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ardupilot/ArduPlane/Attitude.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
/*
get a speed scaling number for control surfaces. This is applied to
PIDs to change the scaling of the PID with speed. At high speed we
move the surfaces less, and at low speeds we move them more.
*/
float Plane::get_speed_scaler(void)
{
float aspeed, speed_scaler;
if (ahrs.airspeed_estimate(&aspeed)) {
if (aspeed > auto_state.highest_airspeed) {
auto_state.highest_airspeed = aspeed;
}
if (aspeed > 0.0001f) {
speed_scaler = g.scaling_speed / aspeed;
} else {
speed_scaler = 2.0;
}
speed_scaler = constrain_float(speed_scaler, 0.5f, 2.0f);
} else {
if (channel_throttle->get_servo_out() > 0) {
speed_scaler = 0.5f + ((float)THROTTLE_CRUISE / channel_throttle->get_servo_out() / 2.0f); // First order taylor expansion of square root
// Should maybe be to the 2/7 power, but we aren't going to implement that...
}else{
speed_scaler = 1.67f;
}
// This case is constrained tighter as we don't have real speed info
speed_scaler = constrain_float(speed_scaler, 0.6f, 1.67f);
}
return speed_scaler;
}
/*
return true if the current settings and mode should allow for stick mixing
*/
bool Plane::stick_mixing_enabled(void)
{
if (auto_throttle_mode) {
// we're in an auto mode. Check the stick mixing flag
if (g.stick_mixing != STICK_MIXING_DISABLED &&
geofence_stickmixing() &&
failsafe.state == FAILSAFE_NONE &&
!rc_failsafe_active()) {
// we're in an auto mode, and haven't triggered failsafe
return true;
} else {
return false;
}
}
if (failsafe.ch3_failsafe && g.short_fs_action == 2) {
// don't do stick mixing in FBWA glide mode
return false;
}
// non-auto mode. Always do stick mixing
return true;
}
/*
this is the main roll stabilization function. It takes the
previously set nav_roll calculates roll servo_out to try to
stabilize the plane at the given roll
*/
void Plane::stabilize_roll(float speed_scaler)
{
if (fly_inverted()) {
// we want to fly upside down. We need to cope with wrap of
// the roll_sensor interfering with wrap of nav_roll, which
// would really confuse the PID code. The easiest way to
// handle this is to ensure both go in the same direction from
// zero
nav_roll_cd += 18000;
if (ahrs.roll_sensor < 0) nav_roll_cd -= 36000;
}
bool disable_integrator = false;
if (control_mode == STABILIZE && channel_roll->get_control_in() != 0) {
disable_integrator = true;
}
channel_roll->set_servo_out(rollController.get_servo_out(nav_roll_cd - ahrs.roll_sensor,
speed_scaler,
disable_integrator));
}
/*
this is the main pitch stabilization function. It takes the
previously set nav_pitch and calculates servo_out values to try to
stabilize the plane at the given attitude.
*/
void Plane::stabilize_pitch(float speed_scaler)
{
int8_t force_elevator = takeoff_tail_hold();
if (force_elevator != 0) {
// we are holding the tail down during takeoff. Just convert
// from a percentage to a -4500..4500 centidegree angle
channel_pitch->set_servo_out(45*force_elevator);
return;
}
int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + channel_throttle->get_servo_out() * g.kff_throttle_to_pitch;
bool disable_integrator = false;
if (control_mode == STABILIZE && channel_pitch->get_control_in() != 0) {
disable_integrator = true;
}
channel_pitch->set_servo_out(pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor,
speed_scaler,
disable_integrator));
}
/*
perform stick mixing on one channel
This type of stick mixing reduces the influence of the auto
controller as it increases the influence of the users stick input,
allowing the user full deflection if needed
*/
void Plane::stick_mix_channel(RC_Channel *channel, int16_t &servo_out)
{
float ch_inf;
ch_inf = (float)channel->get_radio_in() - (float)channel->get_radio_trim();
ch_inf = fabsf(ch_inf);
ch_inf = MIN(ch_inf, 400.0f);
ch_inf = ((400.0f - ch_inf) / 400.0f);
servo_out *= ch_inf;
servo_out += channel->pwm_to_angle();
}
/*
One argument version for when the servo out in the rc channel
is the target
*/
void Plane::stick_mix_channel(RC_Channel * channel)
{
int16_t servo_out = channel->get_servo_out();
stick_mix_channel(channel,servo_out);
channel->set_servo_out(servo_out);
}
/*
this gives the user control of the aircraft in stabilization modes
*/
void Plane::stabilize_stick_mixing_direct()
{
if (!stick_mixing_enabled() ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE ||
control_mode == FLY_BY_WIRE_B ||
control_mode == CRUISE ||
control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||
control_mode == QLAND ||
control_mode == QRTL ||
control_mode == TRAINING) {
return;
}
stick_mix_channel(channel_roll);
stick_mix_channel(channel_pitch);
}
/*
this gives the user control of the aircraft in stabilization modes
using FBW style controls
*/
void Plane::stabilize_stick_mixing_fbw()
{
if (!stick_mixing_enabled() ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE ||
control_mode == FLY_BY_WIRE_B ||
control_mode == CRUISE ||
control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||
control_mode == QLAND ||
control_mode == QRTL ||
control_mode == TRAINING ||
(control_mode == AUTO && g.auto_fbw_steer == 42)) {
return;
}
// do FBW style stick mixing. We don't treat it linearly
// however. For inputs up to half the maximum, we use linear
// addition to the nav_roll and nav_pitch. Above that it goes
// non-linear and ends up as 2x the maximum, to ensure that
// the user can direct the plane in any direction with stick
// mixing.
float roll_input = channel_roll->norm_input();
if (roll_input > 0.5f) {
roll_input = (3*roll_input - 1);
} else if (roll_input < -0.5f) {
roll_input = (3*roll_input + 1);
}
nav_roll_cd += roll_input * roll_limit_cd;
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
float pitch_input = channel_pitch->norm_input();
if (pitch_input > 0.5f) {
pitch_input = (3*pitch_input - 1);
} else if (pitch_input < -0.5f) {
pitch_input = (3*pitch_input + 1);
}
if (fly_inverted()) {
pitch_input = -pitch_input;
}
if (pitch_input > 0) {
nav_pitch_cd += pitch_input * aparm.pitch_limit_max_cd;
} else {
nav_pitch_cd += -(pitch_input * pitch_limit_min_cd);
}
nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
}
/*
stabilize the yaw axis. There are 3 modes of operation:
- hold a specific heading with ground steering
- rate controlled with ground steering
- yaw control for coordinated flight
*/
void Plane::stabilize_yaw(float speed_scaler)
{
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
// in land final setup for ground steering
steering_control.ground_steering = true;
} else {
// otherwise use ground steering when no input control and we
// are below the GROUND_STEER_ALT
steering_control.ground_steering = (channel_roll->get_control_in() == 0 &&
fabsf(relative_altitude()) < g.ground_steer_alt);
if (control_mode == AUTO &&
(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE)) {
// don't use ground steering on landing approach
steering_control.ground_steering = false;
}
}
/*
first calculate steering_control.steering for a nose or tail
wheel.
We use "course hold" mode for the rudder when either in the
final stage of landing (when the wings are help level) or when
in course hold in FBWA mode (when we are below GROUND_STEER_ALT)
*/
if ((control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) ||
(steer_state.hold_course_cd != -1 && steering_control.ground_steering)) {
calc_nav_yaw_course();
} else if (steering_control.ground_steering) {
calc_nav_yaw_ground();
}
/*
now calculate steering_control.rudder for the rudder
*/
calc_nav_yaw_coordinated(speed_scaler);
}
/*
a special stabilization function for training mode
*/
void Plane::stabilize_training(float speed_scaler)
{
if (training_manual_roll) {
channel_roll->set_servo_out(channel_roll->get_control_in());
} else {
// calculate what is needed to hold
stabilize_roll(speed_scaler);
if ((nav_roll_cd > 0 && channel_roll->get_control_in() < channel_roll->get_servo_out()) ||
(nav_roll_cd < 0 && channel_roll->get_control_in() > channel_roll->get_servo_out())) {
// allow user to get out of the roll
channel_roll->set_servo_out(channel_roll->get_control_in());
}
}
if (training_manual_pitch) {
channel_pitch->set_servo_out(channel_pitch->get_control_in());
} else {
stabilize_pitch(speed_scaler);
if ((nav_pitch_cd > 0 && channel_pitch->get_control_in() < channel_pitch->get_servo_out()) ||
(nav_pitch_cd < 0 && channel_pitch->get_control_in() > channel_pitch->get_servo_out())) {
// allow user to get back to level
channel_pitch->set_servo_out(channel_pitch->get_control_in());
}
}
stabilize_yaw(speed_scaler);
}
/*
this is the ACRO mode stabilization function. It does rate
stabilization on roll and pitch axes
*/
void Plane::stabilize_acro(float speed_scaler)
{
float roll_rate = (channel_roll->get_control_in()/4500.0f) * g.acro_roll_rate;
float pitch_rate = (channel_pitch->get_control_in()/4500.0f) * g.acro_pitch_rate;
/*
check for special roll handling near the pitch poles
*/
if (g.acro_locking && is_zero(roll_rate)) {
/*
we have no roll stick input, so we will enter "roll locked"
mode, and hold the roll we had when the stick was released
*/
if (!acro_state.locked_roll) {
acro_state.locked_roll = true;
acro_state.locked_roll_err = 0;
} else {
acro_state.locked_roll_err += ahrs.get_gyro().x * G_Dt;
}
int32_t roll_error_cd = -ToDeg(acro_state.locked_roll_err)*100;
nav_roll_cd = ahrs.roll_sensor + roll_error_cd;
// try to reduce the integrated angular error to zero. We set
// 'stabilze' to true, which disables the roll integrator
channel_roll->set_servo_out(rollController.get_servo_out(roll_error_cd,
speed_scaler,
true));
} else {
/*
aileron stick is non-zero, use pure rate control until the
user releases the stick
*/
acro_state.locked_roll = false;
channel_roll->set_servo_out(rollController.get_rate_out(roll_rate, speed_scaler));
}
if (g.acro_locking && is_zero(pitch_rate)) {
/*
user has zero pitch stick input, so we lock pitch at the
point they release the stick
*/
if (!acro_state.locked_pitch) {
acro_state.locked_pitch = true;
acro_state.locked_pitch_cd = ahrs.pitch_sensor;
}
// try to hold the locked pitch. Note that we have the pitch
// integrator enabled, which helps with inverted flight
nav_pitch_cd = acro_state.locked_pitch_cd;
channel_pitch->set_servo_out(pitchController.get_servo_out(nav_pitch_cd - ahrs.pitch_sensor,
speed_scaler,
false));
} else {
/*
user has non-zero pitch input, use a pure rate controller
*/
acro_state.locked_pitch = false;
channel_pitch->set_servo_out( pitchController.get_rate_out(pitch_rate, speed_scaler));
}
/*
manual rudder for now
*/
steering_control.steering = steering_control.rudder = rudder_input;
}
/*
main stabilization function for all 3 axes
*/
void Plane::stabilize()
{
if (control_mode == MANUAL) {
// nothing to do
return;
}
float speed_scaler = get_speed_scaler();
if (control_mode == TRAINING) {
stabilize_training(speed_scaler);
} else if (control_mode == ACRO) {
stabilize_acro(speed_scaler);
} else if (control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||
control_mode == QLAND ||
control_mode == QRTL) {
quadplane.control_run();
} else {
if (g.stick_mixing == STICK_MIXING_FBW && control_mode != STABILIZE) {
stabilize_stick_mixing_fbw();
}
stabilize_roll(speed_scaler);
stabilize_pitch(speed_scaler);
if (g.stick_mixing == STICK_MIXING_DIRECT || control_mode == STABILIZE) {
stabilize_stick_mixing_direct();
}
stabilize_yaw(speed_scaler);
}
/*
see if we should zero the attitude controller integrators.
*/
if (channel_throttle->get_control_in() == 0 &&
relative_altitude_abs_cm() < 500 &&
fabsf(barometer.get_climb_rate()) < 0.5f &&
gps.ground_speed() < 3) {
// we are low, with no climb rate, and zero throttle, and very
// low ground speed. Zero the attitude controller
// integrators. This prevents integrator buildup pre-takeoff.
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
// if moving very slowly also zero the steering integrator
if (gps.ground_speed() < 1) {
steerController.reset_I();
}
}
}
void Plane::calc_throttle()
{
if (aparm.throttle_cruise <= 1) {
// user has asked for zero throttle - this may be done by a
// mission which wants to turn off the engine for a parachute
// landing
channel_throttle->set_servo_out(0);
return;
}
channel_throttle->set_servo_out(SpdHgt_Controller->get_throttle_demand());
}
/*****************************************
* Calculate desired roll/pitch/yaw angles (in medium freq loop)
*****************************************/
/*
calculate yaw control for coordinated flight
*/
void Plane::calc_nav_yaw_coordinated(float speed_scaler)
{
bool disable_integrator = false;
if (control_mode == STABILIZE && rudder_input != 0) {
disable_integrator = true;
}
steering_control.rudder = yawController.get_servo_out(speed_scaler, disable_integrator);
// add in rudder mixing from roll
steering_control.rudder += channel_roll->get_servo_out() * g.kff_rudder_mix;
steering_control.rudder += rudder_input;
steering_control.rudder = constrain_int16(steering_control.rudder, -4500, 4500);
}
/*
calculate yaw control for ground steering with specific course
*/
void Plane::calc_nav_yaw_course(void)
{
// holding a specific navigation course on the ground. Used in
// auto-takeoff and landing
int32_t bearing_error_cd = nav_controller->bearing_error_cd();
steering_control.steering = steerController.get_steering_out_angle_error(bearing_error_cd);
if (stick_mixing_enabled()) {
stick_mix_channel(channel_rudder, steering_control.steering);
}
steering_control.steering = constrain_int16(steering_control.steering, -4500, 4500);
}
/*
calculate yaw control for ground steering
*/
void Plane::calc_nav_yaw_ground(void)
{
if (gps.ground_speed() < 1 &&
channel_throttle->get_control_in() == 0 &&
flight_stage != AP_SpdHgtControl::FLIGHT_TAKEOFF &&
flight_stage != AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
// manual rudder control while still
steer_state.locked_course = false;
steer_state.locked_course_err = 0;
steering_control.steering = rudder_input;
return;
}
float steer_rate = (rudder_input/4500.0f) * g.ground_steer_dps;
if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
steer_rate = 0;
}
if (!is_zero(steer_rate)) {
// pilot is giving rudder input
steer_state.locked_course = false;
} else if (!steer_state.locked_course) {
// pilot has released the rudder stick or we are still - lock the course
steer_state.locked_course = true;
if (flight_stage != AP_SpdHgtControl::FLIGHT_TAKEOFF &&
flight_stage != AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
steer_state.locked_course_err = 0;
}
}
if (!steer_state.locked_course) {
// use a rate controller at the pilot specified rate
steering_control.steering = steerController.get_steering_out_rate(steer_rate);
} else {
// use a error controller on the summed error
int32_t yaw_error_cd = -ToDeg(steer_state.locked_course_err)*100;
steering_control.steering = steerController.get_steering_out_angle_error(yaw_error_cd);
}
steering_control.steering = constrain_int16(steering_control.steering, -4500, 4500);
}
/*
calculate a new nav_pitch_cd from the speed height controller
*/
void Plane::calc_nav_pitch()
{
// Calculate the Pitch of the plane
// --------------------------------
nav_pitch_cd = SpdHgt_Controller->get_pitch_demand();
nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
}
/*
calculate a new nav_roll_cd from the navigation controller
*/
void Plane::calc_nav_roll()
{
nav_roll_cd = constrain_int32(nav_controller->nav_roll_cd(), -roll_limit_cd, roll_limit_cd);
update_load_factor();
}
/*****************************************
* Throttle slew limit
*****************************************/
void Plane::throttle_slew_limit(int16_t last_throttle)
{
uint8_t slewrate = aparm.throttle_slewrate;
if (control_mode==AUTO) {
if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
slewrate = g.takeoff_throttle_slewrate;
} else if (g.land_throttle_slewrate != 0 &&
(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE)) {
slewrate = g.land_throttle_slewrate;
}
}
// if slew limit rate is set to zero then do not slew limit
if (slewrate) {
// limit throttle change by the given percentage per second
float temp = slewrate * G_Dt * 0.01f * fabsf(channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
// allow a minimum change of 1 PWM per cycle
if (temp < 1) {
temp = 1;
}
channel_throttle->set_radio_out(constrain_int16(channel_throttle->get_radio_out(), last_throttle - temp, last_throttle + temp));
}
}
/*****************************************
Flap slew limit
*****************************************/
void Plane::flap_slew_limit(int8_t &last_value, int8_t &new_value)
{
uint8_t slewrate = g.flap_slewrate;
// if slew limit rate is set to zero then do not slew limit
if (slewrate) {
// limit flap change by the given percentage per second
float temp = slewrate * G_Dt;
// allow a minimum change of 1% per cycle. This means the
// slowest flaps we can do is full change over 2 seconds
if (temp < 1) {
temp = 1;
}
new_value = constrain_int16(new_value, last_value - temp, last_value + temp);
}
last_value = new_value;
}
/* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
Disable throttle if following conditions are met:
* 1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
* AND
* 2 - Our reported altitude is within 10 meters of the home altitude.
* 3 - Our reported speed is under 5 meters per second.
* 4 - We are not performing a takeoff in Auto mode or takeoff speed/accel not yet reached
* OR
* 5 - Home location is not set
*/
bool Plane::suppress_throttle(void)
{
#if PARACHUTE == ENABLED
if (auto_throttle_mode && parachute.release_initiated()) {
// throttle always suppressed in auto-throttle modes after parachute release initiated
throttle_suppressed = true;
return true;
}
#endif
if (!throttle_suppressed) {
// we've previously met a condition for unsupressing the throttle
return false;
}
if (!auto_throttle_mode) {
// the user controls the throttle
throttle_suppressed = false;
return false;
}
if (control_mode==AUTO && g.auto_fbw_steer == 42) {
// user has throttle control
return false;
}
bool gps_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_2D && gps.ground_speed() >= 5);
if (control_mode==AUTO &&
auto_state.takeoff_complete == false) {
uint32_t launch_duration_ms = ((int32_t)g.takeoff_throttle_delay)*100 + 2000;
if (is_flying() &&
millis() - started_flying_ms > MAX(launch_duration_ms, 5000U) && // been flying >5s in any mode
adjusted_relative_altitude_cm() > 500 && // are >5m above AGL/home
labs(ahrs.pitch_sensor) < 3000 && // not high pitch, which happens when held before launch
gps_movement) { // definite gps movement
// we're already flying, do not suppress the throttle. We can get
// stuck in this condition if we reset a mission and cmd 1 is takeoff
// but we're currently flying around below the takeoff altitude
throttle_suppressed = false;
return false;
}
if (auto_takeoff_check()) {
// we're in auto takeoff
throttle_suppressed = false;
auto_state.baro_takeoff_alt = barometer.get_altitude();
return false;
}
// keep throttle suppressed
return true;
}
if (relative_altitude_abs_cm() >= 1000) {
// we're more than 10m from the home altitude
throttle_suppressed = false;
return false;
}
if (gps_movement) {
// if we have an airspeed sensor, then check it too, and
// require 5m/s. This prevents throttle up due to spiky GPS
// groundspeed with bad GPS reception
if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
// we're moving at more than 5 m/s
throttle_suppressed = false;
return false;
}
}
if (quadplane.is_flying()) {
throttle_suppressed = false;
}
// throttle remains suppressed
return true;
}
/*
implement a software VTail or elevon mixer. There are 4 different mixing modes
*/
void Plane::channel_output_mixer(uint8_t mixing_type, int16_t & chan1_out, int16_t & chan2_out)const
{
int16_t c1, c2;
int16_t v1, v2;
// first get desired elevator and rudder as -500..500 values
c1 = chan1_out - 1500;
c2 = chan2_out - 1500;
// apply MIXING_OFFSET to input channels using long-integer version
// of formula: x = x * (g.mixing_offset/100.0 + 1.0)
// -100 => 2x on 'c1', 100 => 2x on 'c2'
if (g.mixing_offset < 0) {
c1 = (int16_t)(((int32_t)c1) * (-g.mixing_offset+100) / 100);
} else if (g.mixing_offset > 0) {
c2 = (int16_t)(((int32_t)c2) * (g.mixing_offset+100) / 100);
}
v1 = (c1 - c2) * g.mixing_gain;
v2 = (c1 + c2) * g.mixing_gain;
// now map to mixed output
switch (mixing_type) {
case MIXING_DISABLED:
return;
case MIXING_UPUP:
break;
case MIXING_UPDN:
v2 = -v2;
break;
case MIXING_DNUP:
v1 = -v1;
break;
case MIXING_DNDN:
v1 = -v1;
v2 = -v2;
break;
}
// scale for a 1500 center and 900..2100 range, symmetric
v1 = constrain_int16(v1, -600, 600);
v2 = constrain_int16(v2, -600, 600);
chan1_out = 1500 + v1;
chan2_out = 1500 + v2;
}
void Plane::channel_output_mixer(uint8_t mixing_type, RC_Channel* chan1, RC_Channel* chan2)const
{
int16_t ch1 = chan1->get_radio_out();
int16_t ch2 = chan2->get_radio_out();
channel_output_mixer(mixing_type,ch1,ch2);
chan1->set_radio_out(ch1);
chan2->set_radio_out(ch2);
}
/*
setup flaperon output channels
*/
void Plane::flaperon_update(int8_t flap_percent)
{
if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_flaperon1) ||
!RC_Channel_aux::function_assigned(RC_Channel_aux::k_flaperon2)) {
return;
}
int16_t ch1, ch2;
/*
flaperons are implemented as a mixer between aileron and a
percentage of flaps. Flap input can come from a manual channel
or from auto flaps.
Use k_flaperon1 and k_flaperon2 channel trims to center servos.
Then adjust aileron trim for level flight (note that aileron trim is affected
by mixing gain). flapin_channel's trim is not used.
*/
ch1 = channel_roll->get_radio_out();
// The *5 is to take a percentage to a value from -500 to 500 for the mixer
ch2 = 1500 - flap_percent * 5;
channel_output_mixer(g.flaperon_output, ch1, ch2);
RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::k_flaperon1, ch1);
RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::k_flaperon2, ch2);
}
/*
setup servos for idle mode
Idle mode is used during balloon launch to keep servos still, apart
from occasional wiggle to prevent freezing up
*/
void Plane::set_servos_idle(void)
{
RC_Channel_aux::output_ch_all();
if (auto_state.idle_wiggle_stage == 0) {
RC_Channel::output_trim_all();
return;
}
int16_t servo_value = 0;
// move over full range for 2 seconds
auto_state.idle_wiggle_stage += 2;
if (auto_state.idle_wiggle_stage < 50) {
servo_value = auto_state.idle_wiggle_stage * (4500 / 50);
} else if (auto_state.idle_wiggle_stage < 100) {
servo_value = (100 - auto_state.idle_wiggle_stage) * (4500 / 50);
} else if (auto_state.idle_wiggle_stage < 150) {
servo_value = (100 - auto_state.idle_wiggle_stage) * (4500 / 50);
} else if (auto_state.idle_wiggle_stage < 200) {
servo_value = (auto_state.idle_wiggle_stage-200) * (4500 / 50);
} else {
auto_state.idle_wiggle_stage = 0;
}
channel_roll->set_servo_out(servo_value);
channel_pitch->set_servo_out(servo_value);
channel_rudder->set_servo_out(servo_value);
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
channel_rudder->calc_pwm();
channel_roll->output();
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
channel_throttle->output_trim();
}
/*
return minimum throttle PWM value, taking account of throttle reversal. For reverse thrust you get the throttle off position
*/
uint16_t Plane::throttle_min(void) const
{
if (aparm.throttle_min < 0) {
return channel_throttle->get_radio_trim();
}
return channel_throttle->get_reverse() ? channel_throttle->get_radio_max() : channel_throttle->get_radio_min();
};
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
void Plane::set_servos(void)
{
int16_t last_throttle = channel_throttle->get_radio_out();
// do any transition updates for quadplane
quadplane.update();
if (control_mode == AUTO && auto_state.idle_mode) {
// special handling for balloon launch
set_servos_idle();
return;
}
/*
see if we are doing ground steering.
*/
if (!steering_control.ground_steering) {
// we are not at an altitude for ground steering. Set the nose
// wheel to the rudder just in case the barometer has drifted
// a lot
steering_control.steering = steering_control.rudder;
} else if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_steering)) {
// we are within the ground steering altitude but don't have a
// dedicated steering channel. Set the rudder to the ground
// steering output
steering_control.rudder = steering_control.steering;
}
channel_rudder->set_servo_out(steering_control.rudder);
// clear ground_steering to ensure manual control if the yaw stabilizer doesn't run
steering_control.ground_steering = false;
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_rudder, steering_control.rudder);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_steering, steering_control.steering);
if (control_mode == MANUAL) {
// do a direct pass through of radio values
if (g.mix_mode == 0 || g.elevon_output != MIXING_DISABLED) {
channel_roll->set_radio_out(channel_roll->get_radio_in());
channel_pitch->set_radio_out(channel_pitch->get_radio_in());
} else {
channel_roll->set_radio_out(channel_roll->read());
channel_pitch->set_radio_out(channel_pitch->read());
}
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
// setup extra channels. We want this to come from the
// main input channel, but using the 2nd channels dead
// zone, reverse and min/max settings. We need to use
// pwm_to_angle_dz() to ensure we don't trim the value for the
// deadzone of the main aileron channel, otherwise the 2nd
// aileron won't quite follow the first one
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->pwm_to_angle_dz(0));
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->pwm_to_angle_dz(0));
// this variant assumes you have the corresponding
// input channel setup in your transmitter for manual control
// of the 2nd aileron
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input);
} else {
if (g.mix_mode == 0) {
// both types of secondary aileron are slaved to the roll servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron_with_input, channel_roll->get_servo_out());
// both types of secondary elevator are slaved to the pitch servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator_with_input, channel_pitch->get_servo_out());
}else{
/*Elevon mode*/
float ch1;
float ch2;
ch1 = channel_pitch->get_servo_out() - (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
ch2 = channel_pitch->get_servo_out() + (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
/* Differential Spoilers
If differential spoilers are setup, then we translate
rudder control into splitting of the two ailerons on
the side of the aircraft where we want to induce
additional drag.
*/
if (RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
float ch3 = ch1;
float ch4 = ch2;
if ( BOOL_TO_SIGN(g.reverse_elevons) * channel_rudder->get_servo_out() < 0) {
ch1 += abs(channel_rudder->get_servo_out());
ch3 -= abs(channel_rudder->get_servo_out());
} else {
ch2 += abs(channel_rudder->get_servo_out());
ch4 -= abs(channel_rudder->get_servo_out());
}
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler1, ch3);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler2, ch4);
}
// directly set the radio_out values for elevon mode
channel_roll->set_radio_out(elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX)));
channel_pitch->set_radio_out(elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX)));
}
// push out the PWM values
if (g.mix_mode == 0) {
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
}
channel_rudder->calc_pwm();
#if THROTTLE_OUT == 0
channel_throttle->set_servo_out(0);
#else
// convert 0 to 100% (or -100 to +100) into PWM
int8_t min_throttle = aparm.throttle_min.get();
int8_t max_throttle = aparm.throttle_max.get();
if (min_throttle < 0 && !allow_reverse_thrust()) {
// reverse thrust is available but inhibited.
min_throttle = 0;
}
if (control_mode == AUTO) {
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
min_throttle = 0;
}
if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
if(aparm.takeoff_throttle_max != 0) {
max_throttle = aparm.takeoff_throttle_max;
} else {
max_throttle = aparm.throttle_max;
}
}
}
uint32_t now = millis();
if (battery.overpower_detected()) {
// overpower detected, cut back on the throttle if we're maxing it out by calculating a limiter value
// throttle limit will attack by 10% per second
if (channel_throttle->get_servo_out() > 0 && // demanding too much positive thrust
throttle_watt_limit_max < max_throttle - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max++;
} else if (channel_throttle->get_servo_out() < 0 &&
min_throttle < 0 && // reverse thrust is available
throttle_watt_limit_min < -(min_throttle) - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min++;
}
} else if (now - throttle_watt_limit_timer_ms >= 1000) {
// it has been 1 second since last over-current, check if we can resume higher throttle.
// this throttle release is needed to allow raising the max_throttle as the battery voltage drains down
// throttle limit will release by 1% per second
if (channel_throttle->get_servo_out() > throttle_watt_limit_max && // demanding max forward thrust
throttle_watt_limit_max > 0) { // and we're currently limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max--;
} else if (channel_throttle->get_servo_out() < throttle_watt_limit_min && // demanding max negative thrust
throttle_watt_limit_min > 0) { // and we're limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min--;
}
}
max_throttle = constrain_int16(max_throttle, 0, max_throttle - throttle_watt_limit_max);
if (min_throttle < 0) {
min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
}
channel_throttle->set_servo_out(constrain_int16(channel_throttle->get_servo_out(),
min_throttle,
max_throttle));
if (!hal.util->get_soft_armed()) {
channel_throttle->set_servo_out(0);
channel_throttle->calc_pwm();
} else if (suppress_throttle()) {
// throttle is suppressed in auto mode
channel_throttle->set_servo_out(0);
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else {
channel_throttle->calc_pwm();
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE ||
control_mode == TRAINING ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE) &&
!failsafe.ch3_counter) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if (control_mode == GUIDED &&
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if (quadplane.in_vtol_mode()) {
// ask quadplane code for forward throttle
channel_throttle->set_servo_out(quadplane.forward_throttle_pct());
channel_throttle->calc_pwm();
} else {
// normal throttle calculation based on servo_out
channel_throttle->calc_pwm();
}
#endif
}
// Auto flap deployment
int8_t auto_flap_percent = 0;
int8_t manual_flap_percent = 0;
static int8_t last_auto_flap;
static int8_t last_manual_flap;
// work out any manual flap input
RC_Channel *flapin = RC_Channel::rc_channel(g.flapin_channel-1);
if (flapin != NULL && !failsafe.ch3_failsafe && failsafe.ch3_counter == 0) {
flapin->input();
manual_flap_percent = flapin->percent_input();
}
if (auto_throttle_mode) {
int16_t flapSpeedSource = 0;
if (ahrs.airspeed_sensor_enabled()) {
flapSpeedSource = target_airspeed_cm * 0.01f;
} else {
flapSpeedSource = aparm.throttle_cruise;
}
if (g.flap_2_speed != 0 && flapSpeedSource <= g.flap_2_speed) {
auto_flap_percent = g.flap_2_percent;
} else if ( g.flap_1_speed != 0 && flapSpeedSource <= g.flap_1_speed) {
auto_flap_percent = g.flap_1_percent;
} //else flaps stay at default zero deflection
/*
special flap levels for takeoff and landing. This works
better than speed based flaps as it leads to less
possibility of oscillation
*/
if (control_mode == AUTO) {
switch (flight_stage) {
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
if (g.takeoff_flap_percent != 0) {
auto_flap_percent = g.takeoff_flap_percent;
}
break;
case AP_SpdHgtControl::FLIGHT_NORMAL:
if (auto_flap_percent != 0 && in_preLaunch_flight_stage()) {
// TODO: move this to a new FLIGHT_PRE_TAKEOFF stage
auto_flap_percent = g.takeoff_flap_percent;
}
break;
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
if (g.land_flap_percent != 0) {
auto_flap_percent = g.land_flap_percent;
}
break;
default:
break;
}
}
}
// manual flap input overrides auto flap input
if (abs(manual_flap_percent) > auto_flap_percent) {
auto_flap_percent = manual_flap_percent;
}
flap_slew_limit(last_auto_flap, auto_flap_percent);
flap_slew_limit(last_manual_flap, manual_flap_percent);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap_auto, auto_flap_percent);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap, manual_flap_percent);
if (control_mode >= FLY_BY_WIRE_B ||
quadplane.in_assisted_flight() ||
quadplane.in_vtol_mode()) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit(last_throttle);
}
if (control_mode == TRAINING) {
// copy rudder in training mode
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
}
if (g.flaperon_output != MIXING_DISABLED && g.elevon_output == MIXING_DISABLED && g.mix_mode == 0) {
flaperon_update(auto_flap_percent);
}
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, channel_pitch, channel_rudder);
} else if (g.elevon_output != MIXING_DISABLED) {
channel_output_mixer(g.elevon_output, channel_pitch, channel_roll);
// if (both) differential spoilers setup then apply rudder
// control into splitting the two elevons on the side of
// the aircraft where we want to induce additional drag:
if (RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) &&
RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
int16_t ch3 = channel_roll->get_radio_out(); //diff spoiler 1
int16_t ch4 = channel_pitch->get_radio_out(); //diff spoiler 2
// convert rudder-servo output (-4500 to 4500) to PWM offset
// value (-500 to 500) and multiply by DSPOILR_RUD_RATE/100
// (rudder->servo_out * 500 / SERVO_MAX * dspoiler_rud_rate/100):
int16_t ruddVal = (int16_t)((int32_t)(channel_rudder->get_servo_out()) *
g.dspoiler_rud_rate / (SERVO_MAX/5));
if (ruddVal != 0) { //if nonzero rudder then apply to spoilers
int16_t ch1 = ch3; //elevon 1
int16_t ch2 = ch4; //elevon 2
if (ruddVal > 0) { //apply rudder to right or left side
ch1 += ruddVal;
ch3 -= ruddVal;
} else {
ch2 += ruddVal;
ch4 -= ruddVal;
}
// change elevon 1 & 2 positions; constrain min/max:
channel_roll->set_radio_out(constrain_int16(ch1, 900, 2100));
channel_pitch->set_radio_out(constrain_int16(ch2, 900, 2100));
// constrain min/max for intermediate dspoiler positions:
ch3 = constrain_int16(ch3, 900, 2100);
ch4 = constrain_int16(ch4, 900, 2100);
}
// set positions of differential spoilers (convert PWM
// 900-2100 range to servo output (-4500 to 4500)
// and use function that supports rev/min/max/trim):
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler1,
(ch3-(int16_t)1500) * (int16_t)(SERVO_MAX/300) / (int16_t)2);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler2,
(ch4-(int16_t)1500) * (int16_t)(SERVO_MAX/300) / (int16_t)2);
}
}
if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0.
//This little segment aims to avoid this.
switch (arming.arming_required()) {
case AP_Arming::NO:
//keep existing behavior: do nothing to radio_out
//(don't disarm throttle channel even if AP_Arming class is)
break;
case AP_Arming::YES_ZERO_PWM:
channel_throttle->set_radio_out(0);
break;
case AP_Arming::YES_MIN_PWM:
default:
channel_throttle->set_radio_out(throttle_min());
break;
}
}
#if OBC_FAILSAFE == ENABLED
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
obc.check_crash_plane();
#endif
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// get the servos to the GCS immediately for HIL
if (HAVE_PAYLOAD_SPACE(MAVLINK_COMM_0, RC_CHANNELS_SCALED)) {
send_servo_out(MAVLINK_COMM_0);
}
if (!g.hil_servos) {
return;
}
}
#endif
if (g.land_then_servos_neutral > 0 &&
control_mode == AUTO &&
g.land_disarm_delay > 0 &&
auto_state.land_complete &&
!arming.is_armed()) {
// after an auto land and auto disarm, set the servos to be neutral just
// in case we're upside down or some crazy angle and straining the servos.
if (g.land_then_servos_neutral == 1) {
channel_roll->set_radio_out(channel_roll->get_radio_trim());
channel_pitch->set_radio_out(channel_pitch->get_radio_trim());
channel_rudder->set_radio_out(channel_rudder->get_radio_trim());
} else if (g.land_then_servos_neutral == 2) {
channel_roll->disable_out();
channel_pitch->disable_out();
channel_rudder->disable_out();
}
}
// send values to the PWM timers for output
// ----------------------------------------
if (g.rudder_only == 0) {
// when we RUDDER_ONLY mode we don't send the channel_roll
// output and instead rely on KFF_RDDRMIX. That allows the yaw
// damper to operate.
channel_roll->output();
}
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
RC_Channel_aux::output_ch_all();
}
bool Plane::allow_reverse_thrust(void)
{
// check if we should allow reverse thrust
bool allow = false;
if (g.use_reverse_thrust == USE_REVERSE_THRUST_NEVER) {
return false;
}
switch (control_mode) {
case AUTO:
{
uint16_t nav_cmd = mission.get_current_nav_cmd().id;
// never allow reverse thrust during takeoff
if (nav_cmd == MAV_CMD_NAV_TAKEOFF) {
return false;
}
// always allow regardless of mission item
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_ALWAYS);
// landing
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LAND_APPROACH) &&
(nav_cmd == MAV_CMD_NAV_LAND);
// LOITER_TO_ALT
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT) &&
(nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT);
// any Loiter (including LOITER_TO_ALT)
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_ALL) &&
(nav_cmd == MAV_CMD_NAV_LOITER_TIME ||
nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT ||
nav_cmd == MAV_CMD_NAV_LOITER_TURNS ||
nav_cmd == MAV_CMD_NAV_LOITER_UNLIM);
// waypoints
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_WAYPOINT) &&
(nav_cmd == MAV_CMD_NAV_WAYPOINT ||
nav_cmd == MAV_CMD_NAV_SPLINE_WAYPOINT);
}
break;
case LOITER:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_LOITER);
break;
case RTL:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL);
break;
case CIRCLE:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE);
break;
case CRUISE:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CRUISE);
break;
case FLY_BY_WIRE_B:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_FBWB);
break;
case GUIDED:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED);
break;
default:
// all other control_modes are auto_throttle_mode=false.
// If we are not controlling throttle, don't limit it.
allow = true;
break;
}
return allow;
}
void Plane::demo_servos(uint8_t i)
{
while(i > 0) {
gcs_send_text(MAV_SEVERITY_INFO,"Demo servos");
demoing_servos = true;
servo_write(1, 1400);
hal.scheduler->delay(400);
servo_write(1, 1600);
hal.scheduler->delay(200);
servo_write(1, 1500);
demoing_servos = false;
hal.scheduler->delay(400);
i--;
}
}
/*
adjust nav_pitch_cd for STAB_PITCH_DOWN_CD. This is used to make
keeping up good airspeed in FBWA mode easier, as the plane will
automatically pitch down a little when at low throttle. It makes
FBWA landings without stalling much easier.
*/
void Plane::adjust_nav_pitch_throttle(void)
{
int8_t throttle = throttle_percentage();
if (throttle >= 0 && throttle < aparm.throttle_cruise && flight_stage != AP_SpdHgtControl::FLIGHT_VTOL) {
float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;
}
}
/*
calculate a new aerodynamic_load_factor and limit nav_roll_cd to
ensure that the load factor does not take us below the sustainable
airspeed
*/
void Plane::update_load_factor(void)
{
float demanded_roll = fabsf(nav_roll_cd*0.01f);
if (demanded_roll > 85) {
// limit to 85 degrees to prevent numerical errors
demanded_roll = 85;
}
aerodynamic_load_factor = 1.0f / safe_sqrt(cosf(radians(demanded_roll)));
if (!aparm.stall_prevention) {
// stall prevention is disabled
return;
}
if (fly_inverted()) {
// no roll limits when inverted
return;
}
float max_load_factor = smoothed_airspeed / aparm.airspeed_min;
if (max_load_factor <= 1) {
// our airspeed is below the minimum airspeed. Limit roll to
// 25 degrees
nav_roll_cd = constrain_int32(nav_roll_cd, -2500, 2500);
roll_limit_cd = constrain_int32(roll_limit_cd, -2500, 2500);
} else if (max_load_factor < aerodynamic_load_factor) {
// the demanded nav_roll would take us past the aerodymamic
// load limit. Limit our roll to a bank angle that will keep
// the load within what the airframe can handle. We always
// allow at least 25 degrees of roll however, to ensure the
// aircraft can be maneuvered with a bad airspeed estimate. At
// 25 degrees the load factor is 1.1 (10%)
int32_t roll_limit = degrees(acosf(sq(1.0f / max_load_factor)))*100;
if (roll_limit < 2500) {
roll_limit = 2500;
}
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit);
roll_limit_cd = constrain_int32(roll_limit_cd, -roll_limit, roll_limit);
}
}
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