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Copter: auto sets desired spool state

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This commit is contained in:
Leonard Hall 2016-01-13 16:09:03 +09:00 committed by Randy Mackay
parent 70433d25e3
commit f221d4d757
1 changed files with 29 additions and 7 deletions
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36
ArduCopter/control_auto.cpp
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@ -112,7 +112,7 @@ void Copter::auto_takeoff_start(float final_alt_above_home)
void Copter::auto_takeoff_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || !motors.get_interlock()) {
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
// initialise wpnav targets
wp_nav.shift_wp_origin_to_current_pos();
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
@ -120,6 +120,7 @@ void Copter::auto_takeoff_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// reset attitude control targets
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
@ -135,6 +136,9 @@ void Copter::auto_takeoff_run()
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_wpnav();
@ -165,7 +169,7 @@ void Copter::auto_wp_start(const Vector3f& destination)
void Copter::auto_wp_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || !motors.get_interlock()) {
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
@ -173,6 +177,7 @@ void Copter::auto_wp_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// clear i term when we're taking off
@ -190,6 +195,9 @@ void Copter::auto_wp_run()
}
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_wpnav();
@ -229,7 +237,7 @@ void Copter::auto_spline_start(const Vector3f& destination, bool stopped_at_star
void Copter::auto_spline_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || !motors.get_interlock()) {
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
@ -238,6 +246,7 @@ void Copter::auto_spline_run()
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
#endif
// clear i term when we're taking off
set_throttle_takeoff();
@ -254,6 +263,9 @@ void Copter::auto_spline_run()
}
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_spline();
@ -304,12 +316,14 @@ void Copter::auto_land_run()
float target_yaw_rate = 0;
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete) {
if (!motors.armed() || !ap.auto_armed || ap.land_complete) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// set target to current position
@ -345,6 +359,9 @@ void Copter::auto_land_run()
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
@ -484,12 +501,14 @@ bool Copter::auto_loiter_start()
void Copter::auto_loiter_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
return;
@ -501,6 +520,9 @@ void Copter::auto_loiter_run()
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run waypoint and z-axis postion controller
wp_nav.update_wpnav();
pos_control.update_z_controller();