mirror of https://github.com/ArduPilot/ardupilot
99 lines
3.8 KiB
C++
99 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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#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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motors.set_acro_tail(true);
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// set stab collective false to use full collective pitch range
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input_manager.set_use_stab_col(false);
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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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int16_t pilot_throttle_scaled;
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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.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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if (motors.supports_yaw_passthrough()) {
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// if the tail on a flybar heli has an external gyro then
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// also use no deadzone for the yaw control and
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// pass-through the input direct to output.
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target_yaw = channel_yaw->pwm_to_angle_dz(0);
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}
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// run attitude controller
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attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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}else{
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/*
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for fly-bar passthrough use control_in values with no
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deadzone. This gives true pass-through.
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*/
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float roll_in = channel_roll->pwm_to_angle_dz(0);
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float pitch_in = channel_pitch->pwm_to_angle_dz(0);
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float yaw_in;
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if (motors.supports_yaw_passthrough()) {
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// if the tail on a flybar heli has an external gyro then
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// also use no deadzone for the yaw control and
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// pass-through the input direct to output.
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yaw_in = channel_yaw->pwm_to_angle_dz(0);
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} else {
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// if there is no external gyro then run the usual
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// ACRO_YAW_P gain on the input control, including
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// deadzone
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yaw_in = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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}
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// run attitude controller
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attitude_control.passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in);
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}
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// get pilot's desired throttle
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pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->control_in);
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// output pilot's throttle without angle boost
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attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
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#endif //HELI_FRAME
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