mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.6 KiB
Plaintext
104 lines
3.6 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* control_loiter.pde - init and run calls for loiter flight mode
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*/
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// loiter_init - initialise loiter controller
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static bool loiter_init(bool ignore_checks)
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{
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if (GPS_ok() || ignore_checks) {
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// set target to current position
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wp_nav.init_loiter_target();
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// initialize vertical speed and accelerationj
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise altitude target to stopping point
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pos_control.set_target_to_stopping_point_z();
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return true;
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}else{
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return false;
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}
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}
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// loiter_run - runs the loiter controller
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// should be called at 100hz or more
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static void loiter_run()
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{
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float target_yaw_rate = 0;
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float target_climb_rate = 0;
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed || !inertial_nav.position_ok()) {
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wp_nav.init_loiter_target();
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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pos_control.set_alt_target_to_current_alt();
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return;
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}
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// process pilot inputs
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if (!failsafe.radio) {
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// process pilot's roll and pitch input
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wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
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// check for pilot requested take-off
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if (ap.land_complete && target_climb_rate > 0) {
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// indicate we are taking off
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set_land_complete(false);
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// clear i term when we're taking off
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set_throttle_takeoff();
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}
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} else {
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// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
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wp_nav.clear_pilot_desired_acceleration();
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}
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// relax loiter target if we might be landed
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if (land_complete_maybe()) {
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wp_nav.loiter_soften_for_landing();
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}
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// when landed reset targets and output zero throttle
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if (ap.land_complete) {
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wp_nav.init_loiter_target();
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
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pos_control.set_alt_target_to_current_alt();
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}else{
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// run loiter controller
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wp_nav.update_loiter();
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
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// body-frame rate controller is run directly from 100hz loop
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// run altitude controller
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if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
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// if sonar is ok, use surface tracking
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target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// update altitude target and call position controller
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pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
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pos_control.update_z_controller();
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}
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}
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