mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.9 KiB
C++
70 lines
2.9 KiB
C++
#include "Sub.h"
|
|
|
|
// stabilize_init - initialise stabilize controller
|
|
bool Sub::stabilize_init()
|
|
{
|
|
// set target altitude to zero for reporting
|
|
pos_control.set_pos_target_z_cm(0);
|
|
last_pilot_heading = ahrs.yaw_sensor;
|
|
|
|
return true;
|
|
}
|
|
|
|
// stabilize_run - runs the main stabilize controller
|
|
// should be called at 100hz or more
|
|
void Sub::stabilize_run()
|
|
{
|
|
uint32_t tnow = AP_HAL::millis();
|
|
float target_roll, target_pitch;
|
|
|
|
// if not armed set throttle to zero and exit immediately
|
|
if (!motors.armed()) {
|
|
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
|
|
attitude_control.set_throttle_out(0,true,g.throttle_filt);
|
|
attitude_control.relax_attitude_controllers();
|
|
last_pilot_heading = ahrs.yaw_sensor;
|
|
return;
|
|
}
|
|
|
|
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
|
|
// convert pilot input to lean angles
|
|
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
|
|
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
|
|
|
|
// get pilot's desired yaw rate
|
|
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
|
|
|
|
// call attitude controller
|
|
// update attitude controller targets
|
|
|
|
if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
|
|
last_pilot_heading = ahrs.yaw_sensor;
|
|
last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
|
|
|
|
} else { // hold current heading
|
|
|
|
// this check is required to prevent bounce back after very fast yaw maneuvers
|
|
// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
|
|
if (tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
|
|
target_yaw_rate = 0; // Stop rotation on yaw axis
|
|
|
|
// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
|
|
last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
|
|
|
|
} else { // call attitude controller holding absolute absolute bearing
|
|
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true);
|
|
}
|
|
}
|
|
|
|
// output pilot's throttle
|
|
attitude_control.set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
|
|
|
|
//control_in is range -1000-1000
|
|
//radio_in is raw pwm value
|
|
motors.set_forward(channel_forward->norm_input());
|
|
motors.set_lateral(channel_lateral->norm_input());
|
|
}
|