ardupilot/ArduCopter/mode_land.cpp

180 lines
6.0 KiB
C++

#include "Copter.h"
// land_init - initialise land controller
bool ModeLand::init(bool ignore_checks)
{
// check if we have GPS and decide which LAND we're going to do
control_position = copter.position_ok();
if (control_position) {
// set target to stopping point
Vector2f stopping_point;
loiter_nav->get_stopping_point_xy(stopping_point);
loiter_nav->init_target(stopping_point);
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
pos_control->init_z_controller();
}
land_start_time = millis();
land_pause = false;
// reset flag indicating if pilot has applied roll or pitch inputs during landing
copter.ap.land_repo_active = false;
// initialise yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
#if LANDING_GEAR_ENABLED == ENABLED
// optionally deploy landing gear
copter.landinggear.deploy_for_landing();
#endif
#if AC_FENCE == ENABLED
// disable the fence on landing
copter.fence.auto_disable_fence_for_landing();
#endif
#if PRECISION_LANDING == ENABLED
// initialise precland state machine
copter.precland_statemachine.init();
#endif
return true;
}
// land_run - runs the land controller
// should be called at 100hz or more
void ModeLand::run()
{
if (control_position) {
gps_run();
} else {
nogps_run();
}
}
// land_gps_run - runs the land controller
// horizontal position controlled with loiter controller
// should be called at 100hz or more
void ModeLand::gps_run()
{
// disarm when the landing detector says we've landed
if (copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
copter.arming.disarm(AP_Arming::Method::LANDED);
}
// Land State Machine Determination
if (is_disarmed_or_landed()) {
make_safe_ground_handling();
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
} else {
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// pause before beginning land descent
if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
land_pause = false;
}
#if PRECISION_LANDING == ENABLED
// the state machine takes care of the entire landing procedure except for land_pause.
if (land_pause) {
// we don't want to start descending immediately
run_land_controllers(true);
} else {
run_precland();
}
#else
run_land_controllers(land_pause);
#endif
}
}
// land_nogps_run - runs the land controller
// pilot controls roll and pitch angles
// should be called at 100hz or more
void ModeLand::nogps_run()
{
float target_roll = 0.0f, target_pitch = 0.0f;
float target_yaw_rate = 0;
// process pilot inputs
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
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
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
}
// disarm when the landing detector says we've landed
if (copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
copter.arming.disarm(AP_Arming::Method::LANDED);
}
// Land State Machine Determination
if (is_disarmed_or_landed()) {
make_safe_ground_handling();
} else {
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// pause before beginning land descent
if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
land_pause = false;
}
land_run_vertical_control(land_pause);
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
}
// do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
// called during GPS failsafe to ensure that if we were already in LAND mode that we do not use the GPS
// has no effect if we are not already in LAND mode
void ModeLand::do_not_use_GPS()
{
control_position = false;
}
// set_mode_land_with_pause - sets mode to LAND and triggers 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_land_with_pause(ModeReason reason)
{
set_mode(Mode::Number::LAND, reason);
mode_land.set_land_pause(true);
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}
// landing_with_GPS - returns true if vehicle is landing using GPS
bool Copter::landing_with_GPS()
{
return (flightmode->mode_number() == Mode::Number::LAND &&
mode_land.controlling_position());
}