ardupilot/ArduCopter/mode_althold.cpp

104 lines
3.6 KiB
C++

#include "Copter.h"
/*
* Init and run calls for althold, flight mode
*/
// althold_init - initialise althold controller
bool ModeAltHold::init(bool ignore_checks)
{
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
pos_control->init_z_controller();
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
pos_control->set_correction_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
void ModeAltHold::run()
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
// Alt Hold State Machine Determination
AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate);
// Alt Hold State Machine
switch (althold_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(false);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// set position controller targets adjusted for pilot input
takeoff.do_pilot_takeoff(target_climb_rate);
break;
case AltHold_Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if AP_AVOIDANCE_ENABLED
// apply avoidance
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
#endif
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// update the vertical offset based on the surface measurement
copter.surface_tracking.update_surface_offset();
// Send the commanded climb rate to the position controller
pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
break;
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// run the vertical position controller and set output throttle
pos_control->update_z_controller();
}