// auto_spline_run - runs the auto spline controller
// called by auto_run at 100hz or more
void Sub::auto_spline_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)
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.pilot_input) {
// get pilot's desired yaw rat
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
wp_nav.update_spline();
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);
// 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());
}
}
// 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());
}
// poshold_run - runs the PosHold controller
// should be called at 100hz or more
void Sub::poshold_run()
{
uint32_t tnow = AP_HAL::millis();
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
wp_nav.init_loiter_target();
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
return;
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
///////////////////////
// update xy outputs //
float pilot_lateral = channel_lateral->norm_input();
float pilot_forward = channel_forward->norm_input();
float lateral_out = 0;
float forward_out = 0;
// Allow pilot to reposition the sub
if (fabsf(pilot_lateral) > 0.1 || fabsf(pilot_forward) > 0.1) {
lateral_out = pilot_lateral;
forward_out = pilot_forward;
wp_nav.init_loiter_target(); // initialize target to current position after repositioning
} else {
translate_wpnav_rp(lateral_out, forward_out);
}
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
/////////////////////
// Update attitude //
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
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);
// update attitude controller targets
if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
last_pilot_heading = ahrs.yaw_sensor;
last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
} else { // hold current heading
// this check is required to prevent bounce back after very fast yaw maneuvers
// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
if (tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
target_yaw_rate = 0; // Stop rotation on yaw axis
// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
} else { // call attitude controller holding absolute absolute bearing
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true, get_smoothing_gain());
}
}
///////////////////
// Update z axis //
// get pilot desired climb rate
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// adjust climb rate using rangefinder
if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call z axis position controller
if (ap.at_bottom) {
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // clear velocity and position targets, and integrator
pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
} else {
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
}
pos_control.update_z_controller();
}
// 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());
}