mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
#include "Copter.h"
|
|
|
|
/*
|
|
* Init and run calls for stabilize flight mode
|
|
*/
|
|
|
|
// stabilize_run - runs the main stabilize controller
|
|
// should be called at 100hz or more
|
|
void ModeStabilize::run()
|
|
{
|
|
// apply simple mode transform to pilot inputs
|
|
update_simple_mode();
|
|
|
|
// convert pilot input to lean angles
|
|
float target_roll, target_pitch;
|
|
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
|
|
|
|
// get pilot's desired yaw rate
|
|
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
|
|
|
|
if (!motors->armed()) {
|
|
// Motors should be Stopped
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
|
|
} else if (copter.ap.throttle_zero) {
|
|
// Attempting to Land
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
|
|
} else {
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
}
|
|
|
|
switch (motors->get_spool_state()) {
|
|
case AP_Motors::SpoolState::SHUT_DOWN:
|
|
// Motors Stopped
|
|
attitude_control->set_yaw_target_to_current_heading();
|
|
attitude_control->reset_rate_controller_I_terms();
|
|
break;
|
|
|
|
case AP_Motors::SpoolState::GROUND_IDLE:
|
|
// Landed
|
|
attitude_control->set_yaw_target_to_current_heading();
|
|
attitude_control->reset_rate_controller_I_terms();
|
|
break;
|
|
|
|
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
|
|
// clear landing flag above zero throttle
|
|
if (!motors->limit.throttle_lower) {
|
|
set_land_complete(false);
|
|
}
|
|
break;
|
|
|
|
case AP_Motors::SpoolState::SPOOLING_UP:
|
|
case AP_Motors::SpoolState::SPOOLING_DOWN:
|
|
// do nothing
|
|
break;
|
|
}
|
|
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
|
|
|
|
// output pilot's throttle
|
|
attitude_control->set_throttle_out(get_pilot_desired_throttle(),
|
|
true,
|
|
g.throttle_filt);
|
|
}
|