mirror of https://github.com/ArduPilot/ardupilot
1134 lines
38 KiB
C++
1134 lines
38 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Plane.h"
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const AP_Param::GroupInfo QuadPlane::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable QuadPlane
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// @Description: This enables QuadPlane functionality, assuming quad motors on outputs 5 to 8
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// @Values: 0:Disable,1:Enable
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// @User: Standard
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AP_GROUPINFO_FLAGS("ENABLE", 1, QuadPlane, enable, 0, AP_PARAM_FLAG_ENABLE),
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// @Group: M_
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// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
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AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsQuad),
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// @Param: RT_RLL_P
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// @DisplayName: Roll axis rate controller P gain
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// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
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// @Range: 0.08 0.30
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// @Increment: 0.005
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// @User: Standard
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// @Param: RT_RLL_I
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// @DisplayName: Roll axis rate controller I gain
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
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// @Range: 0.01 0.5
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// @Increment: 0.01
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// @User: Standard
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// @Param: RT_RLL_IMAX
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// @DisplayName: Roll axis rate controller I gain maximum
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: Percent*10
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// @User: Standard
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// @Param: RT_RLL_D
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// @DisplayName: Roll axis rate controller D gain
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
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// @Range: 0.001 0.02
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// @Increment: 0.001
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// @User: Standard
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AP_SUBGROUPINFO(pid_rate_roll, "RT_RLL_", 3, QuadPlane, AC_PID),
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// @Param: RT_PIT_P
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// @DisplayName: Pitch axis rate controller P gain
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// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
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// @Range: 0.08 0.30
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// @Increment: 0.005
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// @User: Standard
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// @Param: RT_PIT_I
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// @DisplayName: Pitch axis rate controller I gain
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// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
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// @Range: 0.01 0.5
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// @Increment: 0.01
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// @User: Standard
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// @Param: RT_PIT_IMAX
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// @DisplayName: Pitch axis rate controller I gain maximum
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// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: Percent*10
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// @User: Standard
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// @Param: RT_PIT_D
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// @DisplayName: Pitch axis rate controller D gain
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// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
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// @Range: 0.001 0.02
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// @Increment: 0.001
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// @User: Standard
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AP_SUBGROUPINFO(pid_rate_pitch, "RT_PIT_", 4, QuadPlane, AC_PID),
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// @Param: RT_YAW_P
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// @DisplayName: Yaw axis rate controller P gain
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// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
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// @Range: 0.150 0.50
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// @Increment: 0.005
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// @User: Standard
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// @Param: RT_YAW_I
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// @DisplayName: Yaw axis rate controller I gain
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// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
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// @Range: 0.010 0.05
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// @Increment: 0.01
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// @User: Standard
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// @Param: RT_YAW_IMAX
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// @DisplayName: Yaw axis rate controller I gain maximum
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// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: Percent*10
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// @User: Standard
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// @Param: RT_YAW_D
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// @DisplayName: Yaw axis rate controller D gain
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// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
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// @Range: 0.000 0.02
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// @Increment: 0.001
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// @User: Standard
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AP_SUBGROUPINFO(pid_rate_yaw, "RT_YAW_", 5, QuadPlane, AC_PID),
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// P controllers
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//--------------
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// @Param: STB_RLL_P
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// @DisplayName: Roll axis stabilize controller P gain
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// @Description: Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
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// @Range: 3.000 12.000
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// @User: Standard
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AP_SUBGROUPINFO(p_stabilize_roll, "STB_R_", 6, QuadPlane, AC_P),
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// @Param: STB_PIT_P
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// @DisplayName: Pitch axis stabilize controller P gain
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// @Description: Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
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// @Range: 3.000 12.000
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// @User: Standard
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AP_SUBGROUPINFO(p_stabilize_pitch, "STB_P_", 7, QuadPlane, AC_P),
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// @Param: STB_YAW_P
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// @DisplayName: Yaw axis stabilize controller P gain
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// @Description: Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
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// @Range: 3.000 6.000
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// @User: Standard
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AP_SUBGROUPINFO(p_stabilize_yaw, "STB_Y_", 8, QuadPlane, AC_P),
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// @Group: ATC_
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// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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AP_SUBGROUPPTR(attitude_control, "A_", 9, QuadPlane, AC_AttitudeControl),
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// @Param: ANGLE_MAX
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// @DisplayName: Angle Max
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// @Description: Maximum lean angle in all flight modes
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// @Units: Centi-degrees
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// @Range: 1000 8000
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// @User: Advanced
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AP_GROUPINFO("ANGLE_MAX", 10, QuadPlane, aparm.angle_max, 4500),
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// @Param: TRANSITION_MS
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// @DisplayName: Transition time
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// @Description: Transition time in milliseconds after minimum airspeed is reached
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// @Units: milli-seconds
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// @Range: 0 30000
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// @User: Advanced
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AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000),
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// @Param: PZ_P
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// @DisplayName: Position (vertical) controller P gain
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// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
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// @Range: 1.000 3.000
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// @User: Standard
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AP_SUBGROUPINFO(p_alt_hold, "PZ_", 12, QuadPlane, AC_P),
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// @Param: PXY_P
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// @DisplayName: Position (horizonal) controller P gain
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// @Description: Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
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// @Range: 0.500 2.000
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// @User: Standard
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AP_SUBGROUPINFO(p_pos_xy, "PXY_", 13, QuadPlane, AC_P),
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// @Param: VXY_P
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// @DisplayName: Velocity (horizontal) P gain
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// @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration
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// @Range: 0.1 6.0
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// @Increment: 0.1
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// @User: Advanced
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// @Param: VXY_I
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// @DisplayName: Velocity (horizontal) I gain
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// @Description: Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration
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// @Range: 0.02 1.00
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// @Increment: 0.01
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// @User: Advanced
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// @Param: VXY_IMAX
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// @DisplayName: Velocity (horizontal) integrator maximum
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// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: cm/s/s
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// @User: Advanced
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AP_SUBGROUPINFO(pi_vel_xy, "VXY_", 14, QuadPlane, AC_PI_2D),
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// @Param: VZ_P
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// @DisplayName: Velocity (vertical) P gain
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// @Description: Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
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// @Range: 1.000 8.000
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// @User: Standard
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AP_SUBGROUPINFO(p_vel_z, "VZ_", 15, QuadPlane, AC_P),
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// @Param: AZ_P
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// @DisplayName: Throttle acceleration controller P gain
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// @Description: Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
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// @Range: 0.500 1.500
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// @User: Standard
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// @Param: AZ_I
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// @DisplayName: Throttle acceleration controller I gain
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// @Description: Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
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// @Range: 0.000 3.000
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// @User: Standard
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// @Param: AZ_IMAX
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// @DisplayName: Throttle acceleration controller I gain maximum
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// @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate
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// @Range: 0 1000
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// @Units: Percent*10
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// @User: Standard
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// @Param: AZ_D
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// @DisplayName: Throttle acceleration controller D gain
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// @Description: Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
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// @Range: 0.000 0.400
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// @User: Standard
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// @Param: AZ_FILT_HZ
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// @DisplayName: Throttle acceleration filter
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// @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.
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// @Range: 1.000 100.000
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// @Units: Hz
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// @User: Standard
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AP_SUBGROUPINFO(pid_accel_z, "AZ_", 16, QuadPlane, AC_PID),
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// @Group: P_
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// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
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AP_SUBGROUPPTR(pos_control, "P", 17, QuadPlane, AC_PosControl),
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// @Param: VELZ_MAX
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// @DisplayName: Pilot maximum vertical speed
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// @Description: The maximum vertical velocity the pilot may request in cm/s
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// @Units: Centimeters/Second
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// @Range: 50 500
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// @Increment: 10
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// @User: Standard
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AP_GROUPINFO("VELZ_MAX", 18, QuadPlane, pilot_velocity_z_max, 250),
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// @Param: ACCEL_Z
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// @DisplayName: Pilot vertical acceleration
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// @Description: The vertical acceleration used when pilot is controlling the altitude
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// @Units: cm/s/s
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// @Range: 50 500
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// @Increment: 10
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// @User: Standard
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AP_GROUPINFO("ACCEL_Z", 19, QuadPlane, pilot_accel_z, 250),
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// @Group: WP_
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// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
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AP_SUBGROUPPTR(wp_nav, "WP_", 20, QuadPlane, AC_WPNav),
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// @Param: RC_SPEED
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// @DisplayName: RC output speed in Hz
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// @Description: This is the PWM refresh rate in Hz for QuadPlane quad motors
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// @Units: Hz
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// @Range: 50 500
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// @Increment: 10
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// @User: Standard
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AP_GROUPINFO("RC_SPEED", 21, QuadPlane, rc_speed, 490),
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// @Param: THR_MIN_PWM
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// @DisplayName: Minimum PWM output
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// @Description: This is the minimum PWM output for the quad motors
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// @Units: Hz
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// @Range: 800 2200
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("THR_MIN_PWM", 22, QuadPlane, thr_min_pwm, 1000),
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// @Param: THR_MAX_PWM
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// @DisplayName: Maximum PWM output
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// @Description: This is the maximum PWM output for the quad motors
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// @Units: Hz
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// @Range: 800 2200
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("THR_MAX_PWM", 23, QuadPlane, thr_max_pwm, 2000),
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// @Param: ASSIST_SPEED
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// @DisplayName: Quadplane assistance speed
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// @Description: This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition
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// @Units: m/s
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// @Range: 0 100
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// @Increment: 0.1
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// @User: Standard
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AP_GROUPINFO("ASSIST_SPEED", 24, QuadPlane, assist_speed, 0),
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// @Param: YAW_RATE_MAX
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// @DisplayName: Maximum yaw rate
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// @Description: This is the maximum yaw rate in degrees/second
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// @Units: degrees/second
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// @Range: 50 500
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("YAW_RATE_MAX", 25, QuadPlane, yaw_rate_max, 100),
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// @Param: LAND_SPEED
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// @DisplayName: Land speed
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// @Description: The descent speed for the final stage of landing in cm/s
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// @Units: cm/s
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// @Range: 30 200
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// @Increment: 10
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// @User: Standard
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AP_GROUPINFO("LAND_SPEED", 26, QuadPlane, land_speed_cms, 50),
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// @Param: LAND_FINAL_ALT
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// @DisplayName: Land final altitude
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// @Description: The altitude at which we should switch to Q_LAND_SPEED descent rate
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// @Units: m
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// @Range: 0.5 50
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// @Increment: 0.1
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// @User: Standard
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AP_GROUPINFO("LAND_FINAL_ALT", 27, QuadPlane, land_final_alt, 6),
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// @Param: THR_MID
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// @DisplayName: Throttle Mid Position
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// @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
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// @User: Standard
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// @Range: 300 700
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// @Units: Percent*10
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// @Increment: 1
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AP_GROUPINFO("THR_MID", 28, QuadPlane, throttle_mid, 500),
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AP_GROUPEND
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};
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QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
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ahrs(_ahrs)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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bool QuadPlane::setup(void)
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{
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uint16_t mask;
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if (initialised) {
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return true;
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}
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if (!enable || hal.util->get_soft_armed()) {
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return false;
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}
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if (hal.util->available_memory() <
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4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Not enough memory for quadplane");
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goto failed;
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}
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// setup default motors for X frame
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RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor1, CH_5);
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RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
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RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor3, CH_7);
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RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);
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/*
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dynamically allocate the key objects for quadplane. This ensures
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that the objects don't affect the vehicle unless enabled and
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also saves memory when not in use
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*/
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motors = new AP_MotorsQuad(plane.ins.get_sample_rate());
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if (!motors) {
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hal.console->printf("Unable to allocate motors\n");
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goto failed;
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}
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AP_Param::load_object_from_eeprom(motors, motors->var_info);
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attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors,
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p_stabilize_roll, p_stabilize_pitch, p_stabilize_yaw,
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pid_rate_roll, pid_rate_pitch, pid_rate_yaw);
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if (!attitude_control) {
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hal.console->printf("Unable to allocate attitude_control\n");
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goto failed;
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}
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AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info);
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pos_control = new AC_PosControl(ahrs, inertial_nav, *motors, *attitude_control,
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p_alt_hold, p_vel_z, pid_accel_z,
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p_pos_xy, pi_vel_xy);
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if (!pos_control) {
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hal.console->printf("Unable to allocate pos_control\n");
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goto failed;
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}
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AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
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wp_nav = new AC_WPNav(inertial_nav, ahrs, *pos_control, *attitude_control);
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if (!pos_control) {
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hal.console->printf("Unable to allocate wp_nav\n");
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goto failed;
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}
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AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
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motors->set_frame_orientation(AP_MOTORS_X_FRAME);
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motors->Init();
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motors->set_throttle_range(0, thr_min_pwm, thr_max_pwm);
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motors->set_hover_throttle(throttle_mid);
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motors->set_update_rate(rc_speed);
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motors->set_interlock(true);
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attitude_control->set_dt(plane.ins.get_loop_delta_t());
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pid_rate_roll.set_dt(plane.ins.get_loop_delta_t());
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pid_rate_pitch.set_dt(plane.ins.get_loop_delta_t());
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pid_rate_yaw.set_dt(plane.ins.get_loop_delta_t());
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pid_accel_z.set_dt(plane.ins.get_loop_delta_t());
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pos_control->set_dt(plane.ins.get_loop_delta_t());
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// setup the trim of any motors used by AP_Motors so px4io
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// failsafe will disable motors
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mask = motors->get_motor_mask();
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for (uint8_t i=0; i<16; i++) {
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if (mask & 1U<<i) {
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RC_Channel *ch = RC_Channel::rc_channel(i);
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if (ch != nullptr) {
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ch->radio_trim = thr_min_pwm;
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}
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}
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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// redo failsafe mixing on px4
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plane.setup_failsafe_mixing();
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#endif
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transition_state = TRANSITION_DONE;
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane initialised");
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initialised = true;
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return true;
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failed:
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initialised = false;
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enable.set(0);
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane setup failed");
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return false;
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}
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// init quadplane stabilize mode
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void QuadPlane::init_stabilize(void)
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{
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|
throttle_wait = false;
|
|
}
|
|
|
|
// hold in stabilize with given throttle
|
|
void QuadPlane::hold_stabilize(float throttle_in)
|
|
{
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
|
|
plane.nav_pitch_cd,
|
|
get_pilot_desired_yaw_rate_cds(),
|
|
smoothing_gain);
|
|
|
|
if (throttle_in <= 0) {
|
|
attitude_control->set_throttle_out_unstabilized(0, true, 0);
|
|
} else {
|
|
attitude_control->set_throttle_out(throttle_in, true, 0);
|
|
}
|
|
}
|
|
|
|
// quadplane stabilize mode
|
|
void QuadPlane::control_stabilize(void)
|
|
{
|
|
int16_t pilot_throttle_scaled = plane.channel_throttle->control_in * 10;
|
|
hold_stabilize(pilot_throttle_scaled);
|
|
|
|
}
|
|
|
|
// init quadplane hover mode
|
|
void QuadPlane::init_hover(void)
|
|
{
|
|
// initialize vertical speeds and leash lengths
|
|
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
|
|
pos_control->set_accel_z(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());
|
|
|
|
init_throttle_wait();
|
|
}
|
|
|
|
/*
|
|
hold hover with target climb rate
|
|
*/
|
|
void QuadPlane::hold_hover(float target_climb_rate)
|
|
{
|
|
// initialize vertical speeds and acceleration
|
|
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
|
|
pos_control->set_accel_z(pilot_accel_z);
|
|
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
|
|
plane.nav_pitch_cd,
|
|
get_pilot_desired_yaw_rate_cds(),
|
|
smoothing_gain);
|
|
|
|
// call position controller
|
|
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, plane.G_Dt, false);
|
|
pos_control->update_z_controller();
|
|
|
|
}
|
|
|
|
/*
|
|
control QHOVER mode
|
|
*/
|
|
void QuadPlane::control_hover(void)
|
|
{
|
|
if (throttle_wait) {
|
|
attitude_control->set_throttle_out_unstabilized(0, true, 0);
|
|
pos_control->relax_alt_hold_controllers(0);
|
|
} else {
|
|
hold_hover(get_pilot_desired_climb_rate_cms());
|
|
}
|
|
}
|
|
|
|
void QuadPlane::init_loiter(void)
|
|
{
|
|
// set target to current position
|
|
wp_nav->init_loiter_target();
|
|
|
|
// initialize vertical speed and acceleration
|
|
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
|
|
pos_control->set_accel_z(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());
|
|
|
|
init_throttle_wait();
|
|
}
|
|
|
|
|
|
// helper for is_flying()
|
|
bool QuadPlane::is_flying(void)
|
|
{
|
|
if (!available()) {
|
|
return false;
|
|
}
|
|
if (motors->get_throttle() > 200 && !motors->limit.throttle_lower) {
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// crude landing detector to prevent tipover
|
|
bool QuadPlane::should_relax(void)
|
|
{
|
|
bool motor_at_lower_limit = motors->limit.throttle_lower && motors->is_throttle_mix_min();
|
|
if (motors->get_throttle() < 10) {
|
|
motor_at_lower_limit = true;
|
|
}
|
|
if (!motor_at_lower_limit) {
|
|
motors_lower_limit_start_ms = 0;
|
|
}
|
|
if (motor_at_lower_limit && motors_lower_limit_start_ms == 0) {
|
|
motors_lower_limit_start_ms = millis();
|
|
}
|
|
bool relax_loiter = motors_lower_limit_start_ms != 0 && (millis() - motors_lower_limit_start_ms) > 1000;
|
|
return relax_loiter;
|
|
}
|
|
|
|
|
|
// run quadplane loiter controller
|
|
void QuadPlane::control_loiter()
|
|
{
|
|
if (throttle_wait) {
|
|
attitude_control->set_throttle_out_unstabilized(0, true, 0);
|
|
pos_control->relax_alt_hold_controllers(0);
|
|
wp_nav->init_loiter_target();
|
|
return;
|
|
}
|
|
|
|
|
|
if (should_relax()) {
|
|
wp_nav->loiter_soften_for_landing();
|
|
}
|
|
|
|
if (millis() - last_loiter_ms > 500) {
|
|
wp_nav->init_loiter_target();
|
|
}
|
|
last_loiter_ms = millis();
|
|
|
|
// initialize vertical speed and acceleration
|
|
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
|
|
pos_control->set_accel_z(pilot_accel_z);
|
|
|
|
// process pilot's roll and pitch input
|
|
wp_nav->set_pilot_desired_acceleration(plane.channel_roll->control_in,
|
|
plane.channel_pitch->control_in);
|
|
|
|
// Update EKF speed limit - used to limit speed when we are using optical flow
|
|
float ekfGndSpdLimit, ekfNavVelGainScaler;
|
|
ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
// run loiter controller
|
|
wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(),
|
|
wp_nav->get_pitch(),
|
|
get_pilot_desired_yaw_rate_cds());
|
|
|
|
// nav roll and pitch are controller by loiter controller
|
|
plane.nav_roll_cd = wp_nav->get_roll();
|
|
plane.nav_pitch_cd = wp_nav->get_pitch();
|
|
|
|
// update altitude target and call position controller
|
|
pos_control->set_alt_target_from_climb_rate_ff(get_pilot_desired_climb_rate_cms(), plane.G_Dt, false);
|
|
pos_control->update_z_controller();
|
|
}
|
|
|
|
/*
|
|
get desired yaw rate in cd/s
|
|
*/
|
|
float QuadPlane::get_pilot_desired_yaw_rate_cds(void)
|
|
{
|
|
float yaw_cds = 0;
|
|
if (assisted_flight) {
|
|
// use bank angle to get desired yaw rate
|
|
yaw_cds += desired_yaw_rate_cds();
|
|
}
|
|
if (plane.channel_throttle->control_in <= 0 && !plane.auto_throttle_mode) {
|
|
// the user may be trying to disarm
|
|
return 0;
|
|
}
|
|
|
|
// add in rudder input
|
|
yaw_cds += plane.channel_rudder->norm_input() * 100 * yaw_rate_max;
|
|
return yaw_cds;
|
|
}
|
|
|
|
// get pilot desired climb rate in cm/s
|
|
float QuadPlane::get_pilot_desired_climb_rate_cms(void)
|
|
{
|
|
if (plane.failsafe.ch3_failsafe || plane.failsafe.ch3_counter > 0) {
|
|
// descend at 0.5m/s for now
|
|
return -50;
|
|
}
|
|
uint16_t dead_zone = plane.channel_throttle->get_dead_zone();
|
|
uint16_t trim = (plane.channel_throttle->radio_max + plane.channel_throttle->radio_min)/2;
|
|
return pilot_velocity_z_max * plane.channel_throttle->pwm_to_angle_dz_trim(dead_zone, trim) / 100.0f;
|
|
}
|
|
|
|
|
|
/*
|
|
initialise throttle_wait based on throttle and is_flying()
|
|
*/
|
|
void QuadPlane::init_throttle_wait(void)
|
|
{
|
|
if (plane.channel_throttle->control_in >= 10 ||
|
|
plane.is_flying()) {
|
|
throttle_wait = false;
|
|
} else {
|
|
throttle_wait = true;
|
|
}
|
|
}
|
|
|
|
// set motor arming
|
|
void QuadPlane::set_armed(bool armed)
|
|
{
|
|
if (!initialised) {
|
|
return;
|
|
}
|
|
motors->armed(armed);
|
|
if (armed) {
|
|
motors->enable();
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
estimate desired climb rate for assistance (in cm/s)
|
|
*/
|
|
float QuadPlane::assist_climb_rate_cms(void)
|
|
{
|
|
if (plane.auto_throttle_mode) {
|
|
// ask TECS for its desired climb rate
|
|
return plane.TECS_controller.get_height_rate_demand()*100;
|
|
}
|
|
// otherwise estimate from pilot input
|
|
float climb_rate = plane.g.flybywire_climb_rate * (plane.nav_pitch_cd/(float)plane.aparm.pitch_limit_max_cd);
|
|
climb_rate *= plane.channel_throttle->control_in;
|
|
return climb_rate;
|
|
}
|
|
|
|
/*
|
|
calculate desired yaw rate for assistance
|
|
*/
|
|
float QuadPlane::desired_yaw_rate_cds(void)
|
|
{
|
|
float aspeed;
|
|
if (!ahrs.airspeed_estimate(&aspeed) || aspeed < plane.aparm.airspeed_min) {
|
|
aspeed = plane.aparm.airspeed_min;
|
|
}
|
|
if (aspeed < 1) {
|
|
aspeed = 1;
|
|
}
|
|
float yaw_rate = degrees(GRAVITY_MSS * tanf(radians(plane.nav_roll_cd*0.01f))/aspeed) * 100;
|
|
return yaw_rate;
|
|
}
|
|
|
|
/*
|
|
update for transition from quadplane to fixed wing mode
|
|
*/
|
|
void QuadPlane::update_transition(void)
|
|
{
|
|
if (plane.control_mode == MANUAL ||
|
|
plane.control_mode == ACRO ||
|
|
plane.control_mode == TRAINING) {
|
|
// in manual modes quad motors are always off
|
|
motors->output_min();
|
|
transition_state = TRANSITION_DONE;
|
|
return;
|
|
}
|
|
|
|
float aspeed;
|
|
bool have_airspeed = ahrs.airspeed_estimate(&aspeed);
|
|
|
|
/*
|
|
see if we should provide some assistance
|
|
*/
|
|
if (have_airspeed && aspeed < assist_speed &&
|
|
(plane.auto_throttle_mode ||
|
|
plane.channel_throttle->control_in>0 ||
|
|
plane.is_flying())) {
|
|
// the quad should provide some assistance to the plane
|
|
transition_state = TRANSITION_AIRSPEED_WAIT;
|
|
transition_start_ms = millis();
|
|
assisted_flight = true;
|
|
} else {
|
|
assisted_flight = false;
|
|
}
|
|
|
|
switch (transition_state) {
|
|
case TRANSITION_AIRSPEED_WAIT: {
|
|
// we hold in hover until the required airspeed is reached
|
|
if (transition_start_ms == 0) {
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed wait");
|
|
transition_start_ms = millis();
|
|
}
|
|
|
|
if (have_airspeed && aspeed > plane.aparm.airspeed_min && !assisted_flight) {
|
|
transition_start_ms = millis();
|
|
transition_state = TRANSITION_TIMER;
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", aspeed);
|
|
} else if (plane.auto_throttle_mode) {
|
|
// force pitch to zero while building up airspeed
|
|
plane.nav_pitch_cd = 0;
|
|
}
|
|
assisted_flight = true;
|
|
hold_hover(assist_climb_rate_cms());
|
|
attitude_control->rate_controller_run();
|
|
motors->output();
|
|
last_throttle = motors->get_throttle();
|
|
break;
|
|
}
|
|
|
|
case TRANSITION_TIMER: {
|
|
// after airspeed is reached we degrade throttle over the
|
|
// transition time, but continue to stabilize
|
|
if (millis() - transition_start_ms > (unsigned)transition_time_ms) {
|
|
transition_state = TRANSITION_DONE;
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done");
|
|
}
|
|
float throttle_scaled = last_throttle * (transition_time_ms - (millis() - transition_start_ms)) / (float)transition_time_ms;
|
|
if (throttle_scaled < 0) {
|
|
throttle_scaled = 0;
|
|
}
|
|
assisted_flight = true;
|
|
hold_stabilize(throttle_scaled);
|
|
attitude_control->rate_controller_run();
|
|
motors->output();
|
|
break;
|
|
}
|
|
|
|
case TRANSITION_DONE:
|
|
motors->output_min();
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*
|
|
update motor output for quadplane
|
|
*/
|
|
void QuadPlane::update(void)
|
|
{
|
|
if (!setup()) {
|
|
return;
|
|
}
|
|
|
|
bool quad_mode = (plane.control_mode == QSTABILIZE ||
|
|
plane.control_mode == QHOVER ||
|
|
plane.control_mode == QLOITER ||
|
|
in_vtol_auto());
|
|
|
|
if (!quad_mode) {
|
|
update_transition();
|
|
} else {
|
|
assisted_flight = false;
|
|
|
|
// run low level rate controllers
|
|
attitude_control->rate_controller_run();
|
|
|
|
// output to motors
|
|
motors->output();
|
|
transition_start_ms = 0;
|
|
if (throttle_wait && !plane.is_flying()) {
|
|
transition_state = TRANSITION_DONE;
|
|
} else {
|
|
transition_state = TRANSITION_AIRSPEED_WAIT;
|
|
}
|
|
last_throttle = motors->get_throttle();
|
|
}
|
|
|
|
// disable throttle_wait when throttle rises above 10%
|
|
if (throttle_wait &&
|
|
(plane.channel_throttle->control_in > 10 ||
|
|
plane.failsafe.ch3_failsafe ||
|
|
plane.failsafe.ch3_counter>0)) {
|
|
throttle_wait = false;
|
|
}
|
|
}
|
|
|
|
/*
|
|
update control mode for quadplane modes
|
|
*/
|
|
void QuadPlane::control_run(void)
|
|
{
|
|
if (!initialised) {
|
|
return;
|
|
}
|
|
|
|
switch (plane.control_mode) {
|
|
case QSTABILIZE:
|
|
control_stabilize();
|
|
break;
|
|
case QHOVER:
|
|
control_hover();
|
|
break;
|
|
case QLOITER:
|
|
control_loiter();
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
// we also stabilize using fixed wing surfaces
|
|
float speed_scaler = plane.get_speed_scaler();
|
|
plane.stabilize_roll(speed_scaler);
|
|
plane.stabilize_pitch(speed_scaler);
|
|
}
|
|
|
|
/*
|
|
enter a quadplane mode
|
|
*/
|
|
bool QuadPlane::init_mode(void)
|
|
{
|
|
if (!setup()) {
|
|
return false;
|
|
}
|
|
if (!initialised) {
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "QuadPlane mode refused");
|
|
return false;
|
|
}
|
|
switch (plane.control_mode) {
|
|
case QSTABILIZE:
|
|
init_stabilize();
|
|
break;
|
|
case QHOVER:
|
|
init_hover();
|
|
break;
|
|
case QLOITER:
|
|
init_loiter();
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
handle a MAVLink DO_VTOL_TRANSITION
|
|
*/
|
|
bool QuadPlane::handle_do_vtol_transition(const mavlink_command_long_t &packet)
|
|
{
|
|
if (!available()) {
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL not available");
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
if (plane.control_mode != AUTO) {
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL transition only in AUTO");
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
switch ((uint8_t)packet.param1) {
|
|
case MAV_VTOL_STATE_MC:
|
|
if (!plane.auto_state.vtol_mode) {
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Entered VTOL mode");
|
|
}
|
|
plane.auto_state.vtol_mode = true;
|
|
return MAV_RESULT_ACCEPTED;
|
|
case MAV_VTOL_STATE_FW:
|
|
if (plane.auto_state.vtol_mode) {
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Exited VTOL mode");
|
|
}
|
|
plane.auto_state.vtol_mode = false;
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Invalid VTOL mode");
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
|
|
/*
|
|
are we in a VTOL auto state?
|
|
*/
|
|
bool QuadPlane::in_vtol_auto(void)
|
|
{
|
|
if (plane.control_mode != AUTO) {
|
|
return false;
|
|
}
|
|
if (plane.auto_state.vtol_mode) {
|
|
return true;
|
|
}
|
|
switch (plane.mission.get_current_nav_cmd().id) {
|
|
case MAV_CMD_NAV_VTOL_LAND:
|
|
case MAV_CMD_NAV_VTOL_TAKEOFF:
|
|
return true;
|
|
default:
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/*
|
|
handle auto-mode when auto_state.vtol_mode is true
|
|
*/
|
|
void QuadPlane::control_auto(const Location &loc)
|
|
{
|
|
if (!setup()) {
|
|
return;
|
|
}
|
|
Location origin = inertial_nav.get_origin();
|
|
Vector2f diff2d;
|
|
Vector3f target;
|
|
diff2d = location_diff(origin, loc);
|
|
target.x = diff2d.x * 100;
|
|
target.y = diff2d.y * 100;
|
|
target.z = loc.alt - origin.alt;
|
|
|
|
if (!locations_are_same(loc, last_auto_target) ||
|
|
loc.alt != last_auto_target.alt ||
|
|
millis() - last_loiter_ms > 500) {
|
|
wp_nav->set_wp_destination(target);
|
|
last_auto_target = loc;
|
|
}
|
|
last_loiter_ms = millis();
|
|
|
|
// initialize vertical speed and acceleration
|
|
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
|
|
pos_control->set_accel_z(pilot_accel_z);
|
|
|
|
if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_TAKEOFF ||
|
|
(plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND &&
|
|
land_state >= QLAND_FINAL)) {
|
|
/*
|
|
we need to use the loiter controller for final descent as
|
|
the wpnav controller takes over the descent rate control
|
|
*/
|
|
float ekfGndSpdLimit, ekfNavVelGainScaler;
|
|
ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
// run loiter controller
|
|
wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
|
|
plane.nav_pitch_cd,
|
|
0,
|
|
smoothing_gain);
|
|
} else {
|
|
float aspeed;
|
|
int pitch_limit_cd = plane.aparm.pitch_limit_max_cd;
|
|
if (assist_speed > 0 && ahrs.airspeed_estimate(&aspeed) && aspeed < assist_speed) {
|
|
if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND &&
|
|
land_state == QLAND_POSITION) {
|
|
// when starting the reposition limit the pitch for less dramatic slow down
|
|
const float threshold = 0.5f * assist_speed;
|
|
if (aspeed > threshold && plane.auto_state.wp_distance > 10 &&
|
|
!location_passed_point(plane.current_loc, plane.prev_WP_loc, plane.next_WP_loc)) {
|
|
float p = constrain_float((aspeed - threshold)/threshold, 0, 1);
|
|
pitch_limit_cd = p*plane.aparm.pitch_limit_max_cd + 500*(1-p);
|
|
plane.nav_pitch_cd = MIN(plane.nav_pitch_cd, pitch_limit_cd);
|
|
}
|
|
} else if (aspeed < assist_speed) {
|
|
// while transitioning limit pitch to let forward motor gain speed
|
|
pitch_limit_cd = 500;
|
|
}
|
|
}
|
|
|
|
// run wpnav controller
|
|
wp_nav->update_wpnav();
|
|
|
|
if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND && land_state >= QLAND_DESCEND) {
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
|
|
plane.nav_pitch_cd,
|
|
0,
|
|
smoothing_gain);
|
|
} else {
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(),
|
|
MIN(wp_nav->get_pitch(), pitch_limit_cd),
|
|
wp_nav->get_yaw(),
|
|
true);
|
|
}
|
|
}
|
|
|
|
|
|
// nav roll and pitch are controller by loiter controller
|
|
plane.nav_roll_cd = wp_nav->get_roll();
|
|
plane.nav_pitch_cd = wp_nav->get_pitch();
|
|
|
|
switch (plane.mission.get_current_nav_cmd().id) {
|
|
case MAV_CMD_NAV_VTOL_LAND:
|
|
if (land_state < QLAND_FINAL) {
|
|
pos_control->set_alt_target_with_slew(wp_nav->get_loiter_target().z, plane.ins.get_loop_delta_t());
|
|
} else {
|
|
pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true);
|
|
}
|
|
break;
|
|
case MAV_CMD_NAV_VTOL_TAKEOFF:
|
|
pos_control->set_alt_target_from_climb_rate(100, plane.G_Dt, true);
|
|
break;
|
|
default:
|
|
pos_control->set_alt_target_from_climb_rate_ff(assist_climb_rate_cms(), plane.G_Dt, false);
|
|
break;
|
|
}
|
|
|
|
pos_control->update_z_controller();
|
|
}
|
|
|
|
/*
|
|
start a VTOL takeoff
|
|
*/
|
|
bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (!setup()) {
|
|
return false;
|
|
}
|
|
plane.set_next_WP(cmd.content.location);
|
|
plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
|
|
throttle_wait = false;
|
|
|
|
// set target to current position
|
|
wp_nav->init_loiter_target();
|
|
|
|
// initialize vertical speed and acceleration
|
|
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
|
|
pos_control->set_accel_z(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());
|
|
|
|
// also update nav_controller for status output
|
|
plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc);
|
|
return true;
|
|
}
|
|
|
|
|
|
/*
|
|
start a VTOL landing
|
|
*/
|
|
bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (!setup()) {
|
|
return false;
|
|
}
|
|
plane.set_next_WP(cmd.content.location);
|
|
// initially aim for current altitude
|
|
plane.next_WP_loc.alt = plane.current_loc.alt;
|
|
land_state = QLAND_POSITION;
|
|
throttle_wait = false;
|
|
motors_lower_limit_start_ms = 0;
|
|
|
|
// also update nav_controller for status output
|
|
plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc);
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
check if a VTOL takeoff has completed
|
|
*/
|
|
bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
|
|
{
|
|
if (!available()) {
|
|
return true;
|
|
}
|
|
if (plane.current_loc.alt < plane.next_WP_loc.alt) {
|
|
return false;
|
|
}
|
|
transition_state = TRANSITION_AIRSPEED_WAIT;
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
check if a VTOL landing has completed
|
|
*/
|
|
bool QuadPlane::verify_vtol_land(const AP_Mission::Mission_Command &cmd)
|
|
{
|
|
if (!available()) {
|
|
return true;
|
|
}
|
|
if (land_state == QLAND_POSITION &&
|
|
plane.auto_state.wp_distance < 2) {
|
|
land_state = QLAND_DESCEND;
|
|
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land descend started");
|
|
plane.set_next_WP(cmd.content.location);
|
|
}
|
|
|
|
if (should_relax()) {
|
|
wp_nav->loiter_soften_for_landing();
|
|
}
|
|
|
|
// at land_final_alt begin final landing
|
|
if (land_state == QLAND_DESCEND &&
|
|
plane.current_loc.alt < plane.next_WP_loc.alt+land_final_alt*100) {
|
|
land_state = QLAND_FINAL;
|
|
pos_control->set_alt_target(inertial_nav.get_altitude());
|
|
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land final started");
|
|
}
|
|
|
|
if (land_state == QLAND_FINAL &&
|
|
(motors_lower_limit_start_ms != 0 &&
|
|
millis() - motors_lower_limit_start_ms > 5000)) {
|
|
plane.disarm_motors();
|
|
land_state = QLAND_COMPLETE;
|
|
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land complete");
|
|
}
|
|
return false;
|
|
}
|