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Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents

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This commit is contained in:
Jonathan Challinger 2014-07-06 02:05:43 -07:00 committed by Randy Mackay
parent 2dfef17caf
commit 5b36e65cb9
6 changed files with 69 additions and 29 deletions
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5
ArduCopter/Parameters.h
View File

@ -111,10 +111,11 @@ public:
k_param_rally,
k_param_hybrid_brake_rate,
k_param_hybrid_brake_angle_max,
k_param_pilot_accel_z, // 48
k_param_pilot_accel_z,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial2_baud,
k_param_land_repositioning, // 52
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
@ -384,6 +385,8 @@ public:
AP_Int8 ch8_option;
AP_Int8 arming_check;
AP_Int8 land_repositioning;
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail

7
ArduCopter/Parameters.pde
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@ -442,6 +442,13 @@ const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(hybrid_brake_angle_max, "HYBR_BRAKE_ANGLE", HYBRID_BRAKE_ANGLE_DEFAULT),
#endif
// @Param: LAND_REPOSITION
// @DisplayName: Land repositioning
// @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
// @Values: 0:No repositiong, 1:Repositioning
// @User: Advanced
GSCALAR(land_repositioning, "LAND_REPOSITION", LAND_REPOSITION_DEFAULT),
#if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp

3
ArduCopter/config.h
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@ -461,6 +461,9 @@
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
#endif
#ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 0 // by default the pilot cannot override roll/pitch during landing
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL

18
ArduCopter/control_auto.pde
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@ -274,6 +274,9 @@ static void auto_land_start(const Vector3f& destination)
// called by auto_run at 100hz or more
static void auto_land_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete) {
attitude_control.relax_bf_rate_controller();
@ -284,13 +287,24 @@ static void auto_land_run()
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
// process pilot's input
if (!failsafe.radio) {
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = g.rc_1.control_in;
pitch_control = g.rc_2.control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
}
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter();

22
ArduCopter/control_land.pde
View File

@ -68,12 +68,14 @@ static void land_gps_run()
// process pilot inputs
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = g.rc_1.control_in;
pitch_control = g.rc_2.control_in;
// process pilot's roll and pitch input
roll_control = g.rc_1.control_in;
pitch_control = g.rc_2.control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
@ -122,11 +124,13 @@ static void land_nogps_run()
// process pilot inputs
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
// get pilot desired lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);

43
ArduCopter/control_rtl.pde
View File

@ -251,6 +251,9 @@ static void rtl_descent_start()
// called by rtl_run at 100hz or more
static void rtl_descent_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
attitude_control.relax_bf_rate_controller();
@ -262,21 +265,23 @@ static void rtl_descent_run()
}
// process pilot's input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// process pilot's roll and pitch input
roll_control = g.rc_1.control_in;
pitch_control = g.rc_2.control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs while descending
wp_nav.clear_pilot_desired_acceleration();
}
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter();
@ -311,6 +316,8 @@ static void rtl_land_start()
// called by rtl_run at 100hz or more
static void rtl_land_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
attitude_control.relax_bf_rate_controller();
@ -321,22 +328,24 @@ static void rtl_land_run()
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
// process pilot's input
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// process pilot's roll and pitch input
roll_control = g.rc_1.control_in;
pitch_control = g.rc_2.control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs while landing
wp_nav.clear_pilot_desired_acceleration();
}
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter();