mirror of https://github.com/ArduPilot/ardupilot
84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Sub.h"
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// stabilize_init - initialise stabilize controller
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bool Sub::stabilize_init(bool ignore_checks)
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{
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// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
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if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) && (get_pilot_desired_throttle(channel_throttle->control_in) > get_non_takeoff_throttle())) {
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return false;
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}
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// set target altitude to zero for reporting
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pos_control.set_alt_target(0);
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last_pilot_heading = ahrs.yaw_sensor;
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return true;
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}
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// stabilize_run - runs the main stabilize controller
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// should be called at 100hz or more
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void Sub::stabilize_run()
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{
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uint32_t tnow = AP_HAL::millis();
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float target_roll, target_pitch;
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float target_yaw_rate;
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float pilot_throttle_scaled;
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// if not armed set throttle to zero and exit immediately
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if (!motors.armed() || !motors.get_interlock()) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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last_pilot_heading = ahrs.yaw_sensor;
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return;
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}
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// convert pilot input to 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(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, aparm.angle_max);
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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// get pilot's desired throttle
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pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in);
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// call attitude controller
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// update attitude controller targets
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if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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last_pilot_heading = ahrs.yaw_sensor;
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last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
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} else { // hold current heading
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// this check is required to prevent bounce back after very fast yaw maneuvers
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// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
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if(tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
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target_yaw_rate = 0; // Stop rotation on yaw axis
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// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
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} else { // call attitude controller holding absolute absolute bearing
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attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true, get_smoothing_gain());
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}
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}
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// output pilot's throttle
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attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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//control_in is range -1000-1000
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//radio_in is raw pwm value
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motors.set_forward(channel_forward->norm_input_dz());
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motors.set_lateral(channel_lateral->norm_input_dz());
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}
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