mirror of https://github.com/ArduPilot/ardupilot
92 lines
3.3 KiB
C++
92 lines
3.3 KiB
C++
#include "Copter.h"
|
|
|
|
/*
|
|
* Init and run calls for circle flight mode
|
|
*/
|
|
|
|
// circle_init - initialise circle controller flight mode
|
|
bool Copter::ModeCircle::init(bool ignore_checks)
|
|
{
|
|
if (_copter.position_ok() || ignore_checks) {
|
|
pilot_yaw_override = false;
|
|
|
|
// initialize speeds and accelerations
|
|
pos_control->set_speed_xy(wp_nav->get_speed_xy());
|
|
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
|
|
pos_control->set_jerk_xy_to_default();
|
|
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
|
|
pos_control->set_accel_z(g.pilot_accel_z);
|
|
|
|
// initialise circle controller including setting the circle center based on vehicle speed
|
|
circle_nav->init();
|
|
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// circle_run - runs the circle flight mode
|
|
// should be called at 100hz or more
|
|
void Copter::ModeCircle::run()
|
|
{
|
|
float target_yaw_rate = 0;
|
|
float target_climb_rate = 0;
|
|
|
|
// initialize speeds and accelerations
|
|
pos_control->set_speed_xy(wp_nav->get_speed_xy());
|
|
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
|
|
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
|
|
pos_control->set_accel_z(g.pilot_accel_z);
|
|
|
|
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
|
|
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
|
|
// To-Do: add some initialisation of position controllers
|
|
zero_throttle_and_relax_ac();
|
|
pos_control->set_alt_target_to_current_alt();
|
|
return;
|
|
}
|
|
|
|
// process pilot inputs
|
|
if (!_copter.failsafe.radio) {
|
|
// get pilot's desired yaw rate
|
|
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
|
|
if (!is_zero(target_yaw_rate)) {
|
|
pilot_yaw_override = true;
|
|
}
|
|
|
|
// get pilot desired climb rate
|
|
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
|
|
|
|
// check for pilot requested take-off
|
|
if (ap.land_complete && target_climb_rate > 0) {
|
|
// indicate we are taking off
|
|
set_land_complete(false);
|
|
// clear i term when we're taking off
|
|
set_throttle_takeoff();
|
|
}
|
|
}
|
|
|
|
// set motors to full range
|
|
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
|
|
|
// run circle controller
|
|
circle_nav->update();
|
|
|
|
// call attitude controller
|
|
if (pilot_yaw_override) {
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(circle_nav->get_roll(), circle_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
|
|
}else{
|
|
attitude_control->input_euler_angle_roll_pitch_yaw(circle_nav->get_roll(), circle_nav->get_pitch(), circle_nav->get_yaw(),true, get_smoothing_gain());
|
|
}
|
|
|
|
// adjust climb rate using rangefinder
|
|
if (_copter.rangefinder_alt_ok()) {
|
|
// if rangefinder is ok, use surface tracking
|
|
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
|
|
}
|
|
// update altitude target and call position controller
|
|
pos_control->set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
|
|
pos_control->update_z_controller();
|
|
}
|