Esempi in C++ (Cpp) per land_run_horizontal_control

Esempio n. 1

File: mode_rtl.cpp Progetto: tridge/ardupilot

// rtl_returnhome_run - return home
//      called by rtl_run at 100hz or more
void Copter::ModeRTL::land_run(bool disarm_on_land)
{
    // if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
    if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
        zero_throttle_and_relax_ac();
        // set target to current position
        loiter_nav->clear_pilot_desired_acceleration();
        loiter_nav->init_target();

        // disarm when the landing detector says we've landed
        if (ap.land_complete && disarm_on_land) {
            copter.init_disarm_motors();
        }

        // check if we've completed this stage of RTL
        _state_complete = ap.land_complete;
        return;
    }

    // set motors to full range
    motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

    land_run_horizontal_control();
    land_run_vertical_control();

    // check if we've completed this stage of RTL
    _state_complete = ap.land_complete;
}

Esempio n. 2

File: control_rtl.cpp Progetto: 2013-8-15/ardupilot

// rtl_returnhome_run - return home
//      called by rtl_run at 100hz or more
void Copter::rtl_land_run()
{
    // if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
    if (!motors.armed() || !ap.auto_armed || ap.land_complete || !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
        // set target to current position
        wp_nav.init_loiter_target();

        // disarm when the landing detector says we've landed
        if (ap.land_complete) {
            init_disarm_motors();
        }

        // check if we've completed this stage of RTL
        rtl_state_complete = ap.land_complete;
        return;
    }

    // set motors to full range
    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

    land_run_horizontal_control();
    land_run_vertical_control();

    // check if we've completed this stage of RTL
    rtl_state_complete = ap.land_complete;
}

Esempio n. 3

File: mode_land.cpp Progetto: DroneBuster/ardupilot

// land_gps_run - runs the land controller
//      horizontal position controlled with loiter controller
//      should be called at 100hz or more
void Copter::ModeLand::gps_run()
{
    // if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
    if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
        zero_throttle_and_relax_ac();
        loiter_nav->clear_pilot_desired_acceleration();
        loiter_nav->init_target();

        // disarm when the landing detector says we've landed
        if (ap.land_complete) {
            copter.init_disarm_motors();
        }
        return;
    }

    // set motors to full range
    motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

    // pause before beginning land descent
    if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
        land_pause = false;
    }

    land_run_horizontal_control();
    land_run_vertical_control(land_pause);
}

Esempio n. 4

File: control_land.cpp Progetto: B-robur/ardupilot

// land_run - runs the land controller
//      horizontal position controlled with loiter controller
//      should be called at 100hz or more
void Copter::land_gps_run()
{
    // if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
    if (!motors.armed() || !ap.auto_armed || ap.land_complete || !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
        wp_nav.init_loiter_target();

        // disarm when the landing detector says we've landed
        if (ap.land_complete) {
            init_disarm_motors();
        }
        return;
    }
    
    // set motors to full range
    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
    
    // pause before beginning land descent
    if(land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
        land_pause = false;
    }
    
    land_run_horizontal_control();
    land_run_vertical_control(land_pause);
}

Esempio n. 5

File: mode_rtl.cpp Progetto: ArduPilot/ardupilot

// rtl_returnhome_run - return home
//      called by rtl_run at 100hz or more
void Copter::ModeRTL::land_run(bool disarm_on_land)
{
    // check if we've completed this stage of RTL
    _state_complete = ap.land_complete;

    // disarm when the landing detector says we've landed
    if (disarm_on_land && ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
        copter.init_disarm_motors();
    }

    // if not armed set throttle to zero and exit immediately
    if (is_disarmed_or_landed()) {
        make_safe_spool_down();
        loiter_nav->init_target();
        return;
    }

    // set motors to full range
    motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

    land_run_horizontal_control();
    land_run_vertical_control();
}