mirror of https://github.com/ArduPilot/ardupilot
188 lines
7.9 KiB
C++
188 lines
7.9 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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/*
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* control_althold.pde - init and run calls for althold, flight mode
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*/
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// althold_init - initialise althold controller
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bool Copter::althold_init(bool ignore_checks)
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{
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#if FRAME_CONFIG == HELI_FRAME
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// do not allow helis to enter Alt Hold if the Rotor Runup is not complete
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if (!ignore_checks && !motors.rotor_runup_complete()){
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return false;
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}
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#endif
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// initialize vertical speeds and leash lengths
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise position and desired velocity
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pos_control.set_alt_target(inertial_nav.get_altitude());
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
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// stop takeoff if running
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takeoff_stop();
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return true;
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}
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// althold_run - runs the althold controller
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// should be called at 100hz or more
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void Copter::althold_run()
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{
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AltHoldModeState althold_state;
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float takeoff_climb_rate = 0.0f;
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// initialize vertical speeds and acceleration
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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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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float target_roll, target_pitch;
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get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
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// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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// get pilot desired climb rate
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
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target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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#if FRAME_CONFIG == HELI_FRAME
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// helicopters are held on the ground until rotor speed runup has finished
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bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.rotor_runup_complete());
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#else
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bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.spool_up_complete());
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#endif
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// Alt Hold State Machine Determination
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if (!motors.armed() || !motors.get_interlock()) {
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althold_state = AltHold_MotorStop;
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} else if (!ap.auto_armed){
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althold_state = AltHold_Disarmed;
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} else if (takeoff_state.running || takeoff_triggered){
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althold_state = AltHold_Takeoff;
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} else if (ap.land_complete){
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althold_state = AltHold_Landed;
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} else {
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althold_state = AltHold_Flying;
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}
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// Alt Hold State Machine
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switch (althold_state) {
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case AltHold_Disarmed:
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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attitude_control.set_yaw_target_to_current_heading();
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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// Multicopter do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif // HELI_FRAME
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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break;
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case AltHold_MotorStop:
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#if FRAME_CONFIG == HELI_FRAME
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// helicopters are capable of flying even with the motor stopped, therefore we will attempt to keep flying
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// force descent rate and call position controller
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pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
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pos_control.update_z_controller();
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#else // Multicopter do not stabilize roll/pitch/yaw when motor are stopped
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SHUT_DOWN);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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#endif // HELI_FRAME
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break;
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case AltHold_Takeoff:
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// initiate take-off
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if (!takeoff_state.running) {
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takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
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// indicate we are taking off
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set_land_complete(false);
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// clear i terms
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set_throttle_takeoff();
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}
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// get take-off adjusted pilot and takeoff climb rates
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takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
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// if throttle zero reset attitude and exit immediately
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if (ap.throttle_zero) {
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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// slow start if landed
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if (ap.land_complete) {
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motors.slow_start(true);
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}
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return;
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// call position controller
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pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
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pos_control.update_z_controller();
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break;
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case AltHold_Landed:
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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attitude_control.set_yaw_target_to_current_heading();
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
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#else // Multicopter stabilize roll/pitch/yaw when landed
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attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
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// if throttle zero reset attitude and exit immediately
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if (ap.throttle_zero) {
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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}else{
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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}
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#endif
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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break;
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case AltHold_Flying:
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// call throttle controller
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if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
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// if sonar is ok, use surface tracking
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target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// call position controller
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pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control.update_z_controller();
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break;
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}
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}
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