mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.4 KiB
C++
116 lines
4.4 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 ModeQLoiter::_enter()
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{
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// initialise loiter
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loiter_nav->clear_pilot_desired_acceleration();
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loiter_nav->init_target();
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
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pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
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quadplane.init_throttle_wait();
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// remember initial pitch
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quadplane.loiter_initial_pitch_cd = MAX(plane.ahrs.pitch_sensor, 0);
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// prevent re-init of target position
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quadplane.last_loiter_ms = AP_HAL::millis();
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return true;
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}
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void ModeQLoiter::update()
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{
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plane.mode_qstabilize.update();
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}
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// run quadplane loiter controller
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void ModeQLoiter::run()
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{
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if (quadplane.throttle_wait) {
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quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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attitude_control->set_throttle_out(0, true, 0);
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quadplane.relax_attitude_control();
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pos_control->relax_z_controller(0);
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loiter_nav->clear_pilot_desired_acceleration();
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loiter_nav->init_target();
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return;
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}
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if (!quadplane.motors->armed()) {
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plane.mode_qloiter._enter();
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}
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if (quadplane.should_relax()) {
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loiter_nav->soften_for_landing();
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}
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const uint32_t now = AP_HAL::millis();
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if (now - quadplane.last_loiter_ms > 500) {
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loiter_nav->clear_pilot_desired_acceleration();
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loiter_nav->init_target();
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}
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quadplane.last_loiter_ms = now;
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// motors use full range
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quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
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// process pilot's roll and pitch input
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float target_roll_cd, target_pitch_cd;
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quadplane.get_pilot_desired_lean_angles(target_roll_cd, target_pitch_cd, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
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loiter_nav->set_pilot_desired_acceleration(target_roll_cd, target_pitch_cd);
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// run loiter controller
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if (!pos_control->is_active_xy()) {
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pos_control->init_xy_controller();
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}
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loiter_nav->update();
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// nav roll and pitch are controller by loiter controller
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plane.nav_roll_cd = loiter_nav->get_roll();
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plane.nav_pitch_cd = loiter_nav->get_pitch();
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if (quadplane.transition->set_VTOL_roll_pitch_limit(plane.nav_roll_cd, plane.nav_pitch_cd)) {
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pos_control->set_externally_limited_xy();
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}
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// call attitude controller with conservative smoothing gain of 4.0f
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
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plane.nav_pitch_cd,
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quadplane.get_desired_yaw_rate_cds());
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if (plane.control_mode == &plane.mode_qland) {
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if (poscontrol.get_state() < QuadPlane::QPOS_LAND_FINAL && quadplane.check_land_final()) {
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poscontrol.set_state(QuadPlane::QPOS_LAND_FINAL);
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quadplane.setup_target_position();
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// cut IC engine if enabled
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if (quadplane.land_icengine_cut != 0) {
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plane.g2.ice_control.engine_control(0, 0, 0);
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}
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}
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float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
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float descent_rate_cms = quadplane.landing_descent_rate_cms(height_above_ground);
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if (poscontrol.get_state() == QuadPlane::QPOS_LAND_FINAL && (quadplane.options & QuadPlane::OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
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quadplane.ahrs.set_touchdown_expected(true);
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}
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quadplane.set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
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quadplane.check_land_complete();
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} else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) {
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quadplane.set_climb_rate_cms(0, false);
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} else {
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// update altitude target and call position controller
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quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms(), false);
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}
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quadplane.run_z_controller();
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}
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#endif
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