ardupilot/ArduCopter/mode_althold.cpp

107 lines
3.6 KiB
C++

#include "Copter.h"
/*
* Init and run calls for althold, flight mode
*/
// althold_init - initialise althold controller
bool ModeAltHold::init(bool ignore_checks)
{
// initialise position and desired velocity
if (!pos_control->is_active_z()) {
pos_control->set_alt_target_to_current_alt();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
void ModeAltHold::run()
{
float takeoff_climb_rate = 0.0f;
// initialize vertical speeds and acceleration
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_max_accel_z(g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
float target_roll, target_pitch;
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
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// get pilot desired climb rate
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
// Alt Hold State Machine Determination
AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate);
// Alt Hold State Machine
switch (althold_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;
case AltHold_Landed_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
// FALLTHROUGH
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}
// get take-off adjusted pilot and takeoff climb rates
takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// set position controller targets
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
break;
case AltHold_Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if AC_AVOID_ENABLED == ENABLED
// apply avoidance
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
#endif
// adjust climb rate using rangefinder
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
break;
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// call z-axis position controller
pos_control->update_z_controller();
}