mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 07:58:28 -04:00
131 lines
4.2 KiB
Plaintext
131 lines
4.2 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// counter to verify landings
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static uint16_t land_detector;
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static bool land_with_gps;
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// land_init - initialise land controller
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static bool land_init(bool ignore_checks)
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{
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// check if we have GPS and decide which LAND we're going to do
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land_with_gps = GPS_ok();
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if (land_with_gps) {
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// set target to current position
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wp_nav.init_loiter_target();
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}
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return true;
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}
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// land_run - runs the land controller
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// should be called at 100hz or more
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static void land_run()
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{
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int16_t target_roll, target_pitch;
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float target_yaw_rate;
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float target_climb_rate;
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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// To-Do: reset altitude target if we're somehow not landed?
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attitude_control.init_targets();
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attitude_control.set_throttle_out(0, false);
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return;
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}
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// disarming detector
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#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
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// disarm when the landing detector says we've landed and throttle is at minimum
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if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
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init_disarm_motors();
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return;
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}
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#else
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// disarm when the landing detector says we've landed
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if (ap.land_complete) {
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init_disarm_motors();
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return;
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}
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#endif
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// get pilot desired 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(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
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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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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.init_targets();
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// move throttle to minimum to keep us on the ground
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attitude_control.set_throttle_out(0, false);
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}else{
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// call attitude controller
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attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
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// body-frame rate controller is run directly from 100hz loop
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// call landing throttle controller
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target_climb_rate = get_throttle_land();
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// 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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// refetch angle targets for reporting
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const Vector3f angle_target = attitude_control.angle_ef_targets();
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control_roll = angle_target.x;
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control_pitch = angle_target.y;
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control_yaw = angle_target.z;
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}
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// get_throttle_land - high level landing logic
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// returns climb rate (in cm/s) which should be passed to the position controller
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// should be called at 100hz or higher
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static float get_throttle_land()
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{
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// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
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if (current_loc.alt >= LAND_START_ALT && !(g.sonar_enabled && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
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return pos_control.get_speed_down();
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}else{
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return -abs(g.land_speed);
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}
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}
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// reset_land_detector - initialises land detector
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static void reset_land_detector()
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{
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set_land_complete(false);
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land_detector = 0;
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}
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// update_land_detector - checks if we have landed and updates the ap.land_complete flag
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// returns true if we have landed
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static bool update_land_detector()
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{
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// detect whether we have landed by watching for low climb rate and minimum throttle
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if (abs(climb_rate) < 20 && motors.limit.throttle_lower) {
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if (!ap.land_complete) {
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// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
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if( land_detector < LAND_DETECTOR_TRIGGER) {
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land_detector++;
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}else{
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set_land_complete(true);
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land_detector = 0;
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}
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}
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}else{
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// we've sensed movement up or down so reset land_detector
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land_detector = 0;
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if(ap.land_complete) {
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set_land_complete(false);
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}
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}
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// return current state of landing
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return ap.land_complete;
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}
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