mirror of https://github.com/ArduPilot/ardupilot
67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
#include "Sub.h"
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bool Sub::surface_init(bool ignore_checks)
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{
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
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if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
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gcs_send_text(MAV_SEVERITY_WARNING, "Surface mode requires external pressure sensor.");
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return false;
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}
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#endif
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// initialize vertical speeds and leash lengths
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pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
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pos_control.set_accel_z(wp_nav.get_accel_z());
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// initialise position and desired velocity
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pos_control.set_alt_target(inertial_nav.get_altitude());
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
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return true;
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}
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void Sub::surface_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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// if not armed set throttle to zero and exit immediately
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if (!motors.armed()) {
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motors.output_min();
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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return;
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}
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// Already at surface, hold depth at surface
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if (ap.at_surface) {
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set_mode(ALT_HOLD, MODE_REASON_SURFACE_COMPLETE);
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}
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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, 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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// 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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// set target climb rate
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float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_speed_up());
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// record desired climb rate for logging
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desired_climb_rate = cmb_rate;
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// update altitude target and call position controller
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pos_control.set_alt_target_from_climb_rate_ff(cmb_rate, G_Dt, true);
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pos_control.update_z_controller();
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// pilot has control for repositioning
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motors.set_forward(channel_forward->norm_input());
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motors.set_lateral(channel_lateral->norm_input());
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}
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