mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.9 KiB
C++
75 lines
2.9 KiB
C++
#include "Copter.h"
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* Init and run calls for stabilize flight mode for trad heli
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*/
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// stabilize_init - initialise stabilize controller
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bool Copter::ModeStabilize_Heli::init(bool ignore_checks)
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{
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// set target altitude to zero for reporting
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// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
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pos_control->set_alt_target(0);
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// set stab collective true to use stabilize scaled collective pitch range
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copter.input_manager.set_use_stab_col(true);
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return true;
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}
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// stabilize_run - runs the main stabilize controller
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// should be called at 100hz or more
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void Copter::ModeStabilize_Heli::run()
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{
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float target_roll, target_pitch;
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float target_yaw_rate;
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float pilot_throttle_scaled;
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
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// we may be in autorotation flight. These should be reset only when transitioning from disarmed
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// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
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// that the servos move in a realistic fashion while disarmed for operational checks.
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// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
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if(!motors->armed()) {
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copter.heli_flags.init_targets_on_arming = true;
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attitude_control->set_yaw_target_to_current_heading();
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attitude_control->reset_rate_controller_I_terms();
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}
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if(motors->armed() && copter.heli_flags.init_targets_on_arming) {
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attitude_control->set_yaw_target_to_current_heading();
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attitude_control->reset_rate_controller_I_terms();
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if (motors->get_interlock()) {
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copter.heli_flags.init_targets_on_arming=false;
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}
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}
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// clear landing flag above zero throttle
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if (motors->armed() && motors->get_interlock() && motors->rotor_runup_complete() && !ap.throttle_zero) {
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set_land_complete(false);
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}
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// convert pilot input to lean angles
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// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
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get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, copter.aparm.angle_max);
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// get pilot's desired throttle
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pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// output pilot's throttle - note that TradHeli does not used angle-boost
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attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
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#endif //HELI_FRAME
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