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Fixed issue with Simple mode changes. 

Reverted to simpler, safer timer code for throttle hold
This commit is contained in:
Jason Short 2011-09-25 14:16:35 -07:00
parent 9de6117e4c
commit 059551de48
4 changed files with 3 additions and 17 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -1022,7 +1022,6 @@ void update_roll_pitch_mode(void)
int control_roll = 0, control_pitch = 0; int control_roll = 0, control_pitch = 0;
//read_radio(); //read_radio();
if(do_simple && new_radio_frame){ if(do_simple && new_radio_frame){
new_radio_frame = false; new_radio_frame = false;
simple_timer++; simple_timer++;
@ -1047,7 +1046,6 @@ void update_roll_pitch_mode(void)
g.rc_2.control_in = control_pitch; g.rc_2.control_in = control_pitch;
} }
switch(roll_pitch_mode){ switch(roll_pitch_mode){
case ROLL_PITCH_ACRO: case ROLL_PITCH_ACRO:
// Roll control // Roll control

14
ArduCopter/Attitude.pde
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@ -99,19 +99,7 @@ get_nav_throttle(long z_error, int target_speed)
rate_error = target_speed - altitude_rate; rate_error = target_speed - altitude_rate;
rate_error = constrain(rate_error, -120, 140); rate_error = constrain(rate_error, -120, 140);
float delta_throttle; return (int)g.pi_throttle.get_pi(rate_error, .1);
// is the throttle_timer uninitialized?
if(throttle_timer == 0){
throttle_timer = millis();
delta_throttle = 0;
}else{
long timer = millis();
delta_throttle = (float)(timer - throttle_timer)/1000.0;
throttle_timer = timer;
}
return (int)g.pi_throttle.get_pi(rate_error, delta_throttle);
} }
static int static int

2
ArduCopter/config.h
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@ -63,7 +63,7 @@
// //
#ifndef CH7_OPTION #ifndef CH7_OPTION
# define CH7_OPTION DO_SET_HOVER # define CH7_OPTION CH7_SET_HOVER
#endif #endif

2
ArduCopter/control_modes.pde
View File

@ -14,7 +14,7 @@ static void read_control_switch()
set_mode(flight_modes[switchPosition]); set_mode(flight_modes[switchPosition]);
#if CH7_OPTION != SIMPLE_MODE_CONTROL #if CH7_OPTION != CH7_SIMPLE_MODE
// setup Simple mode // setup Simple mode
// do we enable simple mode? // do we enable simple mode?
do_simple = (g.simple_modes & (1 << switchPosition)); do_simple = (g.simple_modes & (1 << switchPosition));