mirror of https://github.com/ArduPilot/ardupilot
153 lines
4.3 KiB
C++
153 lines
4.3 KiB
C++
#include "Copter.h"
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/*
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autotune mode is a wrapper around the AC_AutoTune library
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*/
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#if AUTOTUNE_ENABLED == ENABLED
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bool AutoTune::init()
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{
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// use position hold while tuning if we were in QLOITER
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bool position_hold = (copter.flightmode->mode_number() == Mode::Number::LOITER || copter.flightmode->mode_number() == Mode::Number::POSHOLD);
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return init_internals(position_hold,
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copter.attitude_control,
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copter.pos_control,
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copter.ahrs_view,
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&copter.inertial_nav);
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}
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/*
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start autotune mode
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*/
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bool AutoTune::start()
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{
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// only allow AutoTune from some flight modes, for example Stabilize, AltHold, PosHold or Loiter modes
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if (!copter.flightmode->allows_autotune()) {
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return false;
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}
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// ensure throttle is above zero
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if (copter.ap.throttle_zero) {
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return false;
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}
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// ensure we are flying
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if (!copter.motors->armed() || !copter.ap.auto_armed || copter.ap.land_complete) {
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return false;
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}
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return AC_AutoTune::start();
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}
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void AutoTune::run()
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{
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// apply SIMPLE mode transform to pilot inputs
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copter.update_simple_mode();
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// reset target lean angles and heading while landed
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if (copter.ap.land_complete) {
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// we are landed, shut down
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float target_climb_rate = get_pilot_desired_climb_rate_cms();
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// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
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if (target_climb_rate < 0.0f) {
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copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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} else {
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copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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copter.attitude_control->reset_rate_controller_I_terms_smoothly();
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copter.attitude_control->set_yaw_target_to_current_heading();
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float target_roll, target_pitch, target_yaw_rate;
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get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);
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copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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copter.pos_control->relax_alt_hold_controllers(0.0f);
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copter.pos_control->update_z_controller();
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} else {
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// run autotune mode
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AC_AutoTune::run();
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}
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}
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/*
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get stick input climb rate
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*/
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float AutoTune::get_pilot_desired_climb_rate_cms(void) const
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{
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float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
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// get avoidance adjusted climb rate
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target_climb_rate = copter.mode_autotune.get_avoidance_adjusted_climbrate(target_climb_rate);
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return target_climb_rate;
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}
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/*
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get stick roll, pitch and yaw rate
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*/
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void AutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitch_cd, float &yaw_rate_cds)
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{
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copter.mode_autotune.get_pilot_desired_lean_angles(des_roll_cd, des_pitch_cd, copter.aparm.angle_max,
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copter.attitude_control->get_althold_lean_angle_max());
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yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
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}
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/*
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setup z controller velocity and accel limits
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*/
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void AutoTune::init_z_limits()
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{
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copter.pos_control->set_max_speed_z(-copter.get_pilot_speed_dn(), copter.g.pilot_speed_up);
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copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
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}
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void AutoTune::log_pids()
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{
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copter.logger.Write_PID(LOG_PIDR_MSG, copter.attitude_control->get_rate_roll_pid().get_pid_info());
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copter.logger.Write_PID(LOG_PIDP_MSG, copter.attitude_control->get_rate_pitch_pid().get_pid_info());
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copter.logger.Write_PID(LOG_PIDY_MSG, copter.attitude_control->get_rate_yaw_pid().get_pid_info());
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}
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/*
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check if we have a good position estimate
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*/
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bool AutoTune::position_ok()
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{
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return copter.position_ok();
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}
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/*
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initialise autotune mode
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*/
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bool ModeAutoTune::init(bool ignore_checks)
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{
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return autotune.init();
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}
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void ModeAutoTune::run()
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{
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autotune.run();
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}
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void ModeAutoTune::save_tuning_gains()
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{
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autotune.save_tuning_gains();
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}
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void ModeAutoTune::stop()
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{
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autotune.stop();
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}
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void ModeAutoTune::reset()
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{
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autotune.reset();
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}
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#endif // AUTOTUNE_ENABLED == ENABLED
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