ardupilot/ArduSub/control_althold.cpp

166 lines
6.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Sub.h"
/*
* control_althold.pde - init and run calls for althold, flight mode
*/
// althold_init - initialise althold controller
bool Sub::althold_init(bool ignore_checks)
{
if(!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "Depth hold requires external pressure sensor.");
return false;
}
// initialize vertical speeds and leash lengths
// sets the maximum speed up and down returned by position controller
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
// stop takeoff if running
takeoff_stop();
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
void Sub::althold_run()
{
AltHoldModeState althold_state;
float takeoff_climb_rate = 0.0f;
// initialize vertical speeds and acceleration
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_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(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
//bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.spool_up_complete());
// // Alt Hold State Machine Determination
if(!ap.auto_armed) {
althold_state = AltHold_Disarmed;
// if (!motors.armed() || !motors.get_interlock()) {
// althold_state = AltHold_MotorStop;
// } else if (!ap.auto_armed){
// althold_state = AltHold_Disarmed;
// } else if (takeoff_state.running || takeoff_triggered){
// althold_state = AltHold_Takeoff;
// } else if (ap.land_complete){
// althold_state = AltHold_Landed;
} else {
althold_state = AltHold_Flying;
}
// Alt Hold State Machine
switch (althold_state) {
case AltHold_Disarmed:
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// Multicopter do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(0);
break;
case AltHold_MotorStop:
// Multicopter do not stabilize roll/pitch/yaw when motor are stopped
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// call position controller
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);
pos_control.update_z_controller();
break;
case AltHold_Landed:
// Multicopter do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
} else {
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case AltHold_Flying:
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// adjust climb rate using rangefinder
if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call position controller
if(ap.at_bottom) {
pos_control.relax_alt_hold_controllers(0.0); // clear velocity and position targets, and integrator
pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
} else if(ap.at_surface) {
if(target_climb_rate < 0.0) { // Dive if the pilot wants to
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
} else if(pos_control.get_vel_target_z() > 0.0) {
pos_control.relax_alt_hold_controllers(0.0); // clear velocity and position targets, and integrator
pos_control.set_alt_target(g.surface_depth); // set alt target to the same depth that triggers the surface detector.
}
} else {
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
}
pos_control.update_z_controller();
break;
}
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->norm_input_dz());
motors.set_lateral(channel_lateral->norm_input_dz());
}