ArduCopter/mode_stabilize_heli.cpp

   1 #include "Copter.h"
   2
   3 #if FRAME_CONFIG == HELI_FRAME
   4 /*
   5  * Init and run calls for stabilize flight mode for trad heli
   6  */
   7
   8 // stabilize_init - initialise stabilize controller
   9 bool ModeStabilize_Heli::init(bool ignore_checks)
  10 {
  11     // be aware that when adding code to this function that it is *NOT
  12     // RUN* at vehicle startup!
  13
  14     // set stab collective true to use stabilize scaled collective pitch range
  15     copter.input_manager.set_use_stab_col(true);
  16
  17     return true;
  18 }
  19
  20 // stabilize_run - runs the main stabilize controller
  21 // should be called at 100hz or more
  22 void ModeStabilize_Heli::run()
  23 {
  24     float target_roll, target_pitch;
  25     float pilot_throttle_scaled;
  26
  27     // apply SIMPLE mode transform to pilot inputs
  28     update_simple_mode();
  29
  30     // convert pilot input to lean angles
  31     get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
  32
  33     // get pilot's desired yaw rate
  34     float target_yaw_rate = get_pilot_desired_yaw_rate();
  35
  36     // get pilot's desired throttle
  37     pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
  38
  39     // Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
  40     // we may be in autorotation flight.  This is so that the servos move in a realistic fashion while disarmed
  41     // for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero
  42     // so the swash servos move.
  43
  44     if (!motors->armed()) {
  45         // Motors should be Stopped
  46         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
  47     } else {
  48         // heli will not let the spool state progress to THROTTLE_UNLIMITED until motor interlock is enabled
  49         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
  50     }
  51
  52     switch (motors->get_spool_state()) {
  53     case AP_Motors::SpoolState::SHUT_DOWN:
  54         // Motors Stopped
  55         attitude_control->reset_yaw_target_and_rate(false);
  56         attitude_control->reset_rate_controller_I_terms();
  57         break;
  58     case AP_Motors::SpoolState::GROUND_IDLE:
  59         // If aircraft is landed, set target heading to current and reset the integrator
  60         // Otherwise motors could be at ground idle for practice autorotation
  61         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
  62             attitude_control->reset_yaw_target_and_rate(false);
  63             attitude_control->reset_rate_controller_I_terms_smoothly();
  64         }
  65         break;
  66     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
  67         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
  68             attitude_control->reset_rate_controller_I_terms_smoothly();
  69         }
  70         break;
  71     case AP_Motors::SpoolState::SPOOLING_UP:
  72     case AP_Motors::SpoolState::SPOOLING_DOWN:
  73         // do nothing
  74         break;
  75     }
  76
  77     // call attitude controller
  78     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
  79
  80     // output pilot's throttle
  81     attitude_control->set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
  82 }
  83
  84 #endif  //HELI_FRAME