mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.3 KiB
C++
60 lines
2.3 KiB
C++
#include "mode.h"
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#include "Rover.h"
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void ModeAcro::update()
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{
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// get speed forward
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float speed, desired_steering;
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if (!attitude_control.get_forward_speed(speed)) {
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float desired_throttle;
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// convert pilot stick input into desired steering and throttle
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get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
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// no valid speed, just use the provided throttle
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g2.motors.set_throttle(desired_throttle);
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} else {
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float desired_speed;
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// convert pilot stick input into desired steering and speed
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get_pilot_desired_steering_and_speed(desired_steering, desired_speed);
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calc_throttle(desired_speed, true);
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}
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float steering_out;
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// handle sailboats
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if (!is_zero(desired_steering)) {
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// steering input return control to user
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rover.g2.sailboat.clear_tack();
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}
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if (rover.g2.sailboat.tacking()) {
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// call heading controller during tacking
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steering_out = attitude_control.get_steering_out_heading(rover.g2.sailboat.get_tack_heading_rad(),
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g2.wp_nav.get_pivot_rate(),
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g2.motors.limit.steer_left,
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g2.motors.limit.steer_right,
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rover.G_Dt);
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} else {
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// convert pilot steering input to desired turn rate in radians/sec
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const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate);
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// run steering turn rate controller and throttle controller
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steering_out = attitude_control.get_steering_out_rate(target_turn_rate,
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g2.motors.limit.steer_left,
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g2.motors.limit.steer_right,
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rover.G_Dt);
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}
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set_steering(steering_out * 4500.0f);
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}
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bool ModeAcro::requires_velocity() const
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{
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return !g2.motors.have_skid_steering();
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}
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// sailboats in acro mode support user manually initiating tacking from transmitter
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void ModeAcro::handle_tack_request()
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{
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rover.g2.sailboat.handle_tack_request_acro();
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}
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