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Copter: roll and pitch nudging in RTL descent

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This commit is contained in:
Randy Mackay 2014-04-25 14:15:57 +09:00
parent 68f439acbe
commit 40650aeb68
1 changed files with 70 additions and 20 deletions
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90
ArduCopter/control_rtl.pde
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@ -51,11 +51,11 @@ static void rtl_run()
switch (rtl_state) {
case InitialClimb:
rtl_climb_return_descent_run();
rtl_climb_return_run();
break;
case ReturnHome:
rtl_climb_return_descent_run();
rtl_climb_return_run();
break;
case LoiterAtHome:
@ -63,7 +63,7 @@ static void rtl_run()
break;
case FinalDescent:
rtl_climb_return_descent_run();
rtl_descent_run();
break;
case Land:
@ -115,23 +115,9 @@ static void rtl_return_start()
set_auto_yaw_mode(get_default_auto_yaw_mode(true));
}
// rtl_descent_start - initialise descent to final alt
static void rtl_descent_start()
{
rtl_state = FinalDescent;
rtl_state_complete = false;
// set target to above home
Vector3f destination = Vector3f(0,0,g.rtl_alt_final);
wp_nav.set_wp_destination(destination);
// initialise yaw to point home (maybe)
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// rtl_climb_return_descent_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller
// rtl_climb_return_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller
// called by rtl_run at 100hz or more
static void rtl_climb_return_descent_run()
static void rtl_climb_return_run()
{
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
@ -238,6 +224,63 @@ static void rtl_loiterathome_run()
}
}
// rtl_descent_start - initialise descent to final alt
static void rtl_descent_start()
{
rtl_state = FinalDescent;
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.set_loiter_target(Vector3f(0,0,0));
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// rtl_descent_run - implements the final descent to the RTL_ALT
// called by rtl_run at 100hz or more
static void rtl_descent_run()
{
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
// set target to current position
wp_nav.init_loiter_target();
return;
}
// process pilot's input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
// To-Do: do we need to clear out feed forward if this is not called?
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
}
// run loiter controller
wp_nav.update_loiter();
// call z-axis position controller
pos_control.set_alt_target_with_slew(g.rtl_alt_final, G_Dt);
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// check if we've reached within 20cm of final altitude
rtl_state_complete = fabs(g.rtl_alt_final - inertial_nav.get_altitude()) < 20.0f;
}
// rtl_loiterathome_start - initialise controllers to loiter over home
static void rtl_land_start()
{
@ -259,7 +302,7 @@ static void rtl_land_start()
static void rtl_land_run()
{
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
if(!ap.auto_armed || !inertial_nav.position_ok()) {
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
// set target to current position
@ -270,6 +313,13 @@ static void rtl_land_run()
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
// To-Do: do we need to clear out feed forward if this is not called?
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
}