mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.9 KiB
C++
70 lines
2.9 KiB
C++
#include "Sub.h"
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bool ModeStabilize::init(bool ignore_checks) {
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// set target altitude to zero for reporting
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position_control->set_pos_desired_z_cm(0);
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sub.last_pilot_heading = ahrs.yaw_sensor;
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return true;
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return true;
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}
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void ModeStabilize::run()
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{
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uint32_t tnow = AP_HAL::millis();
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float target_roll, target_pitch;
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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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motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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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.last_pilot_heading = ahrs.yaw_sensor;
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return;
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}
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motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// convert pilot input to lean angles
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// To-Do: convert sub.get_pilot_desired_lean_angles to return angles as floats
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// TODO2: move into mode.h
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sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);
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// get pilot's desired yaw rate
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float yaw_input = channel_yaw->pwm_to_angle_dz_trim(channel_yaw->get_dead_zone() * sub.gain, channel_yaw->get_radio_trim());
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float target_yaw_rate = sub.get_pilot_desired_yaw_rate(yaw_input);
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// call attitude controller
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// update attitude controller targets
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if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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sub.last_pilot_heading = ahrs.yaw_sensor;
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sub.last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
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} else { // hold current heading
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// this check is required to prevent bounce back after very fast yaw maneuvers
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// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
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if (tnow < sub.last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
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target_yaw_rate = 0; // Stop rotation on yaw axis
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// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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sub.last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
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} else { // call attitude controller holding absolute absolute bearing
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attitude_control->input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, sub.last_pilot_heading, true);
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}
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}
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// output pilot's throttle
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attitude_control->set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
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//control_in is range -1000-1000
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//radio_in is raw pwm value
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motors.set_forward(channel_forward->norm_input());
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motors.set_lateral(channel_lateral->norm_input());
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}
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