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

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bool ModeSurface::init(bool ignore_checks)

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{

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    if(!sub.control_check_barometer()) {

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        return false;

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    }

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    // initialize vertical speeds and 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 position and desired velocity

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    position_control->init_z_controller();

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    return true;

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}

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void ModeSurface::run()

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{

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    float target_roll, target_pitch;

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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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        motors.output_min();

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

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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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        position_control->init_z_controller();

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        return;

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    }

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    // Already at surface, hold depth at surface

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    if (sub.ap.at_surface) {

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        set_mode(Mode::Number::ALT_HOLD, ModeReason::SURFACE_COMPLETE);

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    }

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    // convert pilot input to lean angles

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    // To-Do: convert sub.get_pilot_desired_lean_angles to return angles as floats

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    sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);

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    // get pilot's desired yaw rate

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

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    // call attitude controller

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    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);

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    // set target climb rate

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    float cmb_rate = constrain_float(fabsf(sub.wp_nav.get_default_speed_up()), 1, position_control->get_max_speed_up_cms());

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    // record desired climb rate for logging

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    sub.desired_climb_rate = cmb_rate;

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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(cmb_rate);

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    position_control->update_z_controller();

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    // pilot has control for repositioning

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    motors.set_forward(channel_forward->norm_input());

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    motors.set_lateral(channel_lateral->norm_input());

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}

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