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Copter: make safe spool down for tradheli in autotune mode

This commit is contained in:
bnsgeyer 2024-06-29 18:58:57 -04:00 committed by Bill Geyer
parent 61c910b08b
commit 0647444ee3
2 changed files with 14 additions and 24 deletions
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2
ArduCopter/mode.h
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@ -184,6 +184,7 @@ public:
// pause and resume a mode // pause and resume a mode
virtual bool pause() { return false; }; virtual bool pause() { return false; };
virtual bool resume() { return false; }; virtual bool resume() { return false; };
void make_safe_ground_handling(bool force_throttle_unlimited = false);
// true if weathervaning is allowed in the current mode // true if weathervaning is allowed in the current mode
#if WEATHERVANE_ENABLED == ENABLED #if WEATHERVANE_ENABLED == ENABLED
@ -196,7 +197,6 @@ protected:
bool is_disarmed_or_landed() const; bool is_disarmed_or_landed() const;
void zero_throttle_and_relax_ac(bool spool_up = false); void zero_throttle_and_relax_ac(bool spool_up = false);
void zero_throttle_and_hold_attitude(); void zero_throttle_and_hold_attitude();
void make_safe_ground_handling(bool force_throttle_unlimited = false);
// Return stopping point as a location with above origin alt frame // Return stopping point as a location with above origin alt frame
Location get_stopping_point() const; Location get_stopping_point() const;

36
ArduCopter/mode_autotune.cpp
View File

@ -38,30 +38,20 @@ void AutoTune::run()
// apply SIMPLE mode transform to pilot inputs // apply SIMPLE mode transform to pilot inputs
copter.update_simple_mode(); copter.update_simple_mode();
// reset target lean angles and heading while landed // disarm when the landing detector says we've landed and spool state is ground idle
if (copter.ap.land_complete) { if (copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
// we are landed, shut down copter.arming.disarm(AP_Arming::Method::LANDED);
float target_climb_rate = get_pilot_desired_climb_rate_cms();
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else {
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
copter.attitude_control->reset_rate_controller_I_terms_smoothly();
copter.attitude_control->reset_yaw_target_and_rate();
float target_roll, target_pitch, target_yaw_rate;
get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
copter.pos_control->relax_z_controller(0.0f);
copter.pos_control->update_z_controller();
} else {
// run autotune mode
AC_AutoTune::run();
} }
// if not armed set throttle to zero and exit immediately
if (copter.ap.land_complete) {
copter.flightmode->make_safe_ground_handling();
return;
}
// run autotune mode
AC_AutoTune::run();
} }