mode control

-----------control_mode.pde--------------triggered by scheduler_tasks[] -> rc_loop() -> read_control_switch()
set_mode(flight_modes[switchPosition])
exit_mode(control_mode, mode);
control_mode = mode;
Log_Write_Mode(control_mode);
end

-----------flight_mode.pde--------------
triggered by update_flight_mode()
100hz or more (pixhawk 400hz, called directly in fast_loop)

switch (control_mode)
-- stabilize_run();
end

-----------control_stabilize.pde--------------
inside stabilize_run();

// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch); (range 4500)

• where does control_in come from:
  --radio.pde--
  init_rc_in()

g.rc_1.set_angle(ROLL_PITCH_INPUT_MAX); //4500 g.rc_2.set_angle(ROLL_PITCH_INPUT_MAX); g.rc_3.set_range(g.throttle_min, g.throttle_max); g.rc_4.set_angle(4500); g.rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); --RCchannel.cpp--

--set_pwm_no_deadzone(int16_t pwm)-- if (_type == RC_CHANNEL_TYPE_RANGE) {         control_in = pwm_to_range_dz(0);     } else {         //RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW         control_in = pwm_to_angle_dz(0);     }

// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);

// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);

// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
parameter used above : RC_FEEL_RP, ACCEL_RP_MAX

• // calculate earth-frame feed forward roll rate using linear response when close to the target, sqrt response when we're further away     angle_to_target = roll_angle_ef (=target_roll,-4500~+4500) - _angle_ef_target.x (angle controller earth-frame targets);

angle_to_target -> calculate rate_ef_desired (linear or sqrt response) -> limit the rate _rate_ef_desired.x ->update new _angle_ef_target,angle_ef_error, update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error (to be received from the funtion), AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX);


// body-frame rate controller is run directly from 100hz loop

// output pilot's throttle
attitude_control.set_throttle_out(pilot_throttle_scaled, true);