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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduSub/mode_circle.cpp
Views: 1798
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#include "Sub.h"

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/*

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 * control_circle.pde - init and run calls for circle flight mode

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 */

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// circle_init - initialise circle controller flight mode

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bool ModeCircle::init(bool ignore_checks)

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{

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    if (!sub.position_ok()) {

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        return false;

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    }

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    sub.circle_pilot_yaw_override = false;

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    // initialize speeds and accelerations

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    position_control->set_max_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());

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    position_control->set_correction_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());

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    position_control->set_max_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);

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    position_control->set_correction_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);

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    // initialise circle controller including setting the circle center based on vehicle speed

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    sub.circle_nav.init();

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    return true;

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}

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// circle_run - runs the circle flight mode

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// should be called at 100hz or more

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void ModeCircle::run()

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{

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    float target_yaw_rate = 0;

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    float target_climb_rate = 0;

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    // update parameters, to allow changing at runtime

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    position_control->set_max_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());

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    position_control->set_max_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);

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    // if not armed set throttle to zero and exit immediately

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    if (!motors.armed()) {

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        // To-Do: add some initialisation of position controllers

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        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);

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        // Sub vehicles do not stabilize roll/pitch/yaw when disarmed

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        attitude_control->set_throttle_out(0,true,g.throttle_filt);

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        attitude_control->relax_attitude_controllers();

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        sub.circle_nav.init();

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        return;

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    }

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    // process pilot inputs

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    // get pilot's desired yaw rate

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    target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

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    if (!is_zero(target_yaw_rate)) {

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        sub.circle_pilot_yaw_override = true;

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    }

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    // get pilot desired climb rate

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    target_climb_rate = sub.get_pilot_desired_climb_rate(channel_throttle->get_control_in());

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    // set motors to full range

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    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

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    // run circle controller

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    sub.failsafe_terrain_set_status(sub.circle_nav.update());

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    ///////////////////////

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    // update xy outputs //

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    float lateral_out, forward_out;

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    sub.translate_circle_nav_rp(lateral_out, forward_out);

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    // Send to forward/lateral outputs

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    motors.set_lateral(lateral_out);

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    motors.set_forward(forward_out);

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    // call attitude controller

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    if (sub.circle_pilot_yaw_override) {

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        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);

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    } else {

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        attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), sub.circle_nav.get_yaw(), true);

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    }

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    // update altitude target and call position controller

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    position_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);

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    position_control->update_z_controller();

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}

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