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ACM: TradHeli 

Fix to make update_throttle_cruise work with stab_throttle scaling.
This commit is contained in:
Robert Lefebvre 2012-12-08 15:12:39 -05:00
parent c6537ae6e3
commit 083c451ec6
4 changed files with 16 additions and 8 deletions
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9
ArduCopter/ArduCopter.pde
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@ -1866,7 +1866,12 @@ void update_throttle_mode(void)
set_throttle_out(g.rc_3.control_in, false); set_throttle_out(g.rc_3.control_in, false);
// update estimate of throttle cruise // update estimate of throttle cruise
#if FRAME_CONFIG == HELI_FRAME
update_throttle_cruise(motors.coll_out);
#else
update_throttle_cruise(g.rc_3.control_in); update_throttle_cruise(g.rc_3.control_in);
#endif //HELI_FRAME
// check if we've taken off yet // check if we've taken off yet
if (!ap.takeoff_complete && motors.armed()) { if (!ap.takeoff_complete && motors.armed()) {
@ -1886,7 +1891,11 @@ void update_throttle_mode(void)
set_throttle_out(g.rc_3.control_in, true); set_throttle_out(g.rc_3.control_in, true);
// update estimate of throttle cruise // update estimate of throttle cruise
#if FRAME_CONFIG == HELI_FRAME
update_throttle_cruise(motors.coll_out);
#else
update_throttle_cruise(g.rc_3.control_in); update_throttle_cruise(g.rc_3.control_in);
#endif //HELI_FRAME
if (!ap.takeoff_complete && motors.armed()) { if (!ap.takeoff_complete && motors.armed()) {
if (g.rc_3.control_in > g.throttle_cruise) { if (g.rc_3.control_in > g.throttle_cruise) {

1
ArduCopter/Attitude.pde
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@ -699,7 +699,6 @@ get_of_pitch(int32_t input_pitch)
* yaw controllers * yaw controllers
*************************************************************/ *************************************************************/
// update_throttle_cruise - update throttle cruise if necessary
static void get_look_ahead_yaw(int16_t pilot_yaw) static void get_look_ahead_yaw(int16_t pilot_yaw)
{ {
// Commanded Yaw to automatically look ahead. // Commanded Yaw to automatically look ahead.

6
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -445,7 +445,7 @@ void AP_MotorsHeli::init_swash()
// collective: 0 ~ 1000 // collective: 0 ~ 1000
// yaw: -4500 ~ 4500 // yaw: -4500 ~ 4500
// //
void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_out, int16_t yaw_out) void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out)
{ {
int16_t yaw_offset = 0; int16_t yaw_offset = 0;
int16_t coll_out_scaled; int16_t coll_out_scaled;
@ -455,7 +455,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
if( _swash_initialised ) { if( _swash_initialised ) {
reset_swash(); reset_swash();
} }
coll_out_scaled = coll_out * _collective_scalar + _rc_throttle->radio_min - 1000; coll_out_scaled = coll_in * _collective_scalar + _rc_throttle->radio_min - 1000;
}else{ // regular flight mode }else{ // regular flight mode
// check if we need to reinitialise the swash // check if we need to reinitialise the swash
@ -475,7 +475,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
pitch_out = constrain(pitch_out, (int16_t)-pitch_max, (int16_t)pitch_max); pitch_out = constrain(pitch_out, (int16_t)-pitch_max, (int16_t)pitch_max);
// scale collective pitch // scale collective pitch
coll_out = constrain(coll_out, 0, 1000); coll_out = constrain(coll_in, 0, 1000);
if (stab_throttle){ if (stab_throttle){
coll_out = coll_out * _stab_throttle_scalar + stab_col_min*10; coll_out = coll_out * _stab_throttle_scalar + stab_col_min*10;
} }

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -106,7 +106,7 @@ public:
AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode
AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode
bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
AP_Int16 coll_out; // returns the actual collective in use to the main code
// init // init
void Init(); void Init();
@ -141,7 +141,7 @@ public:
protected: protected:
// heli_move_swash - moves swash plate to attitude of parameters passed in // heli_move_swash - moves swash plate to attitude of parameters passed in
void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_out, int16_t yaw_out); void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
// reset_swash - free up swash for maximum movements. Used for set-up // reset_swash - free up swash for maximum movements. Used for set-up
void reset_swash(); void reset_swash();