/*
recalculate the flight_stage
*/
void Plane::update_flight_stage(void)
{
// Update the speed & height controller states
if (auto_throttle_mode && !throttle_suppressed) {
if (control_mode==AUTO) {
if (auto_state.takeoff_complete == false) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_TAKEOFF);
} else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND &&
auto_state.land_complete == true) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_FINAL);
} else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_APPROACH);
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
auto_state.takeoff_pitch_cd,
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();
}
}
// tell AHRS the airspeed to true airspeed ratio
airspeed.set_EAS2TAS(barometer.get_EAS2TAS());
}
/*
recalculate the flight_stage
*/
void Plane::update_flight_stage(void)
{
// Update the speed & height controller states
if (auto_throttle_mode && !throttle_suppressed) {
if (control_mode==AUTO) {
if (quadplane.in_vtol_auto()) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_VTOL);
} else if (auto_state.takeoff_complete == false) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_TAKEOFF);
} else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
if ((g.land_abort_throttle_enable && channel_throttle->control_in > 95) ||
auto_state.commanded_go_around ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT){
// abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_ABORT);
} else if (auto_state.land_complete == true) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_FINAL);
} else if (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
float path_progress = location_path_proportion(current_loc, prev_WP_loc, next_WP_loc);
bool lined_up = abs(nav_controller->bearing_error_cd()) < 1000;
bool below_prev_WP = current_loc.alt < prev_WP_loc.alt;
if ((path_progress > 0.15f && lined_up && below_prev_WP) || path_progress > 0.5f) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_APPROACH);
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
}
} else if (quadplane.in_assisted_flight()) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_VTOL);
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
auto_state.takeoff_pitch_cd,
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();
}
} else if (control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||
quadplane.in_assisted_flight()) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_VTOL);
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
// tell AHRS the airspeed to true airspeed ratio
airspeed.set_EAS2TAS(barometer.get_EAS2TAS());
}
void Plane::update_alt()
{
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
// calculate the sink rate.
float sink_rate;
Vector3f vel;
if (ahrs.get_velocity_NED(vel)) {
sink_rate = vel.z;
} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
sink_rate = gps.velocity().z;
} else {
sink_rate = -barometer.get_climb_rate();
}
// low pass the sink rate to take some of the noise out
auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
geofence_check(true);
update_flight_stage();
if (auto_throttle_mode && !throttle_suppressed) {
bool is_doing_auto_land = false;
float distance_beyond_land_wp = 0;
switch (flight_stage) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
is_doing_auto_land = true;
if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
}
break;
default:
break;
}
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
is_doing_auto_land,
distance_beyond_land_wp,
get_takeoff_pitch_min_cd(),
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();
}
}
}
void Plane::update_alt()
{
barometer.update();
// calculate the sink rate.
float sink_rate;
Vector3f vel;
if (ahrs.get_velocity_NED(vel)) {
sink_rate = vel.z;
} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
sink_rate = gps.velocity().z;
} else {
sink_rate = -barometer.get_climb_rate();
}
// low pass the sink rate to take some of the noise out
auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
geofence_check(true);
update_flight_stage();
if (auto_throttle_mode && !throttle_suppressed) {
float distance_beyond_land_wp = 0;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
}
bool soaring_active = false;
#if SOARING_ENABLED == ENABLED
if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
soaring_active = true;
}
#endif
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
distance_beyond_land_wp,
get_takeoff_pitch_min_cd(),
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor,
soaring_active);
}
}
void Plane::update_alt()
{
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
// calculate the sink rate.
float sink_rate;
Vector3f vel;
if (ahrs.get_velocity_NED(vel)) {
sink_rate = vel.z;
} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
sink_rate = gps.velocity().z;
} else {
sink_rate = -barometer.get_climb_rate();
}
// low pass the sink rate to take some of the noise out
auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
geofence_check(true);
update_flight_stage();
if (auto_throttle_mode && !throttle_suppressed) {
float distance_beyond_land_wp = 0;
if (auto_state.land_in_progress && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
}
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
auto_state.land_in_progress,
distance_beyond_land_wp,
get_takeoff_pitch_min_cd(),
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
}
}