mirror of https://github.com/ArduPilot/ardupilot
102 lines
3.8 KiB
C++
102 lines
3.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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* control_circle.pde - init and run calls for circle flight mode
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*/
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// circle_init - initialise circle controller flight mode
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bool Copter::circle_init(bool ignore_checks)
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{
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if (position_ok() || ignore_checks) {
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circle_pilot_yaw_override = false;
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// initialize speeds and accelerations
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pos_control.set_speed_xy(wp_nav.get_speed_xy());
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pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
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pos_control.set_jerk_xy_to_default();
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise circle controller including setting the circle center based on vehicle speed
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circle_nav.init();
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return true;
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}else{
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return false;
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}
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}
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// circle_run - runs the circle flight mode
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// should be called at 100hz or more
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void Copter::circle_run()
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{
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float target_yaw_rate = 0;
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float target_climb_rate = 0;
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// initialize speeds and accelerations
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pos_control.set_speed_xy(wp_nav.get_speed_xy());
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pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
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// To-Do: add some initialisation of position controllers
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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// process pilot inputs
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if (!failsafe.radio) {
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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if (!is_zero(target_yaw_rate)) {
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circle_pilot_yaw_override = true;
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}
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
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// check for pilot requested take-off
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if (ap.land_complete && target_climb_rate > 0) {
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// indicate we are taking off
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set_land_complete(false);
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// clear i term when we're taking off
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set_throttle_takeoff();
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}
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// run circle controller
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circle_nav.update();
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// call attitude controller
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if (circle_pilot_yaw_override) {
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate);
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}else{
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attitude_control.input_euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
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}
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// run altitude controller
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if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
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// if sonar is ok, use surface tracking
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target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// update altitude target and call position controller
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pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
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pos_control.update_z_controller();
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}
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