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Plane: fixed throttle slew limit code 

starting at 1000 is a very bad idea - a petrol engine could cut out
This commit is contained in:
Andrew Tridgell 2012-11-28 12:13:09 +11:00
parent 1f8a61615c
commit 0260559147
1 changed files with 13 additions and 10 deletions
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23
ArduPlane/Attitude.pde
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@ -281,15 +281,17 @@ static void calc_nav_roll()
/*****************************************
* Throttle slew limit
*****************************************/
static void throttle_slew_limit()
static void throttle_slew_limit(int16_t last_throttle)
{
static int16_t last = 1000;
// if slew limit rate is set to zero then do not slew limit
if (g.throttle_slewrate) {
// limit throttle change by the given percentage per second
float temp = g.throttle_slewrate * G_Dt * 0.01 * fabs(g.channel_throttle.radio_max - g.channel_throttle.radio_min);
g.channel_throttle.radio_out = constrain(g.channel_throttle.radio_out, last - (int)temp, last + (int)temp);
last = g.channel_throttle.radio_out;
// allow a minimum change of 1 PWM per cycle
if (temp < 1) {
temp = 1;
}
g.channel_throttle.radio_out = constrain(g.channel_throttle.radio_out, last_throttle - temp, last_throttle + temp);
}
}
@ -347,6 +349,7 @@ static bool suppress_throttle(void)
static void set_servos(void)
{
int16_t flapSpeedSource = 0;
int16_t last_throttle = g.channel_throttle.radio_out;
if(control_mode == MANUAL) {
// do a direct pass through of radio values
@ -420,12 +423,6 @@ static void set_servos(void)
g.channel_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
}
if (control_mode >= FLY_BY_WIRE_B) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit();
}
#if OBC_FAILSAFE == ENABLED
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
@ -496,6 +493,12 @@ static void set_servos(void)
}
}
if (control_mode >= FLY_BY_WIRE_B) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit(last_throttle);
}
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
// send values to the PWM timers for output
// ----------------------------------------