mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
#include "Plane.h"
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#if HAL_SOARING_ENABLED
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/*
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* ArduSoar support function
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*
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* Peter Braswell, Samuel Tabor, Andrey Kolobov, and Iain Guilliard
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*/
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void Plane::update_soaring() {
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// Check if soaring is active. Also sets throttle suppressed
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// status on active state changes.
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plane.g2.soaring_controller.update_active_state();
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if (!g2.soaring_controller.is_active()) {
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return;
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}
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g2.soaring_controller.update_vario();
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if (control_mode == &mode_thermal) {
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// We are currently thermalling; suppress throttle and update
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// the thermal mode.
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// Never use throttle in THERMAL with soaring active.
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g2.soaring_controller.set_throttle_suppressed(true);
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// Update THERMAL mode soaring logic.
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mode_thermal.update_soaring();
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return;
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}
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if (control_mode->does_automatic_thermal_switch()) {
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// We might decide to start thermalling; if we're not under
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// powered flight then check for thermals and potentially
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// switch modes.
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// Check for throttle suppression change.
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if (g2.soaring_controller.suppress_throttle()) {
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// Throttle is suppressed, perform cruising modes update and check for mode switch.
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// Cruising modes update.
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g2.soaring_controller.update_cruising();
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// Test for switch into THERMAL mode
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if (g2.soaring_controller.check_thermal_criteria()) {
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering %s", mode_thermal.name());
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set_mode(mode_thermal, ModeReason::SOARING_THERMAL_DETECTED);
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}
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}
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return;
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}
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// We are not thermalling and won't start to from this mode. Allow throttle.
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g2.soaring_controller.set_throttle_suppressed(false);
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}
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#endif // SOARING_ENABLED
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