// guided_takeoff_run - takeoff in guided mode // called by guided_run at 100hz or more void Copter::guided_takeoff_run() { // if not auto armed or motors not enabled set throttle to zero and exit immediately if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); #endif return; } // process pilot's yaw input float target_yaw_rate = 0; if (!failsafe.radio) { // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint controller failsafe_terrain_set_status(wp_nav.update_wpnav()); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); // call attitude controller auto_takeoff_attitude_run(target_yaw_rate); }
// rtl_climb_return_descent_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller // called by rtl_run at 100hz or more void Copter::rtl_loiterathome_run() { // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); // multicopters do not stabilize roll/pitch/yaw when disarmed // reset attitude control targets attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); #endif // To-Do: re-initialise wpnav targets return; } // process pilot's yaw input float target_yaw_rate = 0; if (!failsafe.radio) { // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { set_auto_yaw_mode(AUTO_YAW_HOLD); } } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint controller failsafe_terrain_set_status(wp_nav.update_wpnav()); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain()); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true, get_smoothing_gain()); } // check if we've completed this stage of RTL if ((millis() - rtl_loiter_start_time) >= (uint32_t)g.rtl_loiter_time.get()) { if (auto_yaw_mode == AUTO_YAW_RESETTOARMEDYAW) { // check if heading is within 2 degrees of heading when vehicle was armed if (labs(wrap_180_cd(ahrs.yaw_sensor-initial_armed_bearing)) <= 200) { rtl_state_complete = true; } } else { // we have loitered long enough rtl_state_complete = true; } } }
// rtl_climb_return_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller // called by rtl_run at 100hz or more void Copter::rtl_climb_return_run() { // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); // multicopters do not stabilize roll/pitch/yaw when disarmed // reset attitude control targets attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); #endif // To-Do: re-initialise wpnav targets return; } // process pilot's yaw input float target_yaw_rate = 0; if (!failsafe.radio) { // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { set_auto_yaw_mode(AUTO_YAW_HOLD); } } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint controller failsafe_terrain_set_status(wp_nav.update_wpnav()); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain()); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true, get_smoothing_gain()); } // check if we've completed this stage of RTL rtl_state_complete = wp_nav.reached_wp_destination(); }
// auto_wp_run - runs the auto waypoint controller // called by auto_run at 100hz or more void Copter::auto_wp_run() { // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) { // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off // (of course it would be better if people just used take-off) #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); #endif // clear i term when we're taking off set_throttle_takeoff(); return; } // process pilot's yaw input float target_yaw_rate = 0; if (!failsafe.radio) { // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { set_auto_yaw_mode(AUTO_YAW_HOLD); } } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint controller failsafe_terrain_set_status(wp_nav.update_wpnav()); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain()); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true, get_smoothing_gain()); } }
// guided_pos_control_run - runs the guided position controller // called from guided_run void Sub::guided_pos_control_run() { // if motors not enabled set throttle to zero and exit immediately if (!motors.armed()) { motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); // Sub vehicles do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); return; } // process pilot's yaw input float target_yaw_rate = 0; if (!failsafe.pilot_input) { // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { set_auto_yaw_mode(AUTO_YAW_HOLD); } } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint controller failsafe_terrain_set_status(wp_nav.update_wpnav()); float lateral_out, forward_out; translate_wpnav_rp(lateral_out, forward_out); // Send to forward/lateral outputs motors.set_lateral(lateral_out); motors.set_forward(forward_out); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate); } else { // roll, pitch from waypoint controller, yaw heading from auto_heading() attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true); } }
// auto_loiter_run - loiter in AUTO flight mode // called by auto_run at 100hz or more void Sub::auto_loiter_run() { // if not armed set throttle to zero and exit immediately if (!motors.armed()) { motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); // Sub vehicles do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); return; } // accept pilot input of yaw float target_yaw_rate = 0; if (!failsafe.pilot_input) { target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint and z-axis position controller failsafe_terrain_set_status(wp_nav.update_wpnav()); /////////////////////// // update xy outputs // float lateral_out, forward_out; translate_wpnav_rp(lateral_out, forward_out); // Send to forward/lateral outputs motors.set_lateral(lateral_out); motors.set_forward(forward_out); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); // get pilot desired lean angles float target_roll, target_pitch; get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max); // roll & pitch from waypoint controller, yaw rate from pilot attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); }
// Attempt recovery from terrain failsafe // If recovery is successful resume mission // If recovery fails revert to failsafe action void Sub::auto_terrain_recover_run() { float target_climb_rate = 0; static uint32_t rangefinder_recovery_ms = 0; // if not armed set throttle to zero and exit immediately if (!motors.armed()) { motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); return; } switch (rangefinder.status_orient(ROTATION_PITCH_270)) { case RangeFinder::RangeFinder_OutOfRangeLow: target_climb_rate = wp_nav.get_speed_up(); rangefinder_recovery_ms = 0; break; case RangeFinder::RangeFinder_OutOfRangeHigh: target_climb_rate = wp_nav.get_speed_down(); rangefinder_recovery_ms = 0; break; case RangeFinder::RangeFinder_Good: // exit on success (recovered rangefinder data) target_climb_rate = 0; // Attempt to hold current depth if (rangefinder_state.alt_healthy) { // Start timer as soon as rangefinder is healthy if (rangefinder_recovery_ms == 0) { rangefinder_recovery_ms = AP_HAL::millis(); pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // Reset alt hold targets } // 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled if (AP_HAL::millis() > rangefinder_recovery_ms + 1500) { gcs().send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!"); failsafe_terrain_set_status(true); // Reset failsafe timers failsafe.terrain = false; // Clear flag auto_mode = Auto_Loiter; // Switch back to loiter for next iteration mission.resume(); // Resume mission rangefinder_recovery_ms = 0; // Reset for subsequent recoveries } } break; // Not connected, or no data default: // Terrain failsafe recovery has failed, terrain data is not available // and rangefinder is not connected, or has stopped responding gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!"); failsafe_terrain_act(); rangefinder_recovery_ms = 0; return; } // exit on failure (timeout) if (AP_HAL::millis() > fs_terrain_recover_start_ms + FS_TERRAIN_RECOVER_TIMEOUT_MS) { // Recovery has failed, revert to failsafe action gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!"); failsafe_terrain_act(); } // run loiter controller wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); /////////////////////// // update xy targets // float lateral_out, forward_out; translate_wpnav_rp(lateral_out, forward_out); // Send to forward/lateral outputs motors.set_lateral(lateral_out); motors.set_forward(forward_out); ///////////////////// // update z target // pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, true); pos_control.update_z_controller(); //////////////////////////// // update angular targets // float target_roll = 0; float target_pitch = 0; // convert pilot input to lean angles // To-Do: convert get_pilot_desired_lean_angles to return angles as floats get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max); float target_yaw_rate = 0; // call attitude controller attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); }
// auto_wp_run - runs the auto waypoint controller // called by auto_run at 100hz or more void Sub::auto_wp_run() { // if not armed set throttle to zero and exit immediately if (!motors.armed()) { // To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off // (of course it would be better if people just used take-off) // call attitude controller // Sub vehicles do not stabilize roll/pitch/yaw when disarmed motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); return; } // process pilot's yaw input float target_yaw_rate = 0; if (!failsafe.pilot_input) { // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { set_auto_yaw_mode(AUTO_YAW_HOLD); } } // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run waypoint controller // TODO logic for terrain tracking target going below fence limit // TODO implement waypoint radius individually for each waypoint based on cmd.p2 // TODO fix auto yaw heading to switch to something appropriate when mission complete and switches to loiter failsafe_terrain_set_status(wp_nav.update_wpnav()); /////////////////////// // update xy outputs // float lateral_out, forward_out; translate_wpnav_rp(lateral_out, forward_out); // Send to forward/lateral outputs motors.set_lateral(lateral_out); motors.set_forward(forward_out); // call z-axis position controller (wpnav should have already updated it's alt target) pos_control.update_z_controller(); //////////////////////////// // update attitude output // // get pilot desired lean angles float target_roll, target_pitch; get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max); // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); } else { // roll, pitch from waypoint controller, yaw heading from auto_heading() attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true, get_smoothing_gain()); } }