mirror of https://github.com/ArduPilot/ardupilot
67 lines
2.0 KiB
Plaintext
67 lines
2.0 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* control_stop.pde - init and run calls for stop flight mode
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*/
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// stop_init - initialise stop controller
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static bool stop_init(bool ignore_checks)
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{
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if (position_ok() || optflow_position_ok() || ignore_checks) {
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// set desired acceleration to zero
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wp_nav.clear_pilot_desired_acceleration();
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// set target to current position
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wp_nav.init_stop_target(STOP_MODE_DECEL_RATE);
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// initialize vertical speed and acceleration
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pos_control.set_speed_z(0, 0);
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pos_control.set_accel_z(STOP_MODE_DECEL_RATE);
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// initialise altitude target to stopping point
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pos_control.set_target_to_stopping_point_z();
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return true;
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}else{
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return false;
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}
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}
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// stop_run - runs the stop controller
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// should be called at 100hz or more
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static void stop_run()
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{
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float target_yaw_rate = 0;
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float target_climb_rate = 0;
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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wp_nav.init_stop_target(STOP_MODE_DECEL_RATE);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
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return;
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}
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if (ap.land_complete) {
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// ToDo: What do we do if we are landed? Disarm?)
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}
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// relax stop target if we might be landed
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if (land_complete_maybe()) {
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// ToDo: What do we do here?
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}
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// run stop controller
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wp_nav.update_stop(ekfGndSpdLimit, ekfNavVelGainScaler);
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
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// body-frame rate controller is run directly from 100hz loop
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// update altitude target and call position controller
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pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
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pos_control.update_z_controller();
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}
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