mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
106 lines
3.8 KiB
C++
106 lines
3.8 KiB
C++
#include "Copter.h"
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/*
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* Init and run calls for althold, flight mode
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*/
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// althold_init - initialise althold controller
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bool ModeAltHold::init(bool ignore_checks)
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{
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// initialise the vertical position controller
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if (!pos_control->is_active_U()) {
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pos_control->init_U_controller();
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}
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
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pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
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return true;
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}
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// althold_run - runs the althold controller
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// should be called at 100hz or more
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void ModeAltHold::run()
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{
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// get pilot desired 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->get_althold_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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// get pilot desired climb rate
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float target_climb_rate_cms = get_pilot_desired_climb_rate_cms();
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target_climb_rate_cms = constrain_float(target_climb_rate_cms, -get_pilot_speed_dn_ms() * 100.0, get_pilot_speed_up_ms() * 100.0);
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// Alt Hold State Machine Determination
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AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate_cms);
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// Alt Hold State Machine
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switch (althold_state) {
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case AltHoldModeState::MotorStopped:
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->reset_yaw_target_and_rate(false);
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pos_control->relax_U_controller(0.0f); // forces throttle output to decay to zero
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break;
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case AltHoldModeState::Landed_Ground_Idle:
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attitude_control->reset_yaw_target_and_rate();
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FALLTHROUGH;
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case AltHoldModeState::Landed_Pre_Takeoff:
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attitude_control->reset_rate_controller_I_terms_smoothly();
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pos_control->relax_U_controller(0.0f); // forces throttle output to decay to zero
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break;
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case AltHoldModeState::Takeoff:
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// initiate take-off
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if (!takeoff.running()) {
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takeoff.start_cm(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
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}
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// get avoidance adjusted climb rate
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target_climb_rate_cms = get_avoidance_adjusted_climbrate_cms(target_climb_rate_cms);
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// set position controller targets adjusted for pilot input
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takeoff.do_pilot_takeoff_cms(target_climb_rate_cms);
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break;
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case AltHoldModeState::Flying:
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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#if AP_AVOIDANCE_ENABLED
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// apply avoidance
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copter.avoid.adjust_roll_pitch_rad(target_roll_rad, target_pitch_rad, attitude_control->lean_angle_max_rad());
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#endif
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// get avoidance adjusted climb rate
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target_climb_rate_cms = get_avoidance_adjusted_climbrate_cms(target_climb_rate_cms);
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#if AP_RANGEFINDER_ENABLED
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// update the vertical offset based on the surface measurement
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copter.surface_tracking.update_surface_offset();
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#endif
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// Send the commanded climb rate to the position controller
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pos_control->set_pos_target_U_from_climb_rate_cm(target_climb_rate_cms);
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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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// run the vertical position controller and set output throttle
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pos_control->update_U_controller();
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}
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