转载：Pixhawk源码笔记九：添加新的飞行模式

转自：新浪长沙@WalkAnt

第十部分 添加新的飞行模式

        英文参考：http://dev.ardupilot.com/wiki/apmcopter-adding-a-new-flight-mode/

        本节源自：http://liung.github.io/blog/apm/2014-09-05-APM-ArduCopter添加新的飞行模式.html

        这部分将涵盖一些怎样创建一个新的高级别的飞行模式的基本操作步骤（类似于自稳，悬停等），这些新模式处于“the onion”（洋葱头工程）中的高级别代码控制部分，如之前姿态控制页面描述的一样。不过遗憾的是本页面并没有提供给你关于所创建的理想飞行模式需要的所有信息，但是希望这将是一个好的开始。

        Step #1：在文件defines.h中用#define定义你自己新的飞行模式,然后将飞行模式数量NUM_MODES加1。

// Auto Pilot modes

// ----------------

#define STABILIZE 0 // hold level position

#define ACRO 1 // rate control

#define ALT_HOLD 2 // AUTO control

#define AUTO 3 // AUTO control

#define GUIDED 4 // AUTO control

#define LOITER 5 // Hold a single location

#define RTL 6 // AUTO control

#define CIRCLE 7 // AUTO control

#define LAND 9 // AUTO control

#define OF_LOITER 10 // Hold a single location using optical flow sensor

#define DRIFT 11 // DRIFT mode (Note: 12 is no longer used)

#define SPORT 13 // earth frame rate control

#define FLIP 14 // flip the vehicle on the roll axis

#define AUTOTUNE 15 // autotune the vehicle's roll and pitch gains

#define POSHOLD 16 // position hold with manual override

#define NEWFLIGHTMODE 17                // new flight mode description

#define NUM_MODES 18

        Step #2：类似于相似的飞行模式的control_stabilize.pde或者control_loiter.pde文件，创建新的飞行模式的.pde控制sketch文件。该文件中必须包含一个_init()初始化函数和_run()运行函数，类似于static boolalthold_init(bool ignore_checks)和static void althold_run()

/// -*- tab- 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// newflightmode_init - initialise flight mode

static bool newflightmode_init(bool ignore_checks)

{

    // do any required initialisation of the flight mode here

    // this code will be called whenever the operator switches into this mode

 

    // return true initialisation is successful, false if it fails

    // if false is returned here the vehicle will remain in the previous flight mode

    return true;

}

 

// newflightmode_run - runs the main controller

// will be called at 100hz or more

static void newflightmode_run()

{

    // if not armed or throttle at zero, set throttle to zero and exit immediately

    if(!motors.armed() || g.rc_3.control_in <= 0) {

        attitude_control.relax_bf_rate_controller();

        attitude_control.set_yaw_target_to_current_heading();

        attitude_control.set_throttle_out(0, false);

        return;

    }

 

    // convert pilot input into desired vehicle angles or rotation rates

    //   g.rc_1.control_in : pilots roll input in the range -4500 ~ 4500

    //   g.rc_2.control_in : pilot pitch input in the range -4500 ~ 4500

    //   g.rc_3.control_in : pilot's throttle input in the range 0 ~ 1000

    //   g.rc_4.control_in : pilot's yaw input in the range -4500 ~ 4500

 

    // call one of attitude controller's attitude control functions like

    //   attitude_control.angle_ef_roll_pitch_rate_yaw(roll angle, pitch angle, yaw rate);

 

    // call position controller's z-axis controller or simply pass through throttle

    //   attitude_control.set_throttle_out(desired throttle, true);

}

        Step #3：在文件flight_mode.pde文件的set_mode()函数中增加一个新飞行模式的case（C++中switch..case语法）选项，然后调用上面的_init()函数。

// set_mode - change flight mode and perform any necessary initialisation

static bool set_mode(uint8_t mode)

{

    // boolean to record if flight mode could be set

    bool success = false;

    bool ignore_checks = !motors.armed();   // allow switching to any mode if disarmed.  We rely on the arming check to perform

 

    // return immediately if we are already in the desired mode

    if (mode == control_mode) {

        return true;

    }

 

    switch(mode) {

        case ACRO:

            #if FRAME_CONFIG == HELI_FRAME

                success = heli_acro_init(ignore_checks);

            #else

                success = acro_init(ignore_checks);

            #endif

            break;

 

        case NEWFLIGHTMODE:

            success = newflightmode_init(ignore_checks);

            break;

    }

}

        Step #4:在文件flight_mode.pde文件的update_flight_mode()函数中增加一个新飞行模式的case选项，然后调用上面的_run()函数。

// update_flight_mode - calls the appropriate attitude controllers based on flight mode

// called at 100hz or more

static void update_flight_mode()

{

    switch (control_mode) {

        case ACRO:

            #if FRAME_CONFIG == HELI_FRAME

                heli_acro_run();

            #else

                acro_run();

            #endif

            break;

        case NEWFLIGHTMODE:

            success = newflightmode_run();

            break;

    }

}

        Step #5: 在文件flight_mode.pde文件的print_flight_mode()函数中增加可以输出新飞行模式字符串的case选项。

static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)

{

    switch (mode) {

    case STABILIZE:

        port->print_P(PSTR("STABILIZE"));

        break;

    case NEWFLIGHTMODE:

        port->print_P(PSTR("NEWFLIGHTMODE"));

        break;

        Step #6：在文件Parameters.pde中向FLTMODE1 ~ FLTMODE6参数中正确的增加你的新飞行模式到@Values列表中。

    // @Param: FLTMODE1

    // @DisplayName: Flight Mode 1

    // @Description: Flight mode when Channel 5 pwm is 1230, <= 1360

    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport,17:NewFlightMode

    // @User: Standard

    GSCALAR(flight_mode1, "FLTMODE1",               FLIGHT_MODE_1),

 

    // @Param: FLTMODE2

    // @DisplayName: Flight Mode 2

    // @Description: Flight mode when Channel 5 pwm is >1230, <= 1360

    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport,17:NewFlightMode

    // @User: Standard

    GSCALAR(flight_mode2, "FLTMODE2",               FLIGHT_MODE_2),

Step #7：如果你想让你的新飞行模式出现的Mission Planner的平视显示器HUD和飞行模式组件中，你需要相应修改Mission Planner代码。关于Mission Planner如何编译的问题，请参考我的另外一篇文章：http://blog.sina.com.cn/s/blog_402c071e0102v4kx.html。有任何问题可以@WalkAnt，30175224@qq.com与我交流，如果有湖南长沙星沙的朋友想要相约一起放飞机的，再高兴不过了。每每假日，一个人独自在长沙县政府通程广场放飞机，好不孤单~~~~不过那里天空中的风筝倒是不少，也不觉形单影只了。