mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
#include "mode.h"
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#include "Plane.h"
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#if HAL_QUADPLANE_ENABLED
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bool ModeQRTL::_enter()
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{
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// use do_RTL() to setup next_WP_loc
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plane.do_RTL(plane.home.alt + quadplane.qrtl_alt*100UL);
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plane.prev_WP_loc = plane.current_loc;
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pos_control->set_accel_desired_xy_cmss(Vector2f());
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pos_control->init_xy_controller();
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quadplane.poscontrol_init_approach();
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float dist = plane.next_WP_loc.get_distance(plane.current_loc);
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const float radius = MAX(fabsf(plane.aparm.loiter_radius), fabsf(plane.g.rtl_radius));
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if (dist < 1.5*radius &&
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quadplane.motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED) {
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// we're close to destination and already running VTOL motors, don't transition
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gcs().send_text(MAV_SEVERITY_INFO,"VTOL position1 d=%.1f r=%.1f", dist, radius);
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poscontrol.set_state(QuadPlane::QPOS_POSITION1);
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}
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int32_t from_alt;
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int32_t to_alt;
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if (plane.current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,from_alt) && plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,to_alt)) {
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poscontrol.slow_descent = from_alt > to_alt;
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return true;
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}
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// defualt back to old method
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poscontrol.slow_descent = (plane.current_loc.alt > plane.next_WP_loc.alt);
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return true;
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}
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void ModeQRTL::update()
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{
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plane.mode_qstabilize.update();
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}
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/*
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handle QRTL mode
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*/
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void ModeQRTL::run()
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{
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quadplane.vtol_position_controller();
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if (poscontrol.get_state() > QuadPlane::QPOS_POSITION2) {
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// change target altitude to home alt
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plane.next_WP_loc.alt = plane.home.alt;
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}
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if (poscontrol.get_state() >= QuadPlane::QPOS_POSITION2) {
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// start landing logic
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quadplane.verify_vtol_land();
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}
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}
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/*
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update target altitude for QRTL profile
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*/
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bool ModeQRTL::update_target_altitude()
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{
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/*
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update height target in approach
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*/
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if (plane.quadplane.poscontrol.get_state() != QuadPlane::QPOS_APPROACH) {
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return false;
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}
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/*
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initially approach at RTL_ALT_CM, then drop down to QRTL_ALT based on maximum sink rate from TECS,
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giving time to lose speed before we transition
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*/
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const float radius = MAX(fabsf(plane.aparm.loiter_radius), fabsf(plane.g.rtl_radius));
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const float rtl_alt_delta = MAX(0, plane.g.RTL_altitude_cm*0.01 - plane.quadplane.qrtl_alt);
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const float sink_time = rtl_alt_delta / MAX(0.6*plane.TECS_controller.get_max_sinkrate(), 1);
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const float sink_dist = plane.aparm.airspeed_cruise_cm * 0.01 * sink_time;
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const float dist = plane.auto_state.wp_distance;
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const float rad_min = 2*radius;
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const float rad_max = 20*radius;
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float alt = linear_interpolate(0, rtl_alt_delta,
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dist,
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rad_min, MAX(rad_min, MIN(rad_max, rad_min+sink_dist)));
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Location loc = plane.next_WP_loc;
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loc.alt += alt*100;
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plane.set_target_altitude_location(loc);
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return true;
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}
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#endif
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