mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.2 KiB
C++
62 lines
2.2 KiB
C++
#include "Copter.h"
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/*
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* Init and run calls for stabilize flight mode
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*/
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// stabilize_init - initialise stabilize controller
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bool Copter::stabilize_init(bool ignore_checks)
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{
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// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
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if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) &&
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(get_pilot_desired_throttle(channel_throttle->get_control_in()) > get_non_takeoff_throttle())) {
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return false;
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}
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// set target altitude to zero for reporting
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pos_control.set_alt_target(0);
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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::stabilize_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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// if not armed set throttle to zero and exit immediately
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if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
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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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// clear landing flag
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set_land_complete(false);
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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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, 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 = get_pilot_desired_throttle(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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// body-frame rate controller is run directly from 100hz loop
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// output pilot's throttle
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attitude_control.set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
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}
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