ardupilot/ArduPlane/mode.cpp

233 lines
8.0 KiB
C++

#include "Plane.h"
Mode::Mode() :
ahrs(plane.ahrs)
#if HAL_QUADPLANE_ENABLED
, quadplane(plane.quadplane),
pos_control(plane.quadplane.pos_control),
attitude_control(plane.quadplane.attitude_control),
loiter_nav(plane.quadplane.loiter_nav),
poscontrol(plane.quadplane.poscontrol)
#endif
{
}
void Mode::exit()
{
// call sub-classes exit
_exit();
// stop autotuning if not AUTOTUNE mode
if (plane.control_mode != &plane.mode_autotune){
plane.autotune_restore();
}
}
bool Mode::enter()
{
#if AP_SCRIPTING_ENABLED
// reset nav_scripting.enabled
plane.nav_scripting.enabled = false;
#endif
// cancel inverted flight
plane.auto_state.inverted_flight = false;
// cancel waiting for rudder neutral
plane.takeoff_state.waiting_for_rudder_neutral = false;
// don't cross-track when starting a mission
plane.auto_state.next_wp_crosstrack = false;
// reset landing check
plane.auto_state.checked_for_autoland = false;
// zero locked course
plane.steer_state.locked_course_err = 0;
plane.steer_state.locked_course = false;
// reset crash detection
plane.crash_state.is_crashed = false;
plane.crash_state.impact_detected = false;
// reset external attitude guidance
plane.guided_state.last_forced_rpy_ms.zero();
plane.guided_state.last_forced_throttle_ms = 0;
#if OFFBOARD_GUIDED == ENABLED
plane.guided_state.target_heading = -4; // radians here are in range -3.14 to 3.14, so a default value needs to be outside that range
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
plane.guided_state.target_airspeed_cm = -1; // same as above, although an airspeed of -1 is rare on plane.
plane.guided_state.target_alt = -1; // same as above, although a target alt of -1 is rare on plane.
plane.guided_state.last_target_alt = 0;
#endif
#if AP_CAMERA_ENABLED
plane.camera.set_is_auto_mode(this == &plane.mode_auto);
#endif
// zero initial pitch and highest airspeed on mode change
plane.auto_state.highest_airspeed = 0;
plane.auto_state.initial_pitch_cd = ahrs.pitch_sensor;
// disable taildrag takeoff on mode change
plane.auto_state.fbwa_tdrag_takeoff_mode = false;
// start with previous WP at current location
plane.prev_WP_loc = plane.current_loc;
// new mode means new loiter
plane.loiter.start_time_ms = 0;
// record time of mode change
plane.last_mode_change_ms = AP_HAL::millis();
// set VTOL auto state
plane.auto_state.vtol_mode = is_vtol_mode();
plane.auto_state.vtol_loiter = false;
// initialize speed variable used in AUTO and GUIDED for DO_CHANGE_SPEED commands
plane.new_airspeed_cm = -1;
#if HAL_QUADPLANE_ENABLED
quadplane.mode_enter();
#endif
bool enter_result = _enter();
if (enter_result) {
// -------------------
// these must be done AFTER _enter() because they use the results to set more flags
// start with throttle suppressed in auto_throttle modes
plane.throttle_suppressed = does_auto_throttle();
#if HAL_ADSB_ENABLED
plane.adsb.set_is_auto_mode(does_auto_navigation());
#endif
// reset steering integrator on mode change
plane.steerController.reset_I();
// update RC failsafe, as mode change may have necessitated changing the failsafe throttle
plane.control_failsafe();
#if AP_FENCE_ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
plane.fence.manual_recovery_start();
#endif
}
return enter_result;
}
bool Mode::is_vtol_man_throttle() const
{
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.tailsitter.is_in_fw_flight() &&
plane.quadplane.assisted_flight) {
// We are a tailsitter that has fully transitioned to Q-assisted forward flight.
// In this case the forward throttle directly drives the vertical throttle so
// set vertical throttle state to match the forward throttle state. Confusingly the booleans are inverted,
// forward throttle uses 'does_auto_throttle' whereas vertical uses 'is_vtol_man_throttle'.
return !does_auto_throttle();
}
#endif
return false;
}
void Mode::update_target_altitude()
{
Location target_location;
if (plane.landing.is_flaring()) {
// during a landing flare, use TECS_LAND_SINK as a target sink
// rate, and ignores the target altitude
plane.set_target_altitude_location(plane.next_WP_loc);
} else if (plane.landing.is_on_approach()) {
plane.landing.setup_landing_glide_slope(plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.target_altitude.offset_cm);
plane.landing.adjust_landing_slope_for_rangefinder_bump(plane.rangefinder_state, plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.auto_state.wp_distance, plane.target_altitude.offset_cm);
} else if (plane.landing.get_target_altitude_location(target_location)) {
plane.set_target_altitude_location(target_location);
#if HAL_SOARING_ENABLED
} else if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.get_throttle_suppressed()) {
// Reset target alt to current alt, to prevent large altitude errors when gliding.
plane.set_target_altitude_location(plane.current_loc);
plane.reset_offset_altitude();
#endif
} else if (plane.reached_loiter_target()) {
// once we reach a loiter target then lock to the final
// altitude target
plane.set_target_altitude_location(plane.next_WP_loc);
} else if (plane.target_altitude.offset_cm != 0 &&
!plane.current_loc.past_interval_finish_line(plane.prev_WP_loc, plane.next_WP_loc)) {
// control climb/descent rate
plane.set_target_altitude_proportion(plane.next_WP_loc, 1.0f-plane.auto_state.wp_proportion);
// stay within the range of the start and end locations in altitude
plane.constrain_target_altitude_location(plane.next_WP_loc, plane.prev_WP_loc);
} else {
plane.set_target_altitude_location(plane.next_WP_loc);
}
plane.altitude_error_cm = plane.calc_altitude_error_cm();
}
// returns true if the vehicle can be armed in this mode
bool Mode::pre_arm_checks(size_t buflen, char *buffer) const
{
if (!_pre_arm_checks(buflen, buffer)) {
if (strlen(buffer) == 0) {
// If no message is provided add a generic one
hal.util->snprintf(buffer, buflen, "mode not armable");
}
return false;
}
return true;
}
// Auto and Guided do not call this to bypass the q-mode check.
bool Mode::_pre_arm_checks(size_t buflen, char *buffer) const
{
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.enabled() && !is_vtol_mode() &&
plane.quadplane.option_is_set(QuadPlane::OPTION::ONLY_ARM_IN_QMODE_OR_AUTO)) {
hal.util->snprintf(buffer, buflen, "not Q mode");
return false;
}
#endif
return true;
}
void Mode::run()
{
// Direct stick mixing functionality has been removed, so as not to remove all stick mixing from the user completely
// the old direct option is now used to enable fbw mixing, this is easier than doing a param conversion.
if ((plane.g.stick_mixing == StickMixing::FBW) || (plane.g.stick_mixing == StickMixing::DIRECT_REMOVED)) {
plane.stabilize_stick_mixing_fbw();
}
plane.stabilize_roll();
plane.stabilize_pitch();
plane.stabilize_yaw();
}
// Reset rate and steering controllers
void Mode::reset_controllers()
{
// reset integrators
plane.rollController.reset_I();
plane.pitchController.reset_I();
plane.yawController.reset_I();
// reset steering controls
plane.steer_state.locked_course = false;
plane.steer_state.locked_course_err = 0;
}
bool Mode::is_taking_off() const
{
return (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF);
}