mirror of https://github.com/ArduPilot/ardupilot
153 lines
6.3 KiB
C++
153 lines
6.3 KiB
C++
#include "Copter.h"
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#if MODE_ACRO_ENABLED == ENABLED
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* Init and run calls for acro flight mode for trad heli
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*/
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// heli_acro_init - initialise acro controller
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bool ModeAcro_Heli::init(bool ignore_checks)
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{
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// if heli is equipped with a flybar, then tell the attitude controller to pass through controls directly to servos
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attitude_control->use_flybar_passthrough(motors->has_flybar(), motors->supports_yaw_passthrough());
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motors->set_acro_tail(true);
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// set stab collective false to use full collective pitch range
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copter.input_manager.set_use_stab_col(false);
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// always successfully enter acro
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return true;
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}
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// heli_acro_run - runs the acro controller
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// should be called at 100hz or more
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void ModeAcro_Heli::run()
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{
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float target_roll, target_pitch, target_yaw;
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float pilot_throttle_scaled;
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
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// we may be in autorotation flight. This is so that the servos move in a realistic fashion while disarmed
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// for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero
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// so the swash servos move.
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
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} else {
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// heli will not let the spool state progress to THROTTLE_UNLIMITED until motor interlock is enabled
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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switch (motors->get_spool_state()) {
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case AP_Motors::SpoolState::SHUT_DOWN:
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// Motors Stopped
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attitude_control->set_attitude_target_to_current_attitude();
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attitude_control->reset_rate_controller_I_terms();
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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// If aircraft is landed, set target heading to current and reset the integrator
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// Otherwise motors could be at ground idle for practice autorotation
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if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
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attitude_control->set_attitude_target_to_current_attitude();
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attitude_control->reset_rate_controller_I_terms();
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}
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
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attitude_control->reset_rate_controller_I_terms();
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}
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break;
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case AP_Motors::SpoolState::SPOOLING_UP:
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case AP_Motors::SpoolState::SPOOLING_DOWN:
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// do nothing
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break;
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}
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if (!motors->has_flybar()){
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// convert the input to the desired body frame rate
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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);
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// only mimic flybar response when trainer mode is disabled
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if (g.acro_trainer == ACRO_TRAINER_DISABLED) {
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// while landed always leak off target attitude to current attitude
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if (copter.ap.land_complete) {
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virtual_flybar(target_roll, target_pitch, target_yaw, 3.0f, 3.0f);
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// while flying use acro balance parameters for leak rate
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} else {
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virtual_flybar(target_roll, target_pitch, target_yaw, g.acro_balance_pitch, g.acro_balance_roll);
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}
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}
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if (motors->supports_yaw_passthrough()) {
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// if the tail on a flybar heli has an external gyro then
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// also use no deadzone for the yaw control and
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// pass-through the input direct to output.
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target_yaw = channel_yaw->get_control_in_zero_dz();
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}
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// run attitude controller
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attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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}else{
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/*
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for fly-bar passthrough use control_in values with no
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deadzone. This gives true pass-through.
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*/
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float roll_in = channel_roll->get_control_in_zero_dz();
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float pitch_in = channel_pitch->get_control_in_zero_dz();
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float yaw_in;
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if (motors->supports_yaw_passthrough()) {
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// if the tail on a flybar heli has an external gyro then
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// also use no deadzone for the yaw control and
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// pass-through the input direct to output.
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yaw_in = channel_yaw->get_control_in_zero_dz();
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} else {
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// if there is no external gyro then run the usual
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// ACRO_YAW_P gain on the input control, including
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// deadzone
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yaw_in = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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}
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// run attitude controller
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attitude_control->passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in);
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}
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// get pilot's desired throttle
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pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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// output pilot's throttle without angle boost
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attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
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// virtual_flybar - acts like a flybar by leaking target atttitude back to current attitude
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void ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, float &yaw_out, float pitch_leak, float roll_leak)
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{
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Vector3f rate_ef_level, rate_bf_level;
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// get attitude targets
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const Vector3f att_target = attitude_control->get_att_target_euler_cd();
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// Calculate earth frame rate command for roll leak to current attitude
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rate_ef_level.x = -wrap_180_cd(att_target.x - ahrs.roll_sensor) * roll_leak;
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// Calculate earth frame rate command for pitch leak to current attitude
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rate_ef_level.y = -wrap_180_cd(att_target.y - ahrs.pitch_sensor) * pitch_leak;
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// Calculate earth frame rate command for yaw
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rate_ef_level.z = 0;
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// convert earth-frame leak rates to body-frame leak rates
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attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
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// combine earth frame rate corrections with rate requests
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roll_out += rate_bf_level.x;
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pitch_out += rate_bf_level.y;
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yaw_out += rate_bf_level.z;
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}
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#endif //HELI_FRAME
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#endif //MODE_ACRO_ENABLED == ENABLED
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