// 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);
}
// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void Copter::heli_stabilize_run()
{
float target_roll, target_pitch;
float target_yaw_rate;
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.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();
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// 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->control_in, channel_pitch->control_in, target_roll, target_pitch, aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_collective(channel_throttle->control_in);
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// output pilot's throttle - note that TradHeli does not used 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;
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);
}
void Copter::heli_stabilize_run_ruas()
{
float target_roll, target_pitch;
float target_yaw_rate;
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();
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// updates avoidnace logic
avoidance_maneuver(); //RUAS
//Allowing the pilot to have presidance in heli attitude control demos! The presidnace order can be changed as needed here:
if(!failsafe.radio && (channel_roll->control_in >= 200 || channel_roll->control_in <= -200 || channel_pitch->control_in >= 200 ||channel_pitch->control_in <= -200)){
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, aparm.angle_max);
//If no pilot input and need to implement manouver
}else if(do_avoid_maneuver){
get_pilot_desired_lean_angles(avoidance_roll_angle_cd, avoidance_pitch_angle_cd , target_roll, target_pitch, aparm.angle_max);
//If no pilot input and no mpending crash, hold middlestick position
}else{
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, aparm.angle_max);
}
//the pilot takes presidnace in the yaw direction in the demos!
if(!failsafe.radio && (channel_yaw->control_in >= 200 || channel_yaw->control_in <= -200)){
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}else if(do_track_maneuver){
//point to air traffic
target_yaw_rate = _trafic_angle * 100 * g.acro_yaw_p;//check this
}else{
//point to current heading
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// get pilot's desired throttle
pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->control_in);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// output pilot's throttle - note that TradHeli does not used angle-boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
}
