void VtolFlyController::UpdateAutoPilot()
{
if (vtolPathFollowerSettings->ThrustControl == VTOLPATHFOLLOWERSETTINGS_THRUSTCONTROL_MANUAL) {
mManualThrust = true;
}
uint8_t result = RunAutoPilot();
if (result) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
} else {
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
}
PathStatusSet(pathStatus);
// If rtbl, detect arrival at the endpoint and then triggers a change
// to the pathDesired to initiate a Landing sequence. This is the simpliest approach. plans.c
// can't manage this. And pathplanner whilst similar does not manage this as it is not a
// waypoint traversal and is not aware of flight modes other than path plan.
if (flightStatus->FlightMode == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) {
if ((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND] == FLIGHTMODESETTINGS_RETURNTOBASENEXTCOMMAND_LAND) {
if (pathStatus->fractional_progress > RTB_LAND_FRACTIONAL_PROGRESS_START_CHECKS) {
if (fabsf(pathStatus->correction_direction_north) < RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE && fabsf(pathStatus->correction_direction_east) < RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE) {
plan_setup_land();
}
}
}
}
}
static void plan_setup_land_from_velocityroam()
{
plan_setup_land();
FlightStatusAssistedControlStateOptions assistedControlFlightMode;
assistedControlFlightMode = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD;
FlightStatusAssistedControlStateSet(&assistedControlFlightMode);
}
/**
* @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
* @output: PathDesired
*/
void pathFollowerHandler(bool newinit)
{
if (newinit) {
plan_initialize();
}
FlightStatusFlightModeOptions flightMode;
FlightStatusAssistedControlStateOptions assistedControlFlightMode;
FlightStatusFlightModeAssistOptions flightModeAssist;
FlightStatusFlightModeGet(&flightMode);
FlightStatusFlightModeAssistGet(&flightModeAssist);
FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
if (newinit) {
// After not being in this mode for a while init at current height
switch (flightMode) {
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
plan_setup_returnToBase();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
if ((flightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) &&
(assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY)) {
// Switch from primary (just entered this PH flight mode) into brake
plan_setup_assistedcontrol();
} else {
plan_setup_positionHold();
}
break;
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
plan_setup_CourseLock();
break;
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
plan_setup_VelocityRoam();
break;
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
plan_setup_HomeLeash();
break;
case FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION:
plan_setup_AbsolutePosition();
break;
case FLIGHTSTATUS_FLIGHTMODE_LAND:
if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
plan_setup_land();
} else {
plan_setup_VelocityRoam();
}
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
plan_setup_AutoTakeoff();
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
plan_setup_AutoCruise();
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
if (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE) {
// Just initiated braking after returning from stabi control
plan_setup_assistedcontrol();
}
break;
default:
plan_setup_positionHold();
break;
}
}
switch (flightMode) {
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
plan_run_CourseLock();
break;
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
plan_run_VelocityRoam();
break;
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
plan_run_HomeLeash();
break;
case FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION:
plan_run_AbsolutePosition();
break;
case FLIGHTSTATUS_FLIGHTMODE_LAND:
if (flightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
plan_run_VelocityRoam();
}
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
plan_run_AutoTakeoff();
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
plan_run_AutoCruise();
break;
default:
break;
}
}
void plan_run_AutoTakeoff()
{
StatusVtolAutoTakeoffControlStateOptions priorState = autotakeoffState;
switch (autotakeoffState) {
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (!flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
{
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
if (cmd.Throttle > AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
{
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
if (cmd.Throttle < AUTOTAKEOFF_THROTTLE_ABORT_LIMIT) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT;
plan_setup_land();
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (!flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
// nothing to do. land has been requested. stay here for forever until mode change.
default:
break;
}
if (autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT &&
autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD) {
if (priorState != autotakeoffState) {
PathDesiredData pathDesired;
plan_setup_AutoTakeoff_helper(&pathDesired);
PathDesiredSet(&pathDesired);
}
}
}
