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https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
6f200fa923
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
102 lines
3.8 KiB
C++
102 lines
3.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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* control_circle.pde - init and run calls for circle flight mode
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*/
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// circle_init - initialise circle controller flight mode
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bool Copter::circle_init(bool ignore_checks)
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{
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if (position_ok() || ignore_checks) {
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circle_pilot_yaw_override = false;
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// initialize speeds and accelerations
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pos_control.set_speed_xy(wp_nav.get_speed_xy());
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pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
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pos_control.set_jerk_xy_to_default();
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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 circle controller including setting the circle center based on vehicle speed
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circle_nav.init();
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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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// circle_run - runs the circle flight mode
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// should be called at 100hz or more
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void Copter::circle_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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// initialize speeds and accelerations
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pos_control.set_speed_xy(wp_nav.get_speed_xy());
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pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
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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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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
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// To-Do: add some initialisation of position controllers
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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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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// 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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if (!is_zero(target_yaw_rate)) {
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circle_pilot_yaw_override = true;
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}
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_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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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run circle controller
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circle_nav.update();
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// call attitude controller
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if (circle_pilot_yaw_override) {
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate);
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}else{
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attitude_control.input_euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
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}
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// run altitude controller
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if (sonar_enabled && (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_surface_tracking_climb_rate(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, false);
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pos_control.update_z_controller();
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}
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