// acro_run - runs the acro controller
// should be called at 100hz or more
void Sub::acro_run()
{
float target_roll, target_pitch, target_yaw;
int16_t pilot_throttle_scaled;
// if motors not running reset angle targets
if(!motors.armed()) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// slow start if landed
if (ap.land_complete) {
motors.slow_start(true);
}
return;
}
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in);
// run attitude controller
attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->radio_in);
motors.set_strafe(channel_strafe->radio_in);
}
void Copter::ModeAcro::run()
{
float target_roll, target_pitch, target_yaw;
float pilot_throttle_scaled;
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || ap.throttle_zero || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}
// clear landing flag
set_land_complete(false);
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in(), g2.acro_thr_mid);
// run attitude controller
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
// output pilot's throttle without angle boost
attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
}
// heli_acro_run - runs the acro controller
// should be called at 100hz or more
void Copter::heli_acro_run()
{
float target_roll, target_pitch, target_yaw;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && heli_flags.init_targets_on_arming) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
if (motors.rotor_speed_above_critical()) {
heli_flags.init_targets_on_arming=false;
}
}
// send RC inputs direct into motors library for use during manual passthrough for helicopter setup
heli_radio_passthrough();
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{
/*
for fly-bar passthrough use control_in values with no
deadzone. This gives true pass-through.
*/
float roll_in = channel_roll->pwm_to_angle_dz(0);
float pitch_in = channel_pitch->pwm_to_angle_dz(0);
float yaw_in;
if (motors.supports_yaw_passthrough()) {
// if the tail on a flybar heli has an external gyro then
// also use no deadzone for the yaw control and
// pass-through the input direct to output.
yaw_in = channel_yaw->pwm_to_angle_dz(0);
} else {
// if there is no external gyro then run the usual
// ACRO_YAW_P gain on the input control, including
// deadzone
yaw_in = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// run attitude controller
attitude_control.passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in);
}
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(channel_throttle->control_in, false, g.throttle_filt);
}
// heli_acro_run - runs the acro controller
// should be called at 100hz or more
void Copter::heli_acro_run()
{
float target_roll, target_pitch, target_yaw;
int16_t pilot_throttle_scaled;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && heli_flags.init_targets_on_arming) {
attitude_control.set_yaw_target_to_current_heading();
if (motors.rotor_speed_above_critical()) {
heli_flags.init_targets_on_arming=false;
}
}
// send RC inputs direct into motors library for use during manual passthrough for helicopter setup
heli_radio_passthrough();
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{
// flybar helis only need yaw rate control
get_pilot_desired_yaw_rate(channel_yaw->control_in, target_yaw);
// run attitude controller
attitude_control.passthrough_bf_roll_pitch_rate_yaw(channel_roll->control_in, channel_pitch->control_in, target_yaw);
}
// get pilot's desired throttle
pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->control_in);
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
}
// heli_acro_run - runs the acro controller
// should be called at 100hz or more
void Copter::ModeAcro_Heli::run()
{
float target_roll, target_pitch, target_yaw;
float pilot_throttle_scaled;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors->armed()) {
copter.heli_flags.init_targets_on_arming=true;
attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
}
if(motors->armed() && copter.heli_flags.init_targets_on_arming) {
attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
if (motors->get_interlock()) {
copter.heli_flags.init_targets_on_arming=false;
}
}
// clear landing flag above zero throttle
if (motors->armed() && motors->get_interlock() && motors->rotor_runup_complete() && !ap.throttle_zero) {
set_land_complete(false);
}
if (!motors->has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
if (motors->supports_yaw_passthrough()) {
// if the tail on a flybar heli has an external gyro then
// also use no deadzone for the yaw control and
// pass-through the input direct to output.
target_yaw = channel_yaw->get_control_in_zero_dz();
}
// run attitude controller
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{
/*
for fly-bar passthrough use control_in values with no
deadzone. This gives true pass-through.
*/
float roll_in = channel_roll->get_control_in_zero_dz();
float pitch_in = channel_pitch->get_control_in_zero_dz();
float yaw_in;
if (motors->supports_yaw_passthrough()) {
// if the tail on a flybar heli has an external gyro then
// also use no deadzone for the yaw control and
// pass-through the input direct to output.
yaw_in = channel_yaw->get_control_in_zero_dz();
} else {
// if there is no external gyro then run the usual
// ACRO_YAW_P gain on the input control, including
// deadzone
yaw_in = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
// run attitude controller
attitude_control->passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in);
}
// get pilot's desired throttle
pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
// output pilot's throttle without angle boost
attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
}
