mirror of https://github.com/ArduPilot/ardupilot
115 lines
4.9 KiB
C++
115 lines
4.9 KiB
C++
#include "Sub.h"
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bool ModeAlthold::init(bool ignore_checks) {
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if(!sub.control_check_barometer()) {
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return false;
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}
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// initialize vertical maximum speeds and acceleration
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// sets the maximum speed up and down returned by position controller
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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 position and desired velocity
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position_control->init_z_controller();
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sub.last_pilot_heading = ahrs.yaw_sensor;
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return true;
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}
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// althold_run - runs the althold controller
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// should be called at 100hz or more
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void ModeAlthold::run()
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{
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uint32_t tnow = AP_HAL::millis();
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// initialize vertical speeds and 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 (!motors.armed()) {
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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 not auto-armed (i.e. on the ground, pilot has never raised throttle)
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attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
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attitude_control->relax_attitude_controllers();
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position_control->relax_z_controller(motors.get_throttle_hover());
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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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// get pilot desired lean angles
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float target_roll, target_pitch;
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// Check if set_attitude_target_no_gps is valid
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if (tnow - sub.set_attitude_target_no_gps.last_message_ms < 5000) {
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float target_yaw;
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Quaternion(
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sub.set_attitude_target_no_gps.packet.q
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).to_euler(
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target_roll,
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target_pitch,
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target_yaw
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);
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target_roll = degrees(target_roll);
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target_pitch = degrees(target_pitch);
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target_yaw = degrees(target_yaw);
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attitude_control->input_euler_angle_roll_pitch_yaw(target_roll * 1e2f, target_pitch * 1e2f, target_yaw * 1e2f, true);
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return;
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}
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sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control->get_althold_lean_angle_max_cd());
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// get pilot's desired yaw rate
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float target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// call attitude controller
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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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control_depth();
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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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void ModeAlthold::control_depth() {
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float target_climb_rate_cm_s = sub.get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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target_climb_rate_cm_s = constrain_float(target_climb_rate_cm_s, -sub.get_pilot_speed_dn(), g.pilot_speed_up);
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// desired_climb_rate returns 0 when within the deadzone.
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//we allow full control to the pilot, but as soon as there's no input, we handle being at surface/bottom
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if (fabsf(target_climb_rate_cm_s) < 0.05f) {
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if (sub.ap.at_surface) {
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position_control->set_pos_target_z_cm(MIN(position_control->get_pos_target_z_cm(), g.surface_depth - 5.0f)); // set target to 5 cm below surface level
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} else if (sub.ap.at_bottom) {
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position_control->set_pos_target_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, position_control->get_pos_target_z_cm())); // set target to 10 cm above bottom
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}
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}
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position_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate_cm_s);
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position_control->update_z_controller();
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}
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