src/main/flight/pos_hold_multirotor.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 #ifndef USE_WING
  21
  22 #ifdef USE_POSITION_HOLD
  23
  24 #include "math.h"
  25 #include "build/debug.h"
  26 #include "common/maths.h"
  27
  28 #include "config/config.h"
  29 #include "fc/core.h"
  30 #include "fc/runtime_config.h"
  31 #include "fc/rc.h"
  32 #include "flight/autopilot.h"
  33 #include "flight/failsafe.h"
  34 #include "flight/imu.h"
  35 #include "flight/position.h"
  36 #include "rx/rx.h"
  37 #include "sensors/compass.h"
  38
  39 #include "pg/pos_hold.h"
  40 #include "pos_hold.h"
  41
  42 typedef struct posHoldState_s {
  43     bool isEnabled;
  44     bool isControlOk;
  45     bool areSensorsOk;
  46     float deadband;
  47     bool useStickAdjustment;
  48 } posHoldState_t;
  49
  50 static posHoldState_t posHold;
  51
  52 void posHoldInit(void)
  53 {
  54     posHold.deadband = posHoldConfig()->pos_hold_deadband * 0.01f;
  55     posHold.useStickAdjustment = posHoldConfig()->pos_hold_deadband;
  56 }
  57
  58 void posHoldCheckSticks(void)
  59 {
  60     // if failsafe is active, eg landing mode, don't update the original start point
  61     if (!failsafeIsActive() && posHold.useStickAdjustment) {
  62         const bool sticksDeflected = (getRcDeflectionAbs(FD_ROLL) > posHold.deadband) || (getRcDeflectionAbs(FD_PITCH) > posHold.deadband);
  63         setSticksActiveStatus(sticksDeflected);
  64     }
  65 }
  66
  67 bool sensorsOk(void)
  68 {
  69     if (!STATE(GPS_FIX)) {
  70         return false;
  71     }
  72     if (
  73 #ifdef USE_MAG
  74         !compassIsHealthy() &&
  75 #endif
  76         (!posHoldConfig()->pos_hold_without_mag || !canUseGPSHeading)) {
  77         return false;
  78     }
  79     return true;
  80 }
  81
  82 void updatePosHold(timeUs_t currentTimeUs) {
  83     UNUSED(currentTimeUs);
  84     if (FLIGHT_MODE(POS_HOLD_MODE)) {
  85         if (!posHold.isEnabled) {
  86             resetPositionControl(&gpsSol.llh, POSHOLD_TASK_RATE_HZ); // sets target location to current location
  87             posHold.isControlOk = true;
  88             posHold.isEnabled = true;
  89         }
  90     } else {
  91         posHold.isEnabled = false;
  92     }
  93
  94     if (posHold.isEnabled && posHold.isControlOk) {
  95         posHold.areSensorsOk = sensorsOk();
  96         if (posHold.areSensorsOk) {
  97             posHoldCheckSticks();
  98             posHold.isControlOk = positionControl(); // false only on sanity check failure
  99         }
 100     }
 101 }
 102
 103 bool posHoldFailure(void) {
 104     // used only to display warning in OSD if requested but failing
 105     return FLIGHT_MODE(POS_HOLD_MODE) && (!posHold.isControlOk || !posHold.areSensorsOk);
 106 }
 107
 108 #endif // USE_POS_HOLD
 109
 110 #endif // !USE_WING