// loiter_run - runs the loiter controller
// should be called at 100hz or more
void Copter::ModeLoiter::run()
{
LoiterModeState loiter_state;
float target_yaw_rate = 0.0f;
float target_climb_rate = 0.0f;
float takeoff_climb_rate = 0.0f;
// initialize vertical speed and acceleration
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z);
// process pilot inputs unless we are in radio failsafe
if (!copter.failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
wp_nav->set_pilot_desired_acceleration(channel_roll->get_control_in(), channel_pitch->get_control_in());
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
wp_nav->clear_pilot_desired_acceleration();
}
// relax loiter target if we might be landed
if (ap.land_complete_maybe) {
wp_nav->loiter_soften_for_landing();
}
// Loiter State Machine Determination
if (!motors->armed() || !motors->get_interlock()) {
loiter_state = Loiter_MotorStopped;
} else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
loiter_state = Loiter_Takeoff;
} else if (!ap.auto_armed || ap.land_complete) {
loiter_state = Loiter_Landed;
} else {
loiter_state = Loiter_Flying;
}
// Loiter State Machine
switch (loiter_state) {
case Loiter_MotorStopped:
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
#if FRAME_CONFIG == HELI_FRAME
// force descent rate and call position controller
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
#else
wp_nav->init_loiter_target();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
#endif
wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
pos_control->update_z_controller();
break;
case Loiter_Takeoff:
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initiate take-off
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// run loiter controller
wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control->update_z_controller();
break;
case Loiter_Landed:
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
wp_nav->init_loiter_target();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller();
break;
case Loiter_Flying:
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#if PRECISION_LANDING == ENABLED
if (do_precision_loiter()) {
precision_loiter_xy();
}
#endif
// run loiter controller
wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
// adjust climb rate using rangefinder
if (copter.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);
}
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->update_z_controller();
break;
}
}
// sport_run - runs the sport controller
// should be called at 100hz or more
void Copter::ModeSport::run()
{
SportModeState sport_state;
float takeoff_climb_rate = 0.0f;
// initialize vertical speed and acceleration
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z);
// apply SIMPLE mode transform
update_simple_mode();
// get pilot's desired roll and pitch rates
// calculate rate requests
float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;
// get attitude targets
const Vector3f att_target = attitude_control->get_att_target_euler_cd();
// Calculate trainer mode earth frame rate command for roll
int32_t roll_angle = wrap_180_cd(att_target.x);
target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
// Calculate trainer mode earth frame rate command for pitch
int32_t pitch_angle = wrap_180_cd(att_target.y);
target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
AP_Vehicle::MultiCopter &aparm = copter.aparm;
if (roll_angle > aparm.angle_max){
target_roll_rate -= g.acro_rp_p*(roll_angle-aparm.angle_max);
}else if (roll_angle < -aparm.angle_max) {
target_roll_rate -= g.acro_rp_p*(roll_angle+aparm.angle_max);
}
if (pitch_angle > aparm.angle_max){
target_pitch_rate -= g.acro_rp_p*(pitch_angle-aparm.angle_max);
}else if (pitch_angle < -aparm.angle_max) {
target_pitch_rate -= g.acro_rp_p*(pitch_angle+aparm.angle_max);
}
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// 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, -get_pilot_speed_dn(), g.pilot_speed_up);
// State Machine Determination
if (!motors->armed() || !motors->get_interlock()) {
sport_state = Sport_MotorStopped;
} else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
sport_state = Sport_Takeoff;
} else if (!ap.auto_armed || ap.land_complete) {
sport_state = Sport_Landed;
} else {
sport_state = Sport_Flying;
}
// State Machine
switch (sport_state) {
case Sport_MotorStopped:
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
#if FRAME_CONFIG == HELI_FRAME
// force descent rate and call position controller
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
#else
attitude_control->relax_attitude_controllers();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
#endif
pos_control->update_z_controller();
break;
case Sport_Takeoff:
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initiate take-off
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// call attitude controller
attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
// call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control->update_z_controller();
break;
case Sport_Landed:
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller();
break;
case Sport_Flying:
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
// adjust climb rate using rangefinder
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->update_z_controller();
break;
}
}
// flowhold_run - runs the flowhold controller
// should be called at 100hz or more
void Copter::ModeFlowHold::run()
{
FlowHoldModeState flowhold_state;
float takeoff_climb_rate = 0.0f;
update_height_estimate();
// initialize vertical speeds and acceleration
copter.pos_control->set_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
copter.pos_control->set_accel_z(copter.g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs
copter.update_simple_mode();
// check for filter change
if (!is_equal(flow_filter.get_cutoff_freq(), flow_filter_hz.get())) {
flow_filter.set_cutoff_frequency(flow_filter_hz.get());
}
// get pilot desired climb rate
float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
// get pilot's desired yaw rate
float target_yaw_rate = copter.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
if (!copter.motors->armed() || !copter.motors->get_interlock()) {
flowhold_state = FlowHold_MotorStopped;
} else if (copter.takeoff_state.running || takeoff_triggered(target_climb_rate)) {
flowhold_state = FlowHold_Takeoff;
} else if (!copter.ap.auto_armed || copter.ap.land_complete) {
flowhold_state = FlowHold_Landed;
} else {
flowhold_state = FlowHold_Flying;
}
if (copter.optflow.healthy()) {
const float filter_constant = 0.95;
quality_filtered = filter_constant * quality_filtered + (1-filter_constant) * copter.optflow.quality();
} else {
quality_filtered = 0;
}
Vector2f bf_angles;
// calculate alt-hold angles
int16_t roll_in = copter.channel_roll->get_control_in();
int16_t pitch_in = copter.channel_pitch->get_control_in();
float angle_max = copter.attitude_control->get_althold_lean_angle_max();
get_pilot_desired_lean_angles(bf_angles.x, bf_angles.y,angle_max, attitude_control->get_althold_lean_angle_max());
if (quality_filtered >= flow_min_quality &&
AP_HAL::millis() - copter.arm_time_ms > 3000) {
// don't use for first 3s when we are just taking off
Vector2f flow_angles;
flowhold_flow_to_angle(flow_angles, (roll_in != 0) || (pitch_in != 0));
flow_angles.x = constrain_float(flow_angles.x, -angle_max/2, angle_max/2);
flow_angles.y = constrain_float(flow_angles.y, -angle_max/2, angle_max/2);
bf_angles += flow_angles;
}
bf_angles.x = constrain_float(bf_angles.x, -angle_max, angle_max);
bf_angles.y = constrain_float(bf_angles.y, -angle_max, angle_max);
// Flow Hold State Machine
switch (flowhold_state) {
case FlowHold_MotorStopped:
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
#if FRAME_CONFIG == HELI_FRAME
// force descent rate and call position controller
copter.pos_control->set_alt_target_from_climb_rate(-abs(copter.g.land_speed), copter.G_Dt, false);
#else
copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->set_yaw_target_to_current_heading();
copter.pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
#endif
flow_pi_xy.reset_I();
copter.pos_control->update_z_controller();
break;
case FlowHold_Takeoff:
// set motors to full range
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initiate take-off
if (!copter.takeoff_state.running) {
copter.takeoff_timer_start(constrain_float(copter.g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
copter.set_land_complete(false);
// clear i terms
copter.set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates
copter.takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
// call attitude controller
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
// call position controller
copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
copter.pos_control->add_takeoff_climb_rate(takeoff_climb_rate, copter.G_Dt);
copter.pos_control->update_z_controller();
break;
case FlowHold_Landed:
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
} else {
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->set_yaw_target_to_current_heading();
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
copter.pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
copter.pos_control->update_z_controller();
break;
case FlowHold_Flying:
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#if AC_AVOID_ENABLED == ENABLED
// apply avoidance
copter.avoid.adjust_roll_pitch(bf_angles.x, bf_angles.y, copter.aparm.angle_max);
#endif
// call attitude controller
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
// adjust climb rate using rangefinder
if (copter.rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate, copter.pos_control->get_alt_target(), copter.G_Dt);
}
// get avoidance adjusted climb rate
target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
// call position controller
copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
copter.pos_control->update_z_controller();
break;
}
}
