mirror of https://github.com/ArduPilot/ardupilot
107 lines
3.6 KiB
C++
107 lines
3.6 KiB
C++
#include "Copter.h"
|
|
|
|
|
|
/*
|
|
* Init and run calls for althold, flight mode
|
|
*/
|
|
|
|
// althold_init - initialise althold controller
|
|
bool ModeAltHold::init(bool ignore_checks)
|
|
{
|
|
// initialise position and desired velocity
|
|
if (!pos_control->is_active_z()) {
|
|
pos_control->set_alt_target_to_current_alt();
|
|
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
// althold_run - runs the althold controller
|
|
// should be called at 100hz or more
|
|
void ModeAltHold::run()
|
|
{
|
|
float takeoff_climb_rate = 0.0f;
|
|
|
|
// initialize vertical speeds and acceleration
|
|
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
|
|
pos_control->set_max_accel_z(g.pilot_accel_z);
|
|
|
|
// apply SIMPLE mode transform to pilot inputs
|
|
update_simple_mode();
|
|
|
|
// get pilot desired lean angles
|
|
float target_roll, target_pitch;
|
|
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max());
|
|
|
|
// get pilot's desired yaw rate
|
|
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
|
|
|
|
// get pilot desired climb rate
|
|
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
|
|
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
|
|
|
|
// Alt Hold State Machine Determination
|
|
AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate);
|
|
|
|
// Alt Hold State Machine
|
|
switch (althold_state) {
|
|
|
|
case AltHold_MotorStopped:
|
|
attitude_control->reset_rate_controller_I_terms();
|
|
attitude_control->set_yaw_target_to_current_heading();
|
|
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
|
|
break;
|
|
|
|
case AltHold_Landed_Ground_Idle:
|
|
attitude_control->set_yaw_target_to_current_heading();
|
|
FALLTHROUGH;
|
|
|
|
case AltHold_Landed_Pre_Takeoff:
|
|
attitude_control->reset_rate_controller_I_terms_smoothly();
|
|
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
|
|
break;
|
|
|
|
case AltHold_Takeoff:
|
|
// initiate take-off
|
|
if (!takeoff.running()) {
|
|
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
|
|
}
|
|
|
|
// get take-off adjusted pilot and takeoff climb rates
|
|
takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
|
|
|
|
// get avoidance adjusted climb rate
|
|
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
|
|
|
|
// set position controller targets
|
|
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
|
|
pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
|
|
break;
|
|
|
|
case AltHold_Flying:
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
|
|
#if AC_AVOID_ENABLED == ENABLED
|
|
// apply avoidance
|
|
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
|
|
#endif
|
|
|
|
// adjust climb rate using rangefinder
|
|
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
|
|
|
|
// get avoidance adjusted climb rate
|
|
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
|
|
|
|
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
|
|
break;
|
|
}
|
|
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
|
|
|
|
// call z-axis position controller
|
|
pos_control->update_z_controller();
|
|
|
|
}
|