_targets_on_arming) {
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
if (motors->get_interlock()) {
_copter.heli_flags.init_targets_on_arming=false;
}
}
// clear landing flag above zero throttle
if (motors->armed() && motors->get_interlock() && motors->rotor_runup_complete() && !ap.throttle_zero) {
set_land_complete(false);
}
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, _copter.aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// get pilot's desired throttle
pilot_throttle_scaled = _copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// output pilot's throttle - note that TradHeli does not used angle-boost
attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
}
#endif //HELI_FRAME