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AP_Motors: Low throttle compensation setters

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Leonard Hall 2015-03-08 20:47:28 +10:30 committed by Randy Mackay
parent 6275ee0289
commit 007c96a3d8
2 changed files with 26 additions and 0 deletions
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17
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -179,6 +179,9 @@ void AP_Motors::output()
// calc filtered battery voltage and lift_max // calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage(); update_lift_max_from_batt_voltage();
// move throttle_low_comp towards desired throttle low comp
update_throttle_low_comp();
// output to motors // output to motors
if (_flags.armed ) { if (_flags.armed ) {
output_armed(); output_armed();
@ -318,3 +321,17 @@ void AP_Motors::update_battery_resistance()
} }
} }
} }
// update_throttle_low_comp - slew set_throttle_low_comp to requested value
void AP_Motors::update_throttle_low_comp()
{
// slew _throttle_low_comp to _throttle_low_comp_desired
if (_throttle_low_comp < _throttle_low_comp_desired) {
// increase quickly (i.e. from 0.1 to 0.9 in 0.8 seconds)
_throttle_low_comp += min(1.0f/_loop_rate, _throttle_low_comp_desired-_throttle_low_comp);
} else if (_throttle_low_comp > _throttle_low_comp_desired) {
// reduce more slowly (from 0.9 to 0.1 in 1.8 seconds)
_throttle_low_comp -= min(0.5f/_loop_rate, _throttle_low_comp-_throttle_low_comp_desired);
}
_throttle_low_comp = constrain_float(_throttle_low_comp, 0.1f, 1.0f);
}

9
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -156,6 +156,11 @@ public:
// set_current - set current to be used for output scaling // set_current - set current to be used for output scaling
virtual void set_current(float current){ _batt_current = current; } virtual void set_current(float current){ _batt_current = current; }
// set_throttle_low_comp - set desired throttle_low_comp (actual throttle_low_comp is slewed towards this value over 1~2 seconds)
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
void set_throttle_low_comp(float throttle_low_comp) { _throttle_low_comp_desired = throttle_low_comp; }
// get_lift_max - get maximum lift ratio // get_lift_max - get maximum lift ratio
float get_lift_max() { return _lift_max; } float get_lift_max() { return _lift_max; }
@ -211,6 +216,9 @@ protected:
// update_battery_resistance - calculate battery resistance when throttle is above hover_out // update_battery_resistance - calculate battery resistance when throttle is above hover_out
void update_battery_resistance(); void update_battery_resistance();
// update_throttle_low_comp - updates thr_low_comp value towards the target
void update_throttle_low_comp();
// get_voltage_comp_gain - return battery voltage compensation gain // get_voltage_comp_gain - return battery voltage compensation gain
float get_voltage_comp_gain() const { return 1.0f/_lift_max; } float get_voltage_comp_gain() const { return 1.0f/_lift_max; }
@ -247,6 +255,7 @@ protected:
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start) int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)
int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000) int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000)
int16_t _spin_when_armed_ramped;// equal to _spin_when_armed parameter but slowly ramped up from zero int16_t _spin_when_armed_ramped;// equal to _spin_when_armed parameter but slowly ramped up from zero
float _throttle_low_comp_desired; // desired throttle_low_comp value, actual throttle_low_comp is slewed towards this value over 1~2 seconds
// battery voltage compensation variables // battery voltage compensation variables
float _batt_voltage; // latest battery voltage reading float _batt_voltage; // latest battery voltage reading