mirror of https://github.com/ArduPilot/ardupilot
97 lines
3.8 KiB
C++
97 lines
3.8 KiB
C++
#include "Copter.h"
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#if MODE_ACRO_ENABLED == ENABLED
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* Init and run calls for acro flight mode for trad heli
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*/
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// heli_acro_init - initialise acro controller
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bool Copter::ModeAcro_Heli::init(bool ignore_checks)
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{
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// if heli is equipped with a flybar, then tell the attitude controller to pass through controls directly to servos
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attitude_control->use_flybar_passthrough(motors->has_flybar(), motors->supports_yaw_passthrough());
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motors->set_acro_tail(true);
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// set stab collective false to use full collective pitch range
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copter.input_manager.set_use_stab_col(false);
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// always successfully enter acro
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return true;
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}
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// heli_acro_run - runs the acro controller
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// should be called at 100hz or more
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void Copter::ModeAcro_Heli::run()
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{
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float target_roll, target_pitch, target_yaw;
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float pilot_throttle_scaled;
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
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// we may be in autorotation flight. These should be reset only when transitioning from disarmed
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// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
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// that the servos move in a realistic fashion while disarmed for operational checks.
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// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
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if (motors->init_targets_on_arming()) {
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_attitude_target_to_current_attitude();
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}
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// clear landing flag above zero throttle
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if (motors->armed() && motors->get_interlock() && motors->rotor_runup_complete() && !ap.throttle_zero) {
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set_land_complete(false);
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}
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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if (!motors->has_flybar()){
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// convert the input to the desired body frame rate
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get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
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if (motors->supports_yaw_passthrough()) {
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// if the tail on a flybar heli has an external gyro then
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// also use no deadzone for the yaw control and
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// pass-through the input direct to output.
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target_yaw = channel_yaw->get_control_in_zero_dz();
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}
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// run attitude controller
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attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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}else{
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/*
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for fly-bar passthrough use control_in values with no
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deadzone. This gives true pass-through.
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*/
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float roll_in = channel_roll->get_control_in_zero_dz();
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float pitch_in = channel_pitch->get_control_in_zero_dz();
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float yaw_in;
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if (motors->supports_yaw_passthrough()) {
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// if the tail on a flybar heli has an external gyro then
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// also use no deadzone for the yaw control and
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// pass-through the input direct to output.
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yaw_in = channel_yaw->get_control_in_zero_dz();
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} else {
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// if there is no external gyro then run the usual
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// ACRO_YAW_P gain on the input control, including
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// deadzone
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yaw_in = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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}
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// run attitude controller
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attitude_control->passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in);
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}
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// get pilot's desired throttle
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pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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// output pilot's throttle without angle boost
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attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
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#endif //HELI_FRAME
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#endif //MODE_ACRO_ENABLED == ENABLED
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