Copter: sport moved to control_sport.pde

ArduCopter/control_sport.pde

@@ -0,0 +1,73 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/*
+ * control_sport.pde - init and run calls for sport flight mode
+ */
+
+// sport_init - initialise sport controller
+static bool sport_init(bool ignore_checks)
+{
+    return true;
+}
+
+// sport_run - runs the sport controller
+// should be called at 100hz or more
+static void sport_run()
+{
+    float target_roll_rate, target_pitch_rate, target_yaw_rate;
+    float target_climb_rate = 0;
+
+    // if not armed or throttle at zero, set throttle to zero and exit immediately
+    if(!motors.armed() || g.rc_3.control_in <= 0) {
+        attitude_control.init_targets();
+        attitude_control.set_throttle_out(0, false);
+        return;
+    }
+
+    // apply SIMPLE mode transform
+    update_simple_mode();
+
+    // get pilot's desired roll and pitch rates
+    target_roll_rate = g.rc_1.control_in;
+    target_pitch_rate = g.rc_2.control_in;
+
+    // get pilot's desired yaw rate
+    target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+
+    // get pilot desired climb rate
+    target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.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();
+    }
+
+    // reset target lean angles and heading while landed
+    if (ap.land_complete) {
+        attitude_control.init_targets();
+        // move throttle to minimum to keep us on the ground
+        attitude_control.set_throttle_out(0, false);
+    }else{
+        // call attitude controller
+        attitude_control.rateef_rpy(target_roll_rate, target_pitch_rate, target_yaw_rate);
+
+        // call throttle controller
+        if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
+            // if sonar is ok, use surface tracking
+            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, G_Dt);
+        }
+
+        // call position controller
+        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+        pos_control.update_z_controller();
+    }
+
+    // re-fetch angle targets for reporting
+    const Vector3f angle_target = attitude_control.angle_ef_targets();
+    control_roll = angle_target.x;
+    control_pitch = angle_target.y;
+    control_yaw = angle_target.z;
+}