mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-02 10:23:25 +08:00
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)
62 lines
2.1 KiB
C++
62 lines
2.1 KiB
C++
#include "Copter.h"
|
|
|
|
/*
|
|
* Init and run calls for stabilize flight mode
|
|
*/
|
|
|
|
// stabilize_run - runs the main stabilize controller
|
|
// should be called at 100hz or more
|
|
void ModeStabilize::run()
|
|
{
|
|
// convert pilot input to lean angles
|
|
float target_roll_rad, target_pitch_rad;
|
|
get_pilot_desired_lean_angles_rad(target_roll_rad, target_pitch_rad, attitude_control->lean_angle_max_rad(), attitude_control->lean_angle_max_rad());
|
|
|
|
// get pilot's desired yaw rate
|
|
float target_yaw_rate_rads = get_pilot_desired_yaw_rate_rads();
|
|
|
|
// Determine desired spool state based on pilot throttle input.
|
|
// The setter enforces that disarmed aircraft are held at SHUT_DOWN until armed.
|
|
if (copter.ap.throttle_zero) {
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
|
|
} else {
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
}
|
|
|
|
float pilot_desired_throttle = get_pilot_desired_throttle();
|
|
|
|
switch (motors->get_spool_state()) {
|
|
case AP_Motors::SpoolState::SHUT_DOWN:
|
|
// Motors Stopped
|
|
attitude_control->reset_yaw_target_and_rate();
|
|
attitude_control->reset_rate_controller_I_terms();
|
|
pilot_desired_throttle = 0.0f;
|
|
break;
|
|
|
|
case AP_Motors::SpoolState::GROUND_IDLE:
|
|
// Landed
|
|
attitude_control->reset_yaw_target_and_rate();
|
|
attitude_control->reset_rate_controller_I_terms_smoothly();
|
|
pilot_desired_throttle = 0.0f;
|
|
break;
|
|
|
|
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
|
|
// clear landing flag above zero throttle
|
|
if (!motors->limit.throttle_lower) {
|
|
set_land_complete(false);
|
|
}
|
|
break;
|
|
|
|
case AP_Motors::SpoolState::SPOOLING_UP:
|
|
case AP_Motors::SpoolState::SPOOLING_DOWN:
|
|
// do nothing
|
|
break;
|
|
}
|
|
|
|
// call attitude controller
|
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_rad(target_roll_rad, target_pitch_rad, target_yaw_rate_rads);
|
|
|
|
// output pilot's throttle
|
|
attitude_control->set_throttle_out(pilot_desired_throttle, true, g.throttle_filt);
|
|
}
|