ardupilot/ArduCopter/control_loiter.cpp

195 lines
7.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
/*
* control_loiter.pde - init and run calls for loiter flight mode
*/
// loiter_init - initialise loiter controller
bool Copter::loiter_init(bool ignore_checks)
{
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter Loiter if the Rotor Runup is not complete
if (!ignore_checks && !motors.rotor_runup_complete()){
return false;
}
#endif
if (position_ok() || ignore_checks) {
// set target to current position
wp_nav.init_loiter_target();
// initialize vertical speed and acceleration
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}else{
return false;
}
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
void Copter::loiter_run()
{
LoiterModeState loiter_state;
float target_yaw_rate = 0.0f;
float target_climb_rate = 0.0f;
float takeoff_climb_rate = 0.0f;
// initialize vertical speed and acceleration
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// process pilot inputs unless we are in radio failsafe
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(channel_roll->get_control_in(), channel_pitch->get_control_in());
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
wp_nav.clear_pilot_desired_acceleration();
}
// relax loiter target if we might be landed
if (ap.land_complete_maybe) {
wp_nav.loiter_soften_for_landing();
}
// Loiter State Machine Determination
if (!motors.armed() || !motors.get_interlock()) {
loiter_state = Loiter_MotorStopped;
} else if (!ap.auto_armed) {
loiter_state = Loiter_NotAutoArmed;
} else if (takeoff_state.running || (ap.land_complete && (channel_throttle->get_control_in() > get_takeoff_trigger_throttle()))){
loiter_state = Loiter_Takeoff;
} else if (ap.land_complete){
loiter_state = Loiter_Landed;
} else {
loiter_state = Loiter_Flying;
}
// Loiter State Machine
switch (loiter_state) {
case Loiter_MotorStopped:
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
#if FRAME_CONFIG == HELI_FRAME
// helicopters are capable of flying even with the motor stopped, therefore we will attempt to keep flying
// 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, get_smoothing_gain());
// force descent rate and call position controller
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller();
#else
wp_nav.init_loiter_target();
// multicopters do not stabilize roll/pitch/yaw when motors are stopped
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
#endif
break;
case Loiter_NotAutoArmed:
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
wp_nav.init_loiter_target();
#if FRAME_CONFIG == HELI_FRAME
// Helicopters always stabilize roll/pitch/yaw
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
// Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
break;
case Loiter_Takeoff:
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// 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, get_smoothing_gain());
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
case Loiter_Landed:
wp_nav.init_loiter_target();
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
} else {
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
break;
case Loiter_Flying:
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// 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, get_smoothing_gain());
// adjust climb rate using rangefinder
if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();
break;
}
}