Plane: added glider pullup support

ArduPlane/ArduPlane.cpp

@@ -216,6 +216,13 @@ void Plane::update_speed_height(void)
         should_run_tecs = false;
     }
 #endif
+
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    if (mode_auto.in_pullup()) {
+        should_run_tecs = false;
+    }
+#endif
+
     if (should_run_tecs) {
 	    // Call TECS 50Hz update. Note that we call this regardless of
 	    // throttle suppressed, as this needs to be running for
@@ -512,6 +519,12 @@ void Plane::update_fly_forward(void)
     }
 #endif
 
+    if (auto_state.idle_mode) {
+        // don't fuse airspeed when in balloon lift
+        ahrs.set_fly_forward(false);
+        return;
+    }
+
     if (flight_stage == AP_FixedWing::FlightStage::LAND) {
         ahrs.set_fly_forward(landing.is_flying_forward());
         return;
@@ -578,6 +591,16 @@ void Plane::update_alt()
         should_run_tecs = false;
     }
 #endif
+
+    if (auto_state.idle_mode) {
+        should_run_tecs = false;
+    }
+
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    if (mode_auto.in_pullup()) {
+        should_run_tecs = false;
+    }
+#endif
 
     if (should_run_tecs && !throttle_suppressed) {
 

ArduPlane/Parameters.cpp

@@ -1019,6 +1019,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: mode_takeoff.cpp
     GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
 
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    // @Group: PUP_
+    // @Path: pullup.cpp
+    GOBJECTN(mode_auto.pullup, pullup, "PUP_", GliderPullup),
+#endif
+
     // @Group:
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,

ArduPlane/Parameters.h

@@ -359,6 +359,8 @@ class Parameters {
         k_param_autotune_options,
         k_param_takeoff_throttle_min,
         k_param_takeoff_options,
+
+        k_param_pullup = 270,
     };
 
     AP_Int16 format_version;

ArduPlane/Plane.h

@@ -121,6 +121,7 @@
 #include "avoidance_adsb.h"
 #endif
 #include "AP_Arming.h"
+#include "pullup.h"
 
 /*
   main APM:Plane class
@@ -175,6 +176,9 @@ class Plane : public AP_Vehicle {
 #if AP_EXTERNAL_CONTROL_ENABLED
     friend class AP_ExternalControl_Plane;
 #endif
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    friend class GliderPullup;
+#endif
 
     Plane(void);
 
@@ -515,6 +519,11 @@ class Plane : public AP_Vehicle {
         // have we checked for an auto-land?
         bool checked_for_autoland;
 
+        // Altitude threshold to complete a takeoff command in autonomous modes.  Centimeters
+        // are we in idle mode? used for balloon launch to stop servo
+        // movement until altitude is reached
+        bool idle_mode;
+
         // are we in VTOL mode in AUTO?
         bool vtol_mode;
 
@@ -959,6 +968,7 @@ class Plane : public AP_Vehicle {
     void do_loiter_turns(const AP_Mission::Mission_Command& cmd);
     void do_loiter_time(const AP_Mission::Mission_Command& cmd);
     void do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd);
+    void do_altitude_wait(const AP_Mission::Mission_Command& cmd);
     void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
     void do_vtol_takeoff(const AP_Mission::Mission_Command& cmd);
     void do_vtol_land(const AP_Mission::Mission_Command& cmd);

ArduPlane/commands_logic.cpp

@@ -27,6 +27,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
 
         nav_controller->set_data_is_stale();
 
+        // start non-idle
+        auto_state.idle_mode = false;
+
         // reset loiter start time. New command is a new loiter
         loiter.start_time_ms = 0;
 
@@ -92,6 +95,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_NAV_ALTITUDE_WAIT:
+        do_altitude_wait(cmd);
         break;
 
 #if HAL_QUADPLANE_ENABLED
@@ -501,6 +505,15 @@ void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
     reset_offset_altitude();
 }
 
+void Plane::do_altitude_wait(const AP_Mission::Mission_Command& cmd)
+{
+    // set all servos to trim until we reach altitude or descent speed
+    auto_state.idle_mode = true;
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    mode_auto.pullup.reset();
+#endif
+}
+
 void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
 {
     //set target alt  
@@ -831,17 +844,46 @@ bool Plane::verify_continue_and_change_alt()
  */
 bool ModeAuto::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
 {
-    if (plane.current_loc.alt > cmd.content.altitude_wait.altitude*100.0f) {
-        gcs().send_text(MAV_SEVERITY_INFO,"Reached altitude");
-        return true;
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    if (pullup.in_pullup()) {
+        return pullup.verify_pullup();
     }
-    if (plane.auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
+#endif
+
+    /*
+      the target altitude in param1 is always AMSL
+     */
+    const float alt_diff = plane.current_loc.alt*0.01 - cmd.content.altitude_wait.altitude;
+    bool completed = false;
+    if (alt_diff > 0) {
+        gcs().send_text(MAV_SEVERITY_INFO,"Reached altitude");
+        completed = true;
+    } else if (cmd.content.altitude_wait.descent_rate > 0 &&
+        plane.auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
         gcs().send_text(MAV_SEVERITY_INFO, "Reached descent rate %.1f m/s", (double)plane.auto_state.sink_rate);
-        return true;        
+        completed = true;
     }
 
-    // if requested, wiggle servos
-    if (cmd.content.altitude_wait.wiggle_time != 0) {
+    if (completed) {
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+        if (pullup.pullup_start()) {
+            // we are doing a pullup, ALTITUDE_WAIT not complete until pullup is done
+            return false;
+        }
+#endif
+        return true;
+    }
+
+    const float time_to_alt = alt_diff / MIN(plane.auto_state.sink_rate, -0.01);
+
+    /*
+      if requested, wiggle servos
+
+      we don't start a wiggle if we expect to release soon as we don't
+      want the servos to be off trim at the time of release
+    */
+    if (cmd.content.altitude_wait.wiggle_time != 0 &&
+        (plane.auto_state.sink_rate > 0 || time_to_alt > cmd.content.altitude_wait.wiggle_time*5)) {
         if (wiggle.stage == 0 &&
             AP_HAL::millis() - wiggle.last_ms > cmd.content.altitude_wait.wiggle_time*1000) {
             wiggle.stage = 1;
@@ -1291,3 +1333,4 @@ bool Plane::in_auto_mission_id(uint16_t command) const
 {
     return control_mode == &mode_auto && mission.get_current_nav_id() == command;
 }
+

ArduPlane/mode.cpp

@@ -101,6 +101,9 @@ bool Mode::enter()
     plane.target_altitude.terrain_following_pending = false;
 #endif
 
+    // disable auto mode servo idle during altitude wait command
+    plane.auto_state.idle_mode = false;
+
     bool enter_result = _enter();
 
     if (enter_result) {

ArduPlane/mode.h

@@ -9,6 +9,7 @@
 #include "quadplane.h"
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Mission/AP_Mission.h>
+#include "pullup.h"
 
 class AC_PosControl;
 class AC_AttitudeControl_Multi;
@@ -208,6 +209,7 @@ friend class ModeQAcro;
 class ModeAuto : public Mode
 {
 public:
+    friend class Plane;
 
     Number mode_number() const override { return Number::AUTO; }
     const char *name() const override { return "AUTO"; }
@@ -237,6 +239,10 @@ class ModeAuto : public Mode
 
     void run() override;
 
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    bool in_pullup() const { return pullup.in_pullup(); }
+#endif
+
 protected:
 
     bool _enter() override;
@@ -257,6 +263,10 @@ class ModeAuto : public Mode
         uint8_t stage;
         uint32_t last_ms;
     } wiggle;
+
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    GliderPullup pullup;
+#endif // AP_PLANE_GLIDER_PULLUP_ENABLED
 };
 
 

ArduPlane/mode_auto.cpp

@@ -79,6 +79,12 @@ void ModeAuto::update()
     }
 #endif
 
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    if (pullup.in_pullup()) {
+        return;
+    }
+#endif
+
     if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF ||
         (nav_cmd_id == MAV_CMD_NAV_LAND && plane.flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING)) {
         plane.takeoff_calc_roll();
@@ -166,6 +172,13 @@ bool ModeAuto::is_landing() const
 
 void ModeAuto::run()
 {
+#if AP_PLANE_GLIDER_PULLUP_ENABLED
+    if (pullup.in_pullup()) {
+        pullup.stabilize_pullup();
+        return;
+    }
+#endif
+
     if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_ALTITUDE_WAIT) {
 
         wiggle_servos();

ArduPlane/navigation.cpp

@@ -321,7 +321,7 @@ void Plane::update_loiter_update_nav(uint16_t radius)
     if ((loiter.start_time_ms == 0 &&
          (control_mode == &mode_auto || control_mode == &mode_guided) &&
          auto_state.crosstrack &&
-         current_loc.get_distance(next_WP_loc) > radius*3) ||
+         current_loc.get_distance(next_WP_loc) > 3 * nav_controller->loiter_radius(radius)) ||
         quadplane_qrtl_switch) {
         /*
           if never reached loiter point and using crosstrack and somewhat far away from loiter point