src/main/flight/pos_hold.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Betaflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include "platform.h"
  19
  20 #ifdef USE_POSITION_HOLD
  21
  22 #include "math.h"
  23 #include "build/debug.h"
  24 #include "common/maths.h"
  25
  26 #include "config/config.h"
  27 #include "fc/core.h"
  28 #include "fc/runtime_config.h"
  29 #include "fc/rc.h"
  30 #include "flight/autopilot.h"
  31 #include "flight/failsafe.h"
  32 #include "flight/imu.h"
  33 #include "flight/position.h"
  34 #include "rx/rx.h"
  35 #include "sensors/compass.h"
  36
  37 #include "pg/pos_hold.h"
  38 #include "pos_hold.h"
  39
  40 typedef struct posHoldState_s {
  41     bool isEnabled;
  42     bool isControlOk;
  43     bool areSensorsOk;
  44     float deadband;
  45     bool useStickAdjustment;
  46 } posHoldState_t;
  47
  48 static posHoldState_t posHold;
  49
  50 void posHoldInit(void)
  51 {
  52     posHold.deadband = posHoldConfig()->pos_hold_deadband * 0.01f;
  53     posHold.useStickAdjustment = posHoldConfig()->pos_hold_deadband;
  54 }
  55
  56 void posHoldCheckSticks(void)
  57 {
  58     // if failsafe is active, eg landing mode, don't update the original start point
  59     if (!failsafeIsActive() && posHold.useStickAdjustment) {
  60         const bool sticksDeflected = (getRcDeflectionAbs(FD_ROLL) > posHold.deadband) || (getRcDeflectionAbs(FD_PITCH) > posHold.deadband);
  61         setSticksActiveStatus(sticksDeflected);
  62     }
  63 }
  64
  65 bool sensorsOk(void)
  66 {
  67     if (!STATE(GPS_FIX)) {
  68         return false;
  69     }
  70     if (
  71 #ifdef USE_MAG
  72         !compassIsHealthy() &&
  73 #endif
  74         (!posHoldConfig()->pos_hold_without_mag || !canUseGPSHeading)) {
  75         return false;
  76     }
  77     return true;
  78 }
  79
  80 void updatePosHold(timeUs_t currentTimeUs) {
  81     UNUSED(currentTimeUs);
  82     if (FLIGHT_MODE(POS_HOLD_MODE)) {
  83         if (!posHold.isEnabled) {
  84             resetPositionControl(&gpsSol.llh, POSHOLD_TASK_RATE_HZ); // sets target location to current location
  85             posHold.isControlOk = true;
  86             posHold.isEnabled = true;
  87         }
  88     } else {
  89         posHold.isEnabled = false;
  90     }
  91
  92     if (posHold.isEnabled && posHold.isControlOk) {
  93         posHold.areSensorsOk = sensorsOk();
  94         if (posHold.areSensorsOk) {
  95             posHoldCheckSticks();
  96             posHold.isControlOk = positionControl(); // false only on sanity check failure
  97         }
  98     }
  99 }
 100
 101 bool posHoldFailure(void) {
 102     // used only to display warning in OSD if requested but failing
 103     return FLIGHT_MODE(POS_HOLD_MODE) && (!posHold.isControlOk || !posHold.areSensorsOk);
 104 }
 105
 106 #endif // USE_POS_HOLD