mirror of https://github.com/ArduPilot/ardupilot
87 lines
3.2 KiB
C++
87 lines
3.2 KiB
C++
#include "Sub.h"
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/*
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* control_circle.pde - init and run calls for circle flight mode
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*/
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// circle_init - initialise circle controller flight mode
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bool ModeCircle::init(bool ignore_checks)
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{
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if (!sub.position_ok()) {
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return false;
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}
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sub.circle_pilot_yaw_override = false;
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// initialize speeds and accelerations
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position_control->set_max_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
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position_control->set_correction_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
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position_control->set_max_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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position_control->set_correction_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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// initialise circle controller including setting the circle center based on vehicle speed
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sub.circle_nav.init();
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return true;
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}
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// circle_run - runs the circle flight mode
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// should be called at 100hz or more
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void ModeCircle::run()
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{
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float target_yaw_rate = 0;
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float target_climb_rate = 0;
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// update parameters, to allow changing at runtime
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position_control->set_max_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
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position_control->set_max_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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// if not armed set throttle to zero and exit immediately
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if (!motors.armed()) {
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// To-Do: add some initialisation of position controllers
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motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
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attitude_control->set_throttle_out(0,true,g.throttle_filt);
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attitude_control->relax_attitude_controllers();
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sub.circle_nav.init();
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return;
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}
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// process pilot inputs
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// get pilot's desired yaw rate
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target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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if (!is_zero(target_yaw_rate)) {
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sub.circle_pilot_yaw_override = true;
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}
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// get pilot desired climb rate
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target_climb_rate = sub.get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// run circle controller
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sub.failsafe_terrain_set_status(sub.circle_nav.update());
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///////////////////////
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// update xy outputs //
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float lateral_out, forward_out;
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sub.translate_circle_nav_rp(lateral_out, forward_out);
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// Send to forward/lateral outputs
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motors.set_lateral(lateral_out);
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motors.set_forward(forward_out);
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// call attitude controller
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if (sub.circle_pilot_yaw_override) {
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
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} else {
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attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), sub.circle_nav.get_yaw(), true);
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}
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// update altitude target and call position controller
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position_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
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position_control->update_z_controller();
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}
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