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TradHeli: Add Mode Filter on RC8 input for RSC Controller.

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Robert Lefebvre 2014-05-09 17:25:25 -04:00 committed by Randy Mackay
parent ff71b0fa35
commit 08e135151a
1 changed files with 8 additions and 2 deletions
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10
ArduCopter/heli.pde
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@ -11,6 +11,11 @@
// counter to control dynamic flight profile
static int8_t heli_dynamic_flight_counter;
// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
// Tradheli flags
static struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
@ -138,6 +143,7 @@ static void heli_update_rotor_speed_targets()
{
// get rotor control method
uint8_t rsc_control_mode = motors.get_rsc_mode();
int16_t rsc_control_deglitched = rotor_speed_deglitch_filter.apply(g.rc_8.control_in);
switch (rsc_control_mode) {
case AP_MOTORS_HELI_RSC_MODE_NONE:
@ -145,11 +151,11 @@ static void heli_update_rotor_speed_targets()
// rotor is spinning in case we are using direct drive tailrotor which must be spun up at same time
case AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH:
// pass through pilot desired rotor speed
motors.set_desired_rotor_speed(g.rc_8.control_in);
motors.set_desired_rotor_speed(rsc_control_deglitched);
break;
case AP_MOTORS_HELI_RSC_MODE_SETPOINT:
// pass setpoint through as desired rotor speed
if (g.rc_8.control_in > 0) {
if (rsc_control_deglitched > 0) {
motors.set_desired_rotor_speed(motors.get_rsc_setpoint());
}else{
motors.set_desired_rotor_speed(0);