ardupilot/ArduCopter/control_land.cpp

276 lines
9.6 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
static bool land_with_gps;
static uint32_t land_start_time;
static bool land_pause;
// land_init - initialise land controller
bool Copter::land_init(bool ignore_checks)
{
// check if we have GPS and decide which LAND we're going to do
land_with_gps = position_ok();
if (land_with_gps) {
// set target to stopping point
Vector3f stopping_point;
wp_nav.get_loiter_stopping_point_xy(stopping_point);
wp_nav.init_loiter_target(stopping_point);
}
// initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
pos_control.set_accel_z(wp_nav.get_accel_z());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
land_start_time = millis();
land_pause = false;
// reset flag indicating if pilot has applied roll or pitch inputs during landing
ap.land_repo_active = false;
return true;
}
// land_run - runs the land controller
// should be called at 100hz or more
void Copter::land_run()
{
if (land_with_gps) {
land_gps_run();
}else{
land_nogps_run();
}
}
// land_run - runs the land controller
// horizontal position controlled with loiter controller
// should be called at 100hz or more
void Copter::land_gps_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
wp_nav.init_loiter_target();
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
init_disarm_motors();
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
}
#endif
return;
}
// relax loiter target if we might be landed
if (ap.land_complete_maybe) {
wp_nav.loiter_soften_for_landing();
}
// process pilot inputs
if (!failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = channel_roll->control_in;
pitch_control = channel_pitch->control_in;
// record if pilot has overriden roll or pitch
if (roll_control != 0 || pitch_control != 0) {
ap.land_repo_active = true;
}
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
#if PRECISION_LANDING == ENABLED
// run precision landing
if (!ap.land_repo_active) {
wp_nav.shift_loiter_target(precland.get_target_shift(wp_nav.get_loiter_target()));
}
#endif
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// pause 4 seconds before beginning land descent
float cmb_rate;
if(land_pause && millis()-land_start_time < 4000) {
cmb_rate = 0;
} else {
land_pause = false;
cmb_rate = get_land_descent_speed();
}
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
}
// land_nogps_run - runs the land controller
// pilot controls roll and pitch angles
// should be called at 100hz or more
void Copter::land_nogps_run()
{
float target_roll = 0.0f, target_pitch = 0.0f;
float target_yaw_rate = 0;
// process pilot inputs
if (!failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
set_mode(ALT_HOLD);
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, aparm.angle_max);
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
init_disarm_motors();
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
}
#endif
return;
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// pause 4 seconds before beginning land descent
float cmb_rate;
if(land_pause && millis()-land_start_time < LAND_WITH_DELAY_MS) {
cmb_rate = 0;
} else {
land_pause = false;
cmb_rate = get_land_descent_speed();
}
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// call position controller
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
}
// get_land_descent_speed - high level landing logic
// returns climb rate (in cm/s) which should be passed to the position controller
// should be called at 100hz or higher
float Copter::get_land_descent_speed()
{
#if CONFIG_SONAR == ENABLED
bool sonar_ok = sonar_enabled && (sonar.status() == RangeFinder::RangeFinder_Good);
#else
bool sonar_ok = false;
#endif
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (pos_control.get_pos_target().z >= pv_alt_above_origin(LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
if (g.land_speed_high > 0) {
// user has asked for a different landing speed than normal descent rate
return -abs(g.land_speed_high);
}
return pos_control.get_speed_down();
}else{
return -abs(g.land_speed);
}
}
// land_do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
// called during GPS failsafe to ensure that if we were already in LAND mode that we do not use the GPS
// has no effect if we are not already in LAND mode
void Copter::land_do_not_use_GPS()
{
land_with_gps = false;
}
// set_mode_land_with_pause - sets mode to LAND and triggers 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_land_with_pause()
{
set_mode(LAND);
land_pause = true;
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}
// landing_with_GPS - returns true if vehicle is landing using GPS
bool Copter::landing_with_GPS() {
return (control_mode == LAND && land_with_gps);
}