void applyFixedWingLaunchController(timeUs_t currentTimeUs)
{
// Called at PID rate
if (launchState.launchDetected) {
bool applyLaunchIdleLogic = true;
if (launchState.motorControlAllowed) {
// If launch detected we are in launch procedure - control airplane
const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs - launchState.launchStartedTime);
// If user moves the stick - finish the launch
if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) {
launchState.launchFinished = true;
}
// Abort launch after a pre-set time
if (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_timeout) {
launchState.launchFinished = true;
}
// Motor control enabled
if (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_motor_timer) {
// Don't apply idle logic anymore
applyLaunchIdleLogic = false;
// Increase throttle gradually over `launch_motor_spinup_time` milliseconds
if (navConfig()->fw.launch_motor_spinup_time > 0) {
const float timeSinceMotorStartMs = constrainf(timeElapsedSinceLaunchMs - navConfig()->fw.launch_motor_timer, 0.0f, navConfig()->fw.launch_motor_spinup_time);
const uint16_t minIdleThrottle = MAX(motorConfig()->minthrottle, navConfig()->fw.launch_idle_throttle);
rcCommand[THROTTLE] = scaleRangef(timeSinceMotorStartMs,
0.0f, navConfig()->fw.launch_motor_spinup_time,
minIdleThrottle, navConfig()->fw.launch_throttle);
}
else {
rcCommand[THROTTLE] = navConfig()->fw.launch_throttle;
}
}
}
if (applyLaunchIdleLogic) {
// Launch idle logic - low throttle and zero out PIDs
applyFixedWingLaunchIdleLogic();
}
}
else {
// We are waiting for launch - update launch detector
updateFixedWingLaunchDetector(currentTimeUs);
// Launch idle logic - low throttle and zero out PIDs
applyFixedWingLaunchIdleLogic();
}
// Control beeper
if (!launchState.launchFinished) {
beeper(BEEPER_LAUNCH_MODE_ENABLED);
}
// Lock out controls
rcCommand[ROLL] = 0;
rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(navConfig()->fw.launch_climb_angle), pidProfile()->max_angle_inclination[FD_PITCH]);
rcCommand[YAW] = 0;
}
float pidRcCommandToRate(int16_t stick, uint8_t rate)
{
return scaleRangef((float) stick, (float) -500, (float) 500, (float) -rate, (float) rate) * 10;
}
int16_t pidAngleToRcCommand(float angleDeciDegrees, int16_t maxInclination)
{
angleDeciDegrees = constrainf(angleDeciDegrees, (float) -maxInclination, (float) maxInclination);
return scaleRangef((float) angleDeciDegrees, (float) -maxInclination, (float) maxInclination, -500.0f, 500.0f);
}
/*
Map stick positions to desired rotatrion rate in given axis.
Rotation rate in dps at full stick deflection is defined by axis rate measured in dps/10
Rate 20 means 200dps at full stick deflection
*/
float pidRateToRcCommand(float rateDPS, uint8_t rate)
{
const float rateDPS_10 = constrainf(rateDPS / 10.0f, (float) -rate, (float) rate);
return scaleRangef(rateDPS_10, (float) -rate, (float) rate, -500.0f, 500.0f);
}
static float pidRcCommandToAngle(int16_t stick, int16_t maxInclination)
{
stick = constrain(stick, -500, 500);
return scaleRangef((float) stick, -500.0f, 500.0f, (float) -maxInclination, (float) maxInclination);
}