mirror of https://github.com/ArduPilot/ardupilot
137 lines
4.7 KiB
C++
137 lines
4.7 KiB
C++
#include "Copter.h"
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#if MODE_SPORT_ENABLED == ENABLED
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/*
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* Init and run calls for sport flight mode
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*/
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// sport_init - initialise sport controller
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bool ModeSport::init(bool ignore_checks)
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{
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// initialize vertical speed and acceleration
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pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
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pos_control->set_max_accel_z(g.pilot_accel_z);
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// initialise position and desired velocity
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if (!pos_control->is_active_z()) {
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pos_control->set_alt_target_to_current_alt();
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pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
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}
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return true;
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}
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// sport_run - runs the sport controller
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// should be called at 100hz or more
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void ModeSport::run()
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{
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float takeoff_climb_rate = 0.0f;
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// initialize vertical speed and acceleration
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pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
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pos_control->set_max_accel_z(g.pilot_accel_z);
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// apply SIMPLE mode transform
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update_simple_mode();
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// get pilot's desired roll and pitch rates
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// calculate rate requests
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float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
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float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;
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// get attitude targets
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const Vector3f att_target = attitude_control->get_att_target_euler_cd();
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// Calculate trainer mode earth frame rate command for roll
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int32_t roll_angle = wrap_180_cd(att_target.x);
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target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
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// Calculate trainer mode earth frame rate command for pitch
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int32_t pitch_angle = wrap_180_cd(att_target.y);
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target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
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const float angle_max = copter.aparm.angle_max;
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if (roll_angle > angle_max){
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target_roll_rate -= g.acro_rp_p*(roll_angle-angle_max);
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}else if (roll_angle < -angle_max) {
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target_roll_rate -= g.acro_rp_p*(roll_angle+angle_max);
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}
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if (pitch_angle > angle_max){
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target_pitch_rate -= g.acro_rp_p*(pitch_angle-angle_max);
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}else if (pitch_angle < -angle_max) {
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target_pitch_rate -= g.acro_rp_p*(pitch_angle+angle_max);
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}
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// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// get pilot desired climb rate
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
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// Sport State Machine Determination
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AltHoldModeState sport_state = get_alt_hold_state(target_climb_rate);
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// State Machine
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switch (sport_state) {
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case AltHold_MotorStopped:
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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break;
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case AltHold_Takeoff:
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// initiate take-off
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if (!takeoff.running()) {
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takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
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}
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// get take-off adjusted pilot and takeoff climb rates
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takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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// call position controller
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pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
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break;
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case AltHold_Landed_Ground_Idle:
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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// FALLTHROUGH
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case AltHold_Landed_Pre_Takeoff:
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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break;
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case AltHold_Flying:
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// adjust climb rate using rangefinder
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target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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break;
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}
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// call attitude controller
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attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
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// call z-axis position controller
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pos_control->update_z_controller();
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}
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#endif
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