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ardupilot/ArduCopter/mode.cpp

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#include "Copter.h"
/*
* High level calls to set and update flight modes logic for individual
* flight modes is in control_acro.cpp, control_stabilize.cpp, etc
*/
/*
constructor for Mode object
*/
Mode::Mode(void) :
g(copter.g),
g2(copter.g2),
wp_nav(copter.wp_nav),
loiter_nav(copter.loiter_nav),
pos_control(copter.pos_control),
inertial_nav(copter.inertial_nav),
ahrs(copter.ahrs),
attitude_control(copter.attitude_control),
motors(copter.motors),
channel_roll(copter.channel_roll),
channel_pitch(copter.channel_pitch),
channel_throttle(copter.channel_throttle),
channel_yaw(copter.channel_yaw),
G_Dt(copter.G_Dt)
{ };
#if AC_PAYLOAD_PLACE_ENABLED
PayloadPlace Mode::payload_place;
#endif
// return the static controller object corresponding to supplied mode
Mode *Copter::mode_from_mode_num(const Mode::Number mode)
{
Mode *ret = nullptr;
switch (mode) {
#if MODE_ACRO_ENABLED == ENABLED
case Mode::Number::ACRO:
ret = &mode_acro;
break;
#endif
case Mode::Number::STABILIZE:
ret = &mode_stabilize;
break;
case Mode::Number::ALT_HOLD:
ret = &mode_althold;
break;
#if MODE_AUTO_ENABLED == ENABLED
case Mode::Number::AUTO:
ret = &mode_auto;
break;
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
case Mode::Number::CIRCLE:
ret = &mode_circle;
break;
#endif
#if MODE_LOITER_ENABLED == ENABLED
case Mode::Number::LOITER:
ret = &mode_loiter;
break;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
case Mode::Number::GUIDED:
ret = &mode_guided;
break;
#endif
case Mode::Number::LAND:
ret = &mode_land;
break;
#if MODE_RTL_ENABLED == ENABLED
case Mode::Number::RTL:
ret = &mode_rtl;
break;
#endif
#if MODE_DRIFT_ENABLED == ENABLED
case Mode::Number::DRIFT:
ret = &mode_drift;
break;
#endif
#if MODE_SPORT_ENABLED == ENABLED
case Mode::Number::SPORT:
ret = &mode_sport;
break;
#endif
#if MODE_FLIP_ENABLED == ENABLED
case Mode::Number::FLIP:
ret = &mode_flip;
break;
#endif
#if AUTOTUNE_ENABLED == ENABLED
case Mode::Number::AUTOTUNE:
ret = &mode_autotune;
break;
#endif
#if MODE_POSHOLD_ENABLED == ENABLED
case Mode::Number::POSHOLD:
ret = &mode_poshold;
break;
#endif
#if MODE_BRAKE_ENABLED == ENABLED
case Mode::Number::BRAKE:
ret = &mode_brake;
break;
#endif
#if MODE_THROW_ENABLED == ENABLED
case Mode::Number::THROW:
ret = &mode_throw;
break;
#endif
#if HAL_ADSB_ENABLED
case Mode::Number::AVOID_ADSB:
ret = &mode_avoid_adsb;
break;
#endif
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
case Mode::Number::GUIDED_NOGPS:
ret = &mode_guided_nogps;
break;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
case Mode::Number::SMART_RTL:
ret = &mode_smartrtl;
break;
#endif
#if MODE_FLOWHOLD_ENABLED == ENABLED
case Mode::Number::FLOWHOLD:
ret = (Mode *)g2.mode_flowhold_ptr;
break;
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
case Mode::Number::FOLLOW:
ret = &mode_follow;
break;
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
case Mode::Number::ZIGZAG:
ret = &mode_zigzag;
break;
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
case Mode::Number::SYSTEMID:
ret = (Mode *)g2.mode_systemid_ptr;
break;
#endif
#if MODE_AUTOROTATE_ENABLED == ENABLED
case Mode::Number::AUTOROTATE:
ret = &mode_autorotate;
break;
#endif
#if MODE_TURTLE_ENABLED == ENABLED
case Mode::Number::TURTLE:
ret = &mode_turtle;
break;
#endif
default:
break;
}
return ret;
}
// called when an attempt to change into a mode is unsuccessful:
void Copter::mode_change_failed(const Mode *mode, const char *reason)
{
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to %s failed: %s", mode->name(), reason);
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode->mode_number()));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
}
// Check if this mode can be entered from the GCS
bool Copter::gcs_mode_enabled(const Mode::Number mode_num)
{
// List of modes that can be blocked, index is bit number in parameter bitmask
static const uint8_t mode_list [] {
(uint8_t)Mode::Number::STABILIZE,
(uint8_t)Mode::Number::ACRO,
(uint8_t)Mode::Number::ALT_HOLD,
(uint8_t)Mode::Number::AUTO,
(uint8_t)Mode::Number::GUIDED,
(uint8_t)Mode::Number::LOITER,
(uint8_t)Mode::Number::CIRCLE,
(uint8_t)Mode::Number::DRIFT,
(uint8_t)Mode::Number::SPORT,
(uint8_t)Mode::Number::FLIP,
(uint8_t)Mode::Number::AUTOTUNE,
(uint8_t)Mode::Number::POSHOLD,
(uint8_t)Mode::Number::BRAKE,
(uint8_t)Mode::Number::THROW,
(uint8_t)Mode::Number::AVOID_ADSB,
(uint8_t)Mode::Number::GUIDED_NOGPS,
(uint8_t)Mode::Number::SMART_RTL,
(uint8_t)Mode::Number::FLOWHOLD,
(uint8_t)Mode::Number::FOLLOW,
(uint8_t)Mode::Number::ZIGZAG,
(uint8_t)Mode::Number::SYSTEMID,
(uint8_t)Mode::Number::AUTOROTATE,
(uint8_t)Mode::Number::AUTO_RTL,
(uint8_t)Mode::Number::TURTLE
};
if (!block_GCS_mode_change((uint8_t)mode_num, mode_list, ARRAY_SIZE(mode_list))) {
return true;
}
// Mode disabled, try and grab a mode name to give a better warning.
Mode *new_flightmode = mode_from_mode_num(mode_num);
if (new_flightmode != nullptr) {
mode_change_failed(new_flightmode, "GCS entry disabled (FLTMODE_GCSBLOCK)");
} else {
notify_no_such_mode((uint8_t)mode_num);
}
return false;
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Copter::set_mode(Mode::Number mode, ModeReason reason)
{
// update last reason
const ModeReason last_reason = _last_reason;
_last_reason = reason;
// return immediately if we are already in the desired mode
if (mode == flightmode->mode_number()) {
control_mode_reason = reason;
// set yaw rate time constant during autopilot startup
if (reason == ModeReason::INITIALISED && mode == Mode::Number::STABILIZE) {
attitude_control->set_yaw_rate_tc(g2.command_model_pilot.get_rate_tc());
}
// make happy noise
if (copter.ap.initialised && (reason != last_reason)) {
AP_Notify::events.user_mode_change = 1;
}
return true;
}
// Check if GCS mode change is disabled via parameter
if ((reason == ModeReason::GCS_COMMAND) && !gcs_mode_enabled(mode)) {
return false;
}
#if MODE_AUTO_ENABLED == ENABLED
if (mode == Mode::Number::AUTO_RTL) {
// Special case for AUTO RTL, not a true mode, just AUTO in disguise
// Attempt to join return path, fallback to do-land-start
return mode_auto.return_path_or_jump_to_landing_sequence_auto_RTL(reason);
}
#endif
Mode *new_flightmode = mode_from_mode_num(mode);
if (new_flightmode == nullptr) {
notify_no_such_mode((uint8_t)mode);
return false;
}
bool ignore_checks = !motors->armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter a non-manual throttle mode if the
// rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() &&
(motors->get_spool_state() == AP_Motors::SpoolState::SPOOLING_UP || motors->get_spool_state() == AP_Motors::SpoolState::SPOOLING_DOWN)) {
#if MODE_AUTOROTATE_ENABLED == ENABLED
//if the mode being exited is the autorotation mode allow mode change despite rotor not being at
//full speed. This will reduce altitude loss on bail-outs back to non-manual throttle modes
bool in_autorotation_check = (flightmode != &mode_autorotate || new_flightmode != &mode_autorotate);
#else
bool in_autorotation_check = false;
#endif
if (!in_autorotation_check) {
mode_change_failed(new_flightmode, "runup not complete");
return false;
}
}
#endif
#if FRAME_CONFIG != HELI_FRAME
// ensure vehicle doesn't leap off the ground if a user switches
// into a manual throttle mode from a non-manual-throttle mode
// (e.g. user arms in guided, raises throttle to 1300 (not enough to
// trigger auto takeoff), then switches into manual):
bool user_throttle = new_flightmode->has_manual_throttle();
#if MODE_DRIFT_ENABLED == ENABLED
if (new_flightmode == &mode_drift) {
user_throttle = true;
}
#endif
if (!ignore_checks &&
ap.land_complete &&
user_throttle &&
!copter.flightmode->has_manual_throttle() &&
new_flightmode->get_pilot_desired_throttle() > copter.get_non_takeoff_throttle()) {
mode_change_failed(new_flightmode, "throttle too high");
return false;
}
#endif
if (!ignore_checks &&
new_flightmode->requires_GPS() &&
!copter.position_ok()) {
mode_change_failed(new_flightmode, "requires position");
return false;
}
// check for valid altitude if old mode did not require it but new one does
// we only want to stop changing modes if it could make things worse
if (!ignore_checks &&
!copter.ekf_alt_ok() &&
flightmode->has_manual_throttle() &&
!new_flightmode->has_manual_throttle()) {
mode_change_failed(new_flightmode, "need alt estimate");
return false;
}
if (!new_flightmode->init(ignore_checks)) {
mode_change_failed(new_flightmode, "init failed");
return false;
}
// perform any cleanup required by previous flight mode
exit_mode(flightmode, new_flightmode);
// store previous flight mode (only used by tradeheli's autorotation)
prev_control_mode = flightmode->mode_number();
// update flight mode
flightmode = new_flightmode;
control_mode_reason = reason;
#if HAL_LOGGING_ENABLED
logger.Write_Mode((uint8_t)flightmode->mode_number(), reason);
#endif
gcs().send_message(MSG_HEARTBEAT);
#if HAL_ADSB_ENABLED
adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED));
#endif
#if AP_FENCE_ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
#if AP_CAMERA_ENABLED
camera.set_is_auto_mode(flightmode->mode_number() == Mode::Number::AUTO);
#endif
// set rate shaping time constants
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
attitude_control->set_roll_pitch_rate_tc(g2.command_model_acro_rp.get_rate_tc());
#endif
attitude_control->set_yaw_rate_tc(g2.command_model_pilot.get_rate_tc());
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
if (mode== Mode::Number::ACRO || mode== Mode::Number::DRIFT) {
attitude_control->set_yaw_rate_tc(g2.command_model_acro_y.get_rate_tc());
}
#endif
// update notify object
notify_flight_mode();
// make happy noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
// return success
return true;
}
bool Copter::set_mode(const uint8_t new_mode, const ModeReason reason)
{
static_assert(sizeof(Mode::Number) == sizeof(new_mode), "The new mode can't be mapped to the vehicles mode number");
#ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
if (reason == ModeReason::GCS_COMMAND && copter.failsafe.radio) {
// don't allow mode changes while in radio failsafe
return false;
}
#endif
return copter.set_mode(static_cast<Mode::Number>(new_mode), reason);
}
// update_flight_mode - calls the appropriate attitude controllers based on flight mode
// called at 100hz or more
void Copter::update_flight_mode()
{
#if AP_RANGEFINDER_ENABLED
surface_tracking.invalidate_for_logging(); // invalidate surface tracking alt, flight mode will set to true if used
#endif
flightmode->run();
}
// exit_mode - high level call to organise cleanup as a flight mode is exited
void Copter::exit_mode(Mode *&old_flightmode,
Mode *&new_flightmode)
{
// smooth throttle transition when switching from manual to automatic flight modes
if (old_flightmode->has_manual_throttle() && !new_flightmode->has_manual_throttle() && motors->armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle();
}
// cancel any takeoffs in progress
old_flightmode->takeoff_stop();
// perform cleanup required for each flight mode
old_flightmode->exit();
#if FRAME_CONFIG == HELI_FRAME
// firmly reset the flybar passthrough to false when exiting acro mode.
if (old_flightmode == &mode_acro) {
attitude_control->use_flybar_passthrough(false, false);
motors->set_acro_tail(false);
}
// if we are changing from a mode that did not use manual throttle,
// stab col ramp value should be pre-loaded to the correct value to avoid a twitch
// heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
if (!old_flightmode->has_manual_throttle()){
if (new_flightmode == &mode_stabilize){
input_manager.set_stab_col_ramp(1.0);
} else if (new_flightmode == &mode_acro){
input_manager.set_stab_col_ramp(0.0);
}
}
// Make sure inverted flight is disabled if not supported in the new mode
if (!new_flightmode->allows_inverted()) {
attitude_control->set_inverted_flight(false);
}
#endif //HELI_FRAME
}
// notify_flight_mode - sets notify object based on current flight mode. Only used for OreoLED notify device
void Copter::notify_flight_mode() {
AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();
AP_Notify::flags.flight_mode = (uint8_t)flightmode->mode_number();
notify.set_flight_mode_str(flightmode->name4());
}
// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
// returns desired angle in centi-degrees
void Mode::get_pilot_desired_lean_angles(float &roll_out_cd, float &pitch_out_cd, float angle_max_cd, float angle_limit_cd) const
{
// throttle failsafe check
if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
roll_out_cd = 0.0;
pitch_out_cd = 0.0;
return;
}
//transform pilot's normalised roll or pitch stick input into a roll and pitch euler angle command
float roll_out_deg;
float pitch_out_deg;
rc_input_to_roll_pitch(channel_roll->get_control_in()*(1.0/ROLL_PITCH_YAW_INPUT_MAX), channel_pitch->get_control_in()*(1.0/ROLL_PITCH_YAW_INPUT_MAX), angle_max_cd * 0.01, angle_limit_cd * 0.01, roll_out_deg, pitch_out_deg);
// Convert to centi-degrees
roll_out_cd = roll_out_deg * 100.0;
pitch_out_cd = pitch_out_deg * 100.0;
}
// transform pilot's roll or pitch input into a desired velocity
Vector2f Mode::get_pilot_desired_velocity(float vel_max) const
{
Vector2f vel;
// throttle failsafe check
if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
return vel;
}
// fetch roll and pitch inputs
float roll_out = channel_roll->get_control_in();
float pitch_out = channel_pitch->get_control_in();
// convert roll and pitch inputs to -1 to +1 range
float scaler = 1.0 / (float)ROLL_PITCH_YAW_INPUT_MAX;
roll_out *= scaler;
pitch_out *= scaler;
// convert roll and pitch inputs into velocity in NE frame
vel = Vector2f(-pitch_out, roll_out);
if (vel.is_zero()) {
return vel;
}
copter.rotate_body_frame_to_NE(vel.x, vel.y);
// Transform square input range to circular output
// vel_scaler is the vector to the edge of the +- 1.0 square in the direction of the current input
Vector2f vel_scaler = vel / MAX(fabsf(vel.x), fabsf(vel.y));
// We scale the output by the ratio of the distance to the square to the unit circle and multiply by vel_max
vel *= vel_max / vel_scaler.length();
return vel;
}
bool Mode::_TakeOff::triggered(const float target_climb_rate) const
{
if (!copter.ap.land_complete) {
// can't take off if we're already flying
return false;
}
if (target_climb_rate <= 0.0f) {
// can't takeoff unless we want to go up...
return false;
}
if (copter.motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
// hold aircraft on the ground until rotor speed runup has finished
return false;
}
return true;
}
bool Mode::is_disarmed_or_landed() const
{
if (!motors->armed() || !copter.ap.auto_armed || copter.ap.land_complete) {
return true;
}
return false;
}
void Mode::zero_throttle_and_relax_ac(bool spool_up)
{
if (spool_up) {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
} else {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
}
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
}
void Mode::zero_throttle_and_hold_attitude()
{
// run attitude controller
attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
}
// handle situations where the vehicle is on the ground waiting for takeoff
// force_throttle_unlimited should be true in cases where we want to keep the motors spooled up
// (instead of spooling down to ground idle). This is required for tradheli's in Guided and Auto
// where we always want the motor spooled up in Guided or Auto mode. Tradheli's main rotor stops
// when spooled down to ground idle.
// ultimately it forces the motor interlock to be obeyed in auto and guided modes when on the ground.
void Mode::make_safe_ground_handling(bool force_throttle_unlimited)
{
if (force_throttle_unlimited) {
// keep rotors turning
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
} else {
// spool down to ground idle
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
}
// aircraft is landed, integrator terms must be reset regardless of spool state
attitude_control->reset_rate_controller_I_terms_smoothly();
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
case AP_Motors::SpoolState::GROUND_IDLE:
// reset yaw targets and rates during idle states
attitude_control->reset_yaw_target_and_rate();
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// while transitioning though active states continue to operate normally
break;
}
pos_control->relax_velocity_controller_xy();
pos_control->update_xy_controller();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
pos_control->update_z_controller();
// we may need to move this out
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
}
/*
get a height above ground estimate for landing
*/
int32_t Mode::get_alt_above_ground_cm(void)
{
int32_t alt_above_ground_cm;
if (copter.get_rangefinder_height_interpolated_cm(alt_above_ground_cm)) {
return alt_above_ground_cm;
}
if (!pos_control->is_active_xy()) {
return copter.current_loc.alt;
}
if (copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, alt_above_ground_cm)) {
return alt_above_ground_cm;
}
// Assume the Earth is flat:
return copter.current_loc.alt;
}
void Mode::land_run_vertical_control(bool pause_descent)
{
float cmb_rate = 0;
bool ignore_descent_limit = false;
if (!pause_descent) {
// do not ignore limits until we have slowed down for landing
ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
float max_land_descent_velocity;
if (g.land_speed_high > 0) {
max_land_descent_velocity = -g.land_speed_high;
} else {
max_land_descent_velocity = pos_control->get_max_speed_down_cms();
}
// Don't speed up for landing.
max_land_descent_velocity = MIN(max_land_descent_velocity, -abs(g.land_speed));
// Compute a vertical velocity demand such that the vehicle approaches g2.land_alt_low. Without the below constraint, this would cause the vehicle to hover at g2.land_alt_low.
cmb_rate = sqrt_controller(MAX(g2.land_alt_low,100)-get_alt_above_ground_cm(), pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z_cmss(), G_Dt);
// Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
#if AC_PRECLAND_ENABLED
const bool navigating = pos_control->is_active_xy();
bool doing_precision_landing = !copter.ap.land_repo_active && copter.precland.target_acquired() && navigating;
if (doing_precision_landing) {
// prec landing is active
Vector2f target_pos;
float target_error_cm = 0.0f;
if (copter.precland.get_target_position_cm(target_pos)) {
const Vector2f current_pos = inertial_nav.get_position_xy_cm();
// target is this many cm away from the vehicle
target_error_cm = (target_pos - current_pos).length();
}
// check if we should descend or not
const float max_horiz_pos_error_cm = copter.precland.get_max_xy_error_before_descending_cm();
Vector3f target_pos_meas;
copter.precland.get_target_position_measurement_cm(target_pos_meas);
if (target_error_cm > max_horiz_pos_error_cm && !is_zero(max_horiz_pos_error_cm)) {
// doing precland but too far away from the obstacle
// do not descend
cmb_rate = 0.0f;
} else if (target_pos_meas.z > 35.0f && target_pos_meas.z < 200.0f && !copter.precland.do_fast_descend()) {
// very close to the ground and doing prec land, lets slow down to make sure we land on target
// compute desired descent velocity
const float precland_acceptable_error_cm = 15.0f;
const float precland_min_descent_speed_cms = 10.0f;
const float max_descent_speed_cms = abs(g.land_speed)*0.5f;
const float land_slowdown = MAX(0.0f, target_error_cm*(max_descent_speed_cms/precland_acceptable_error_cm));
cmb_rate = MIN(-precland_min_descent_speed_cms, -max_descent_speed_cms+land_slowdown);
}
}
#endif
}
// update altitude target and call position controller
pos_control->land_at_climb_rate_cm(cmb_rate, ignore_descent_limit);
pos_control->update_z_controller();
}
void Mode::land_run_horizontal_control()
{
Vector2f vel_correction;
// relax loiter target if we might be landed
if (copter.ap.land_complete_maybe) {
pos_control->soften_for_landing_xy();
}
// process pilot inputs
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
LOGGER_WRITE_EVENT(LogEvent::LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// convert pilot input to reposition velocity
// use half maximum acceleration as the maximum velocity to ensure aircraft will
// stop from full reposition speed in less than 1 second.
const float max_pilot_vel = wp_nav->get_wp_acceleration() * 0.5;
vel_correction = get_pilot_desired_velocity(max_pilot_vel);
// record if pilot has overridden roll or pitch
if (!vel_correction.is_zero()) {
if (!copter.ap.land_repo_active) {
LOGGER_WRITE_EVENT(LogEvent::LAND_REPO_ACTIVE);
}
copter.ap.land_repo_active = true;
#if AC_PRECLAND_ENABLED
} else {
// no override right now, check if we should allow precland
if (copter.precland.allow_precland_after_reposition()) {
copter.ap.land_repo_active = false;
}
#endif
}
}
}
// this variable will be updated if prec land target is in sight and pilot isn't trying to reposition the vehicle
copter.ap.prec_land_active = false;
#if AC_PRECLAND_ENABLED
copter.ap.prec_land_active = !copter.ap.land_repo_active && copter.precland.target_acquired();
// run precision landing
if (copter.ap.prec_land_active) {
Vector2f target_pos, target_vel;
if (!copter.precland.get_target_position_cm(target_pos)) {
target_pos = inertial_nav.get_position_xy_cm();
}
// get the velocity of the target
copter.precland.get_target_velocity_cms(inertial_nav.get_velocity_xy_cms(), target_vel);
Vector2f zero;
Vector2p landing_pos = target_pos.topostype();
// target vel will remain zero if landing target is stationary
pos_control->input_pos_vel_accel_xy(landing_pos, target_vel, zero);
}
#endif
if (!copter.ap.prec_land_active) {
Vector2f accel;
pos_control->input_vel_accel_xy(vel_correction, accel);
}
// run pos controller
pos_control->update_xy_controller();
Vector3f thrust_vector = pos_control->get_thrust_vector();
if (g2.wp_navalt_min > 0) {
// user has requested an altitude below which navigation
// attitude is limited. This is used to prevent commanded roll
// over on landing, which particularly affects helicopters if
// there is any position estimate drift after touchdown. We
// limit attitude to 7 degrees below this limit and linearly
// interpolate for 1m above that
const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
const float thrust_vector_max = sinf(radians(attitude_limit_cd * 0.01f)) * GRAVITY_MSS * 100.0f;
const float thrust_vector_mag = thrust_vector.xy().length();
if (thrust_vector_mag > thrust_vector_max) {
float ratio = thrust_vector_max / thrust_vector_mag;
thrust_vector.x *= ratio;
thrust_vector.y *= ratio;
// tell position controller we are applying an external limit
pos_control->set_externally_limited_xy();
}
}
// call attitude controller
attitude_control->input_thrust_vector_heading(thrust_vector, auto_yaw.get_heading());
}
// run normal or precision landing (if enabled)
// pause_descent is true if vehicle should not descend
void Mode::land_run_normal_or_precland(bool pause_descent)
{
#if AC_PRECLAND_ENABLED
if (pause_descent || !copter.precland.enabled()) {
// we don't want to start descending immediately or prec land is disabled
// in both cases just run simple land controllers
land_run_horiz_and_vert_control(pause_descent);
} else {
// prec land is enabled and we have not paused descent
// the state machine takes care of the entire prec landing procedure
precland_run();
}
#else
land_run_horiz_and_vert_control(pause_descent);
#endif
}
#if AC_PRECLAND_ENABLED
// Go towards a position commanded by prec land state machine in order to retry landing
// The passed in location is expected to be NED and in m
void Mode::precland_retry_position(const Vector3f &retry_pos)
{
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
LOGGER_WRITE_EVENT(LogEvent::LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
}
}
// allow user to take control during repositioning. Note: copied from land_run_horizontal_control()
// To-Do: this code exists at several different places in slightly different forms and that should be fixed
if (g.land_repositioning) {
float target_roll = 0.0f;
float target_pitch = 0.0f;
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) {
if (!copter.ap.land_repo_active) {
LOGGER_WRITE_EVENT(LogEvent::LAND_REPO_ACTIVE);
}
// this flag will be checked by prec land state machine later and any further landing retires will be cancelled
copter.ap.land_repo_active = true;
}
}
}
Vector3p retry_pos_NEU{retry_pos.x, retry_pos.y, retry_pos.z * -1.0f};
// pos controller expects input in NEU cm's
retry_pos_NEU = retry_pos_NEU * 100.0f;
pos_control->input_pos_xyz(retry_pos_NEU, 0.0f, 1000.0f);
// run position controllers
pos_control->update_xy_controller();
pos_control->update_z_controller();
// call attitude controller
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
}
// Run precland statemachine. This function should be called from any mode that wants to do precision landing.
// This handles everything from prec landing, to prec landing failures, to retries and failsafe measures
void Mode::precland_run()
{
// if user is taking control, we will not run the statemachine, and simply land (may or may not be on target)
if (!copter.ap.land_repo_active) {
// This will get updated later to a retry pos if needed
Vector3f retry_pos;
switch (copter.precland_statemachine.update(retry_pos)) {
case AC_PrecLand_StateMachine::Status::RETRYING:
// we want to retry landing by going to another position
precland_retry_position(retry_pos);
break;
case AC_PrecLand_StateMachine::Status::FAILSAFE: {
// we have hit a failsafe. Failsafe can only mean two things, we either want to stop permanently till user takes over or land
switch (copter.precland_statemachine.get_failsafe_actions()) {
case AC_PrecLand_StateMachine::FailSafeAction::DESCEND:
// descend normally, prec land target is definitely not in sight
land_run_horiz_and_vert_control();
break;
case AC_PrecLand_StateMachine::FailSafeAction::HOLD_POS:
// sending "true" in this argument will stop the descend
land_run_horiz_and_vert_control(true);
break;
}
break;
}
case AC_PrecLand_StateMachine::Status::ERROR:
// should never happen, is certainly a bug. Report then descend
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
FALLTHROUGH;
case AC_PrecLand_StateMachine::Status::DESCEND:
// run land controller. This will descend towards the target if prec land target is in sight
// else it will just descend vertically
land_run_horiz_and_vert_control();
break;
}
} else {
// just land, since user has taken over controls, it does not make sense to run any retries or failsafe measures
land_run_horiz_and_vert_control();
}
}
#endif
float Mode::throttle_hover() const
{
return motors->get_throttle_hover();
}
// transform pilot's manual throttle input to make hover throttle mid stick
// used only for manual throttle modes
// thr_mid should be in the range 0 to 1
// returns throttle output 0 to 1
float Mode::get_pilot_desired_throttle() const
{
const float thr_mid = throttle_hover();
int16_t throttle_control = channel_throttle->get_control_in();
int16_t mid_stick = copter.get_throttle_mid();
// protect against unlikely divide by zero
if (mid_stick <= 0) {
mid_stick = 500;
}
// ensure reasonable throttle values
throttle_control = constrain_int16(throttle_control,0,1000);
// calculate normalised throttle input
float throttle_in;
if (throttle_control < mid_stick) {
throttle_in = ((float)throttle_control)*0.5f/(float)mid_stick;
} else {
throttle_in = 0.5f + ((float)(throttle_control-mid_stick)) * 0.5f / (float)(1000-mid_stick);
}
const float expo = constrain_float(-(thr_mid-0.5f)/0.375f, -0.5f, 1.0f);
// calculate the output throttle using the given expo function
float throttle_out = throttle_in*(1.0f-expo) + expo*throttle_in*throttle_in*throttle_in;
return throttle_out;
}
float Mode::get_avoidance_adjusted_climbrate(float target_rate)
{
#if AP_AVOIDANCE_ENABLED
AP::ac_avoid()->adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z_cmss(), target_rate, G_Dt);
return target_rate;
#else
return target_rate;
#endif
}
// send output to the motors, can be overridden by subclasses
void Mode::output_to_motors()
{
motors->output();
}
Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
{
// Alt Hold State Machine Determination
if (!motors->armed()) {
// the aircraft should moved to a shut down state
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
// transition through states as aircraft spools down
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
return AltHoldModeState::MotorStopped;
case AP_Motors::SpoolState::GROUND_IDLE:
return AltHoldModeState::Landed_Ground_Idle;
default:
return AltHoldModeState::Landed_Pre_Takeoff;
}
} else if (takeoff.running() || takeoff.triggered(target_climb_rate_cms)) {
// the aircraft is currently landed or taking off, asking for a positive climb rate and in THROTTLE_UNLIMITED
// the aircraft should progress through the take off procedure
return AltHoldModeState::Takeoff;
} else if (!copter.ap.auto_armed || copter.ap.land_complete) {
// the aircraft is armed and landed
if (target_climb_rate_cms < 0.0f && !copter.ap.using_interlock) {
// the aircraft should move to a ground idle state
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else {
// the aircraft should prepare for imminent take off
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
if (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
// the aircraft is waiting in ground idle
return AltHoldModeState::Landed_Ground_Idle;
} else {
// the aircraft can leave the ground at any time
return AltHoldModeState::Landed_Pre_Takeoff;
}
} else {
// the aircraft is in a flying state
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
return AltHoldModeState::Flying;
}
}
// transform pilot's yaw input into a desired yaw rate
// returns desired yaw rate in centi-degrees per second
float Mode::get_pilot_desired_yaw_rate(float yaw_in)
{
// throttle failsafe check
if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
return 0.0f;
}
// convert pilot input to the desired yaw rate
return g2.command_model_pilot.get_rate() * 100.0 * input_expo(yaw_in, g2.command_model_pilot.get_expo());
}
// pass-through functions to reduce code churn on conversion;
// these are candidates for moving into the Mode base
// class.
float Mode::get_pilot_desired_climb_rate(float throttle_control)
{
return copter.get_pilot_desired_climb_rate(throttle_control);
}
float Mode::get_non_takeoff_throttle()
{
return copter.get_non_takeoff_throttle();
}
void Mode::update_simple_mode(void) {
copter.update_simple_mode();
}
bool Mode::set_mode(Mode::Number mode, ModeReason reason)
{
return copter.set_mode(mode, reason);
}
void Mode::set_land_complete(bool b)
{
return copter.set_land_complete(b);
}
GCS_Copter &Mode::gcs()
{
return copter.gcs();
}
uint16_t Mode::get_pilot_speed_dn()
{
return copter.get_pilot_speed_dn();
}
// Return stopping point as a location with above origin alt frame
Location Mode::get_stopping_point() const
{
Vector3p stopping_point_NEU;
copter.pos_control->get_stopping_point_xy_cm(stopping_point_NEU.xy());
copter.pos_control->get_stopping_point_z_cm(stopping_point_NEU.z);
return Location { stopping_point_NEU.tofloat(), Location::AltFrame::ABOVE_ORIGIN };
}
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