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Copter: add RTL_CLIMB_MIN 

Vehicle climbs at least this many cm when entering RTL
This commit is contained in:
Randy Mackay 2015-07-13 10:39:54 +09:00
parent 1226cc7dae
commit 063faa0383
4 changed files with 18 additions and 3 deletions
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9
ArduCopter/Parameters.cpp
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@ -196,6 +196,15 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL), GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL),
// @Param: RTL_CLIMB_MIN
// @DisplayName: RTL minimum climb
// @Description: The vehicle will climb this many cm during the initial climb portion of the RTL
// @Units: Centimeters
// @Range: 0 3000
// @Increment: 10
// @User: Standard
GSCALAR(rtl_climb_min, "RTL_CLIMB_MIN", RTL_CLIMB_MIN_DEFAULT),
// @Param: RSSI_PIN // @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin // @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum // @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum

4
ArduCopter/Parameters.h
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@ -335,7 +335,8 @@ public:
k_param_autotune_axis_bitmask, k_param_autotune_axis_bitmask,
k_param_autotune_aggressiveness, k_param_autotune_aggressiveness,
k_param_pi_vel_xy, k_param_pi_vel_xy,
k_param_fs_ekf_action, // 248 k_param_fs_ekf_action,
k_param_rtl_climb_min, // 249
// 254,255: reserved // 254,255: reserved
}; };
@ -370,6 +371,7 @@ public:
AP_Int8 compass_enabled; AP_Int8 compass_enabled;
AP_Int8 super_simple; AP_Int8 super_simple;
AP_Int16 rtl_alt_final; AP_Int16 rtl_alt_final;
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
AP_Int8 rssi_pin; AP_Int8 rssi_pin;
AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc. AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.

4
ArduCopter/config.h
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@ -494,6 +494,10 @@
# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m) # define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
#endif #endif
#ifndef RTL_CLIMB_MIN_DEFAULT
# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
#endif
#ifndef RTL_LOITER_TIME #ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent # define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
#endif #endif

4
ArduCopter/control_rtl.cpp
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@ -389,8 +389,8 @@ void Copter::rtl_land_run()
// altitude is in cm above home // altitude is in cm above home
float Copter::get_RTL_alt() float Copter::get_RTL_alt()
{ {
// maximum of current altitude and rtl altitude // maximum of current altitude + climb_min and rtl altitude
float rtl_alt = max(current_loc.alt, g.rtl_altitude); float rtl_alt = max(current_loc.alt + max(0, g.rtl_climb_min), g.rtl_altitude);
rtl_alt = max(rtl_alt, RTL_ALT_MIN); rtl_alt = max(rtl_alt, RTL_ALT_MIN);
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED