Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: smooth throttle transition between flight modes

Browse Source
This commit is contained in:
Randy Mackay 2014-02-11 22:32:44 +09:00 committed by Andrew Tridgell
parent 0df1dc267b
commit 10a0303706
1 changed files with 9 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduCopter/flight_mode.pde
View File

@ -95,7 +95,7 @@ static bool set_mode(uint8_t mode)
// update flight mode
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode);
exit_mode(control_mode, mode);
control_mode = mode;
Log_Write_Mode(control_mode);
}else{
@ -181,13 +181,19 @@ static void update_flight_mode()
}
// exit_mode - high level call to organise cleanup as a flight mode is exited
static void exit_mode(uint8_t old_control_mode)
static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
{
#if AUTOTUNE_ENABLED == ENABLED
if (old_control_mode == AUTOTUNE) {
autotune_stop();
}
#endif
// smooth throttle transition when switching from manual to automatic flight modes
if (manual_flight_mode(old_control_mode) && !manual_flight_mode(new_control_mode) && motors.armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in));
}
}
// returns true or false whether mode requires GPS
@ -207,7 +213,7 @@ static bool mode_requires_GPS(uint8_t mode) {
return false;
}
// manual_flight_mode - returns true if flight mode is completely manual (i.e. roll, pitch and yaw controlled by pilot)
// manual_flight_mode - returns true if flight mode is completely manual (i.e. roll, pitch, yaw and throttle are controlled by pilot)
static bool manual_flight_mode(uint8_t mode) {
switch(mode) {
case ACRO: