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AC_InputManager_Heli: get_pilot_desired_throttle in 0 to 1 range

This commit is contained in:
Leonard Hall 2016-01-04 13:48:27 +09:00 committed by Randy Mackay
parent d312e52aee
commit 1174ad3e66
2 changed files with 21 additions and 21 deletions
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40
libraries/AC_InputManager/AC_InputManager_Heli.cpp
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@ -58,33 +58,33 @@ const AP_Param::GroupInfo AC_InputManager_Heli::var_info[] = {
};
// get_pilot_desired_collective - rescale's pilot collective pitch input in Stabilize and Acro modes
int16_t AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
float AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
{
float slope_low, slope_high, slope_range, slope_run, scalar;
int16_t stab_col_out, acro_col_out;
float stab_col_out, acro_col_out;
// calculate stabilize collective value which scales pilot input to reduced collective range
// code implements a 3-segment curve with knee points at 40% and 60% throttle input
if (control_in < 400){
slope_low = _heli_stab_col_min;
slope_high = _heli_stab_col_low;
slope_range = 400;
slope_run = control_in;
slope_low = _heli_stab_col_min / 1000.0f;
slope_high = _heli_stab_col_low / 1000.0f;
slope_range = 0.4f;
slope_run = control_in / 1000.0f;
} else if(control_in <600){
slope_low = _heli_stab_col_low;
slope_high = _heli_stab_col_high;
slope_range = 200;
slope_run = control_in - 400;
slope_low = _heli_stab_col_low / 1000.0f;
slope_high = _heli_stab_col_high / 1000.0f;
slope_range = 0.2f;
slope_run = (control_in - 400) / 1000.0f;
} else {
slope_low = _heli_stab_col_high;
slope_high = _heli_stab_col_max;
slope_range = 400;
slope_run = control_in - 600;
slope_low = _heli_stab_col_high / 1000.0f;
slope_high = _heli_stab_col_max / 1000.0f;
slope_range = 0.4f;
slope_run = (control_in - 600) / 1000.0f;
}
scalar = (slope_high - slope_low)/slope_range;
stab_col_out = slope_low + slope_run * scalar;
stab_col_out = constrain_int16(stab_col_out, 0, 1000);
stab_col_out = constrain_float(stab_col_out, 0.0f, 1.0f);
//
// calculate expo-scaled acro collective
@ -94,16 +94,16 @@ int16_t AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
}
if (_acro_col_expo <= 0.0f) {
acro_col_out = control_in;
acro_col_out = control_in / 1000.0f;
} else {
// expo variables
float col_in, col_in3, col_out;
col_in = (float)(control_in-500)/500.0f;
col_in3 = col_in*col_in*col_in;
col_out = (_acro_col_expo * col_in3) + ((1.0f-_acro_col_expo)*col_in);
acro_col_out = 500 + col_out*500;
acro_col_out = 0.5f + col_out*0.5f;
}
acro_col_out = constrain_int16(acro_col_out, 0, 1000);
acro_col_out = constrain_float(acro_col_out, 0.0f, 1.0f);
// ramp to and from stab col over 1/2 second
if (_im_flags_heli.use_stab_col && (_stab_col_ramp < 1.0f)){
@ -114,9 +114,9 @@ int16_t AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
_stab_col_ramp = constrain_float(_stab_col_ramp, 0.0f, 1.0f);
// scale collective output smoothly between acro and stab col
int16_t collective_out;
float collective_out;
collective_out = (float)((1.0f-_stab_col_ramp)*acro_col_out + _stab_col_ramp*stab_col_out);
collective_out = constrain_int16(collective_out, 0, 1000);
collective_out = constrain_float(collective_out, 0.0f, 1.0f);
return collective_out;
}

2
libraries/AC_InputManager/AC_InputManager_Heli.h
View File

@ -26,7 +26,7 @@ public:
}
// get_pilot_desired_collective - rescale's pilot collective pitch input in Stabilize and Acro modes
int16_t get_pilot_desired_collective(int16_t control_in);
float get_pilot_desired_collective(int16_t control_in);
// set_use_stab_col - setter function
void set_use_stab_col(bool use) { _im_flags_heli.use_stab_col = use; }