ArduCopter/mode_stabilize.cpp

   1 #include "Copter.h"
   2
   3 /*
   4  * Init and run calls for stabilize flight mode
   5  */
   6
   7 // stabilize_run - runs the main stabilize controller
   8 // should be called at 100hz or more
   9 void ModeStabilize::run()
  10 {
  11     // apply simple mode transform to pilot inputs
  12     update_simple_mode();
  13
  14     // convert pilot input to lean angles
  15     float target_roll, target_pitch;
  16     get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
  17
  18     // get pilot's desired yaw rate
  19     float target_yaw_rate = get_pilot_desired_yaw_rate();
  20
  21     if (!motors->armed()) {
  22         // Motors should be Stopped
  23         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
  24     } else if (copter.ap.throttle_zero
  25                || (copter.air_mode == AirMode::AIRMODE_ENABLED && motors->get_spool_state() == AP_Motors::SpoolState::SHUT_DOWN)) {
  26         // throttle_zero is never true in air mode, but the motors should be allowed to go through ground idle
  27         // in order to facilitate the spoolup block
  28
  29         // Attempting to Land
  30         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
  31     } else {
  32         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
  33     }
  34
  35     float pilot_desired_throttle = get_pilot_desired_throttle();
  36
  37     switch (motors->get_spool_state()) {
  38     case AP_Motors::SpoolState::SHUT_DOWN:
  39         // Motors Stopped
  40         attitude_control->reset_yaw_target_and_rate();
  41         attitude_control->reset_rate_controller_I_terms();
  42         pilot_desired_throttle = 0.0f;
  43         break;
  44
  45     case AP_Motors::SpoolState::GROUND_IDLE:
  46         // Landed
  47         attitude_control->reset_yaw_target_and_rate();
  48         attitude_control->reset_rate_controller_I_terms_smoothly();
  49         pilot_desired_throttle = 0.0f;
  50         break;
  51
  52     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
  53         // clear landing flag above zero throttle
  54         if (!motors->limit.throttle_lower) {
  55             set_land_complete(false);
  56         }
  57         break;
  58
  59     case AP_Motors::SpoolState::SPOOLING_UP:
  60     case AP_Motors::SpoolState::SPOOLING_DOWN:
  61         // do nothing
  62         break;
  63     }
  64
  65     // call attitude controller
  66     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
  67
  68     // output pilot's throttle
  69     attitude_control->set_throttle_out(pilot_desired_throttle, true, g.throttle_filt);
  70 }