mirror of https://github.com/ArduPilot/ardupilot
76 lines
3.0 KiB
C++
76 lines
3.0 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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#if FRAME_CONFIG == HELI_FRAME
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/*
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* heli_control_acro.pde - init and run calls for acro flight mode for trad heli
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*/
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// heli_acro_init - initialise acro controller
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bool Copter::heli_acro_init(bool ignore_checks)
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{
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// if heli is equipped with a flybar, then tell the attitude controller to pass through controls directly to servos
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attitude_control.use_flybar_passthrough(motors.has_flybar(), motors.supports_yaw_passthrough());
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// always successfully enter acro
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return true;
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}
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// heli_acro_run - runs the acro controller
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// should be called at 100hz or more
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void Copter::heli_acro_run()
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{
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float target_roll, target_pitch, target_yaw;
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
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// we may be in autorotation flight. These should be reset only when transitioning from disarmed
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// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
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// that the servos move in a realistic fashion while disarmed for operational checks.
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// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
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if(!motors.armed()) {
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heli_flags.init_targets_on_arming=true;
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attitude_control.set_yaw_target_to_current_heading();
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}
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if(motors.armed() && heli_flags.init_targets_on_arming) {
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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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if (motors.rotor_speed_above_critical()) {
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heli_flags.init_targets_on_arming=false;
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}
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}
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// send RC inputs direct into motors library for use during manual passthrough for helicopter setup
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heli_radio_passthrough();
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if (!motors.has_flybar()){
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// convert the input to the desired body frame rate
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get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
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// run attitude controller
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attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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}else{
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// flybar helis only need yaw rate control
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get_pilot_desired_yaw_rate(channel_yaw->control_in, target_yaw);
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// run attitude controller
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attitude_control.passthrough_bf_roll_pitch_rate_yaw(channel_roll->control_in, channel_pitch->control_in, target_yaw);
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}
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// output pilot's throttle without angle boost
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attitude_control.set_throttle_out(channel_throttle->control_in, false, g.throttle_filt);
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}
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// get_pilot_desired_yaw_rate - transform pilot's yaw input into a desired yaw angle rate
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// returns desired yaw rate in centi-degrees-per-second
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void Copter::get_pilot_desired_yaw_rate(int16_t yaw_in, float &yaw_out)
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{
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// calculate rate request
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float rate_bf_yaw_request = yaw_in * g.acro_yaw_p;
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// hand back rate request
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yaw_out = rate_bf_yaw_request;
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}
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#endif //HELI_FRAME
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