mirror of https://github.com/ArduPilot/ardupilot
Trying to make Alt hold more aggressively change altitudes.
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@ -296,8 +296,6 @@ static boolean motor_auto_armed; // if true,
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// PIDs
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// ----
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//int max_stabilize_dampener; //
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//int max_yaw_dampener; //
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static Vector3f omega;
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float tuning_value;
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@ -319,13 +317,8 @@ static bool did_ground_start = false; // have we ground started after first ar
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// ---------------------
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static const float radius_of_earth = 6378100; // meters
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static const float gravity = 9.81; // meters/ sec^2
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//static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
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static long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
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//static bool xtrack_enabled = false;
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//static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
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//static long crosstrack_correction; // deg * 100 : 0 to 360 desired angle of plane to target
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static int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
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static byte wp_control; // used to control - navgation or loiter
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@ -380,8 +373,7 @@ static int ground_temperature;
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// Altitude Sensor variables
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// ----------------------
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static int sonar_alt;
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static int baro_alt;
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//static int baro_alt_offset;
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static int baro_alt;;
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static byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
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static int altitude_rate;
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@ -393,7 +385,6 @@ static byte throttle_mode;
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static boolean takeoff_complete; // Flag for using take-off controls
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static boolean land_complete;
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//static int landing_distance; // meters;
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static long old_alt; // used for managing altitude rates
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static int velocity_land;
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static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
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@ -1113,7 +1104,7 @@ void update_throttle_mode(void)
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altitude_error = get_altitude_error();
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// get the AP throttle
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nav_throttle = get_nav_throttle(altitude_error, 200); //150 = target speed of 1.5m/s
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nav_throttle = get_nav_throttle(altitude_error, 250); //150 = target speed of 1.5m/s
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//Serial.printf("in:%d, cr:%d, NT:%d, I:%1.4f\n", g.rc_3.control_in,altitude_error, nav_throttle, g.pi_throttle.get_integrator());
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// clear the new data flag
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@ -85,7 +85,7 @@ get_stabilize_yaw(long target_angle)
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return (int)constrain(rate, -2500, 2500);
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}
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#define ALT_ERROR_MAX 300
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#define ALT_ERROR_MAX 350
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static int
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get_nav_throttle(long z_error, int target_speed)
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{
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@ -97,7 +97,7 @@ get_nav_throttle(long z_error, int target_speed)
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target_speed = z_error * scaler;
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rate_error = target_speed - altitude_rate;
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rate_error = constrain(rate_error, -110, 110);
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rate_error = constrain(rate_error, -120, 140);
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float delta_throttle;
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