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renamed super simple, added framework for auto calc of throttle cruise

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This commit is contained in:
Jason Short 2011-12-15 20:50:52 -08:00
parent 2b5c039eae
commit 027b710816
1 changed files with 20 additions and 1 deletions
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21
ArduCopter/ArduCopter.pde
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@ -473,6 +473,7 @@ static int16_t nav_throttle; // 0-1000 for throttle control
static int16_t crosstrack_error; static int16_t crosstrack_error;
static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life
static float throttle_avg = THROTTLE_CRUISE;
static bool invalid_throttle; // used to control when we calculate nav_throttle static bool invalid_throttle; // used to control when we calculate nav_throttle
//static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value //static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
@ -959,6 +960,19 @@ static void super_slow_loop()
#ifdef USERHOOK_SUPERSLOWLOOP #ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP USERHOOK_SUPERSLOWLOOP
#endif #endif
/*
Serial.printf("alt %d, next.alt %d, alt_err: %d, cruise: %d, Alt_I:%1.2f, wp_dist %d, tar_bear %d, home_d %d, homebear %d\n",
current_loc.alt,
next_WP.alt,
altitude_error,
g.throttle_cruise.get(),
g.pi_alt_hold.get_integrator(),
wp_distance,
target_bearing,
home_distance,
home_to_copter_bearing);
*/
} }
static void update_GPS(void) static void update_GPS(void)
@ -1132,6 +1146,11 @@ void update_throttle_mode(void)
angle_boost = get_angle_boost(g.rc_3.control_in); angle_boost = get_angle_boost(g.rc_3.control_in);
g.rc_3.servo_out = g.rc_3.control_in + angle_boost; g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
#endif #endif
// calc average throttle
if ((g.rc_3.control_in > MINIMUM_THROTTLE)){
//throttle_avg = throttle_avg * .98 + rc_3.control_in * .02;
//g.throttle_cruise = throttle_avg;
}
}else{ }else{
g.pi_stabilize_roll.reset_I(); g.pi_stabilize_roll.reset_I();
g.pi_stabilize_pitch.reset_I(); g.pi_stabilize_pitch.reset_I();
@ -1273,7 +1292,7 @@ static void update_navigation()
} }
// are we in SIMPLE mode? // are we in SIMPLE mode?
if(do_simple && g.reset_simple){ if(do_simple && g.super_simple){
// get distance to home // get distance to home
if(home_distance > 10){ // 10m from home if(home_distance > 10){ // 10m from home
// we reset the angular offset to be a vector from home to the quad // we reset the angular offset to be a vector from home to the quad