mirror of https://github.com/ArduPilot/ardupilot
129 lines
4.1 KiB
C++
129 lines
4.1 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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// This file contains the high-level takeoff logic for Loiter, PosHold, AltHold, Sport modes.
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// The take-off can be initiated from a GCS NAV_TAKEOFF command which includes a takeoff altitude
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// A safe takeoff speed is calculated and used to calculate a time_ms
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// the pos_control target is then slowly increased until time_ms expires
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// return true if this flight mode supports user takeoff
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// must_nagivate is true if mode must also control horizontal position
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bool Copter::current_mode_has_user_takeoff(bool must_navigate)
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{
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switch (control_mode) {
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case GUIDED:
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case LOITER:
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case POSHOLD:
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return true;
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case ALT_HOLD:
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case SPORT:
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return !must_navigate;
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default:
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return false;
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}
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}
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// initiate user takeoff - called when MAVLink TAKEOFF command is received
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bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
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{
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if (motors.armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
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#if FRAME_CONFIG == HELI_FRAME
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// Helicopters should return false if MAVlink takeoff command is received while the rotor is not spinning
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if (!motors.rotor_runup_complete()) {
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return false;
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}
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#endif
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switch(control_mode) {
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case GUIDED:
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set_auto_armed(true);
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guided_takeoff_start(takeoff_alt_cm);
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return true;
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case LOITER:
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case POSHOLD:
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case ALT_HOLD:
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case SPORT:
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set_auto_armed(true);
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takeoff_timer_start(takeoff_alt_cm);
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return true;
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}
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}
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return false;
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}
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// start takeoff to specified altitude above home in centimeters
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void Copter::takeoff_timer_start(float alt_cm)
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{
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// calculate climb rate
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float speed = min(wp_nav.get_speed_up(), max(g.pilot_velocity_z_max*2.0f/3.0f, g.pilot_velocity_z_max-50.0f));
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// sanity check speed and target
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if (takeoff_state.running || speed <= 0.0f || alt_cm <= 0.0f) {
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return;
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}
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// initialise takeoff state
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takeoff_state.running = true;
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takeoff_state.speed = speed;
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takeoff_state.start_ms = millis();
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takeoff_state.time_ms = (alt_cm/takeoff_state.speed) * 1.0e3f;
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}
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// stop takeoff
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void Copter::takeoff_stop()
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{
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takeoff_state.running = false;
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takeoff_state.start_ms = 0;
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}
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// returns pilot and takeoff climb rates
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// pilot_climb_rate is both an input and an output
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// takeoff_climb_rate is only an output
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// has side-effect of turning takeoff off when timeout as expired
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void Copter::takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate)
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{
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// return pilot_climb_rate if take-off inactive
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if (!takeoff_state.running) {
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takeoff_climb_rate = 0.0f;
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return;
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}
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// check if timeout as expired
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if ((millis()-takeoff_state.start_ms) >= takeoff_state.time_ms) {
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takeoff_stop();
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takeoff_climb_rate = 0.0f;
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return;
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}
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// if takeoff climb rate is zero return
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if (takeoff_state.speed <= 0.0f) {
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takeoff_climb_rate = 0.0f;
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return;
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}
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// default take-off climb rate to maximum speed
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takeoff_climb_rate = takeoff_state.speed;
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// if pilot's commands descent
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if (pilot_climb_rate < 0.0f) {
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// if overall climb rate is still positive, move to take-off climb rate
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if (takeoff_climb_rate + pilot_climb_rate > 0.0f) {
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takeoff_climb_rate = takeoff_climb_rate + pilot_climb_rate;
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pilot_climb_rate = 0;
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} else {
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// if overall is negative, move to pilot climb rate
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pilot_climb_rate = pilot_climb_rate + takeoff_climb_rate;
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takeoff_climb_rate = 0.0f;
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}
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} else { // pilot commands climb
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// pilot climb rate is zero until it surpasses the take-off climb rate
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if (pilot_climb_rate > takeoff_climb_rate) {
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pilot_climb_rate = pilot_climb_rate - takeoff_climb_rate;
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} else {
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pilot_climb_rate = 0.0f;
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}
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}
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}
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