mirror of
https://github.com/ArduPilot/ardupilot.git
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Randy MackayandIampete1
17792724fa
Co-authored-by: Iampete1 <iampete@hotmail.co.uk> Replaces update_simple_mode with apply_simple_mode function that takes roll and pitch input arguments. The rotation is now done within the various get-pilot-desired-xxx methods removing the need for each flight mode to call update_simple_mode and also removing the slightly ugly call to overwrite RC_Channels' control inputs from the flight code (e.g. no more calls to set_control_in)
80 lines
3.2 KiB
C++
80 lines
3.2 KiB
C++
#include "Copter.h"
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* Init and run calls for stabilize flight mode for trad heli
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*/
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// stabilize_init - initialise stabilize controller
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bool ModeStabilize_Heli::init(bool ignore_checks)
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{
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// be aware that when adding code to this function that it is *NOT
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// RUN* at vehicle startup!
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// set stab collective true to use stabilize scaled collective pitch range
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copter.input_manager.set_use_stab_col(true);
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return true;
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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_Heli::run()
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{
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float target_roll_rad, target_pitch_rad;
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float pilot_throttle_scaled;
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// convert pilot input to lean angles
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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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// get pilot's desired throttle
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pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
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// we may be in autorotation flight. This is so that the servos move in a realistic fashion while disarmed
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// for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero
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// so the swash servos move.
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// Request throttle unlimited. The setter enforces safety constraints:
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// - Disarmed: held at SHUT_DOWN until armed
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// - Armed without interlock: limited to GROUND_IDLE (swash can move, rotor stopped)
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// - Armed with interlock: THROTTLE_UNLIMITED granted
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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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(false);
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attitude_control->reset_rate_controller_I_terms();
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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// If aircraft is landed, set target heading to current and reset the integrator
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// Otherwise motors could be at ground idle for practice autorotation
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if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
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attitude_control->reset_yaw_target_and_rate(false);
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attitude_control->reset_rate_controller_I_terms_smoothly();
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}
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
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attitude_control->reset_rate_controller_I_terms_smoothly();
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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_throttle_scaled, true, g.throttle_filt);
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}
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#endif //HELI_FRAME
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