ardupilot/ArduCopter/heli_control_acro.cpp

99 lines
3.9 KiB
C++

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