mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-07 00:11:20 +08:00
71 lines
2.5 KiB
C++
71 lines
2.5 KiB
C++
#include "Copter.h"
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/*
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* Init and run calls for stabilize flight mode
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*/
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// stabilize_run - runs the main stabilize controller
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// should be called at 100hz or more
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void ModeStabilize::run()
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{
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// apply simple mode transform to pilot inputs
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update_simple_mode();
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// convert pilot input to lean angles
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float target_roll_rad, target_pitch_rad;
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get_pilot_desired_lean_angles_rad(target_roll_rad, target_pitch_rad, attitude_control->lean_angle_max_rad(), attitude_control->lean_angle_max_rad());
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// get pilot's desired yaw rate
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float target_yaw_rate_rads = get_pilot_desired_yaw_rate_rads();
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
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} else if (copter.ap.throttle_zero
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|| (copter.air_mode == AirMode::AIRMODE_ENABLED && motors->get_spool_state() == AP_Motors::SpoolState::SHUT_DOWN)) {
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// throttle_zero is never true in air mode, but the motors should be allowed to go through ground idle
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// in order to facilitate the spoolup block
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// Attempting to Land
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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} else {
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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float pilot_desired_throttle = get_pilot_desired_throttle();
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switch (motors->get_spool_state()) {
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case AP_Motors::SpoolState::SHUT_DOWN:
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// Motors Stopped
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attitude_control->reset_yaw_target_and_rate();
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attitude_control->reset_rate_controller_I_terms();
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pilot_desired_throttle = 0.0f;
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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// Landed
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attitude_control->reset_yaw_target_and_rate();
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attitude_control->reset_rate_controller_I_terms_smoothly();
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pilot_desired_throttle = 0.0f;
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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// clear landing flag above zero throttle
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if (!motors->limit.throttle_lower) {
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set_land_complete(false);
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}
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break;
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case AP_Motors::SpoolState::SPOOLING_UP:
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case AP_Motors::SpoolState::SPOOLING_DOWN:
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// do nothing
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break;
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}
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_rad(target_roll_rad, target_pitch_rad, target_yaw_rate_rads);
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// output pilot's throttle
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attitude_control->set_throttle_out(pilot_desired_throttle, true, g.throttle_filt);
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}
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