mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2025-12-17 15:05:51 +08:00
65 lines
2.5 KiB
C++
65 lines
2.5 KiB
C++
#include "Sub.h"
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bool ModeSurface::init(bool ignore_checks)
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{
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nobaro_mode = !sub.control_check_barometer();
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// initialize vertical speeds and acceleration
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// All limits must be positive
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position_control->set_max_speed_accel_U_cm(sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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position_control->set_correction_speed_accel_U_cm(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_U_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_U_controller();
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return;
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}
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// If no barometer is available, use the surface_nobaro_thrust parameter to set the throttle output
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if (nobaro_mode) {
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float thrust_output = 0.5f + g2.surface_nobaro_thrust * 0.005f; // map -100, 100 to 0, 1
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attitude_control->set_throttle_out(thrust_output, true, g.throttle_filt);
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} else {
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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_cd(target_roll, target_pitch, target_yaw_rate);
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// set target climb rate
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float cmb_rate_cms = constrain_float(fabsf(sub.wp_nav.get_default_speed_up_cms()), 1, position_control->get_max_speed_up_cms());
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// update altitude target and call position controller
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position_control->set_pos_target_U_from_climb_rate_cms(cmb_rate_cms);
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position_control->update_U_controller();
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}
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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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