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Plane: Simplify radio trimming, improve MAVLink report

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This commit is contained in:
Michael du Breuil 2018-05-25 13:26:36 -07:00 committed by WickedShell
parent b69155793f
commit 12da35220c
4 changed files with 17 additions and 20 deletions
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10
ArduPlane/GCS_Mavlink.cpp
View File

@ -735,11 +735,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_preflight_calibration(const mavlink
MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param4,1.0f)) {
/*
radio trim
*/
plane.trim_radio();
return MAV_RESULT_ACCEPTED;
if (plane.trim_radio()) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);

3
ArduPlane/Plane.h
View File

@ -906,8 +906,7 @@ private:
void rudder_arm_disarm_check();
void read_radio();
void control_failsafe();
void trim_control_surfaces();
void trim_radio();
bool trim_radio();
bool rc_failsafe_active(void);
void init_rangefinder(void);
void read_rangefinder(void);

19
ArduPlane/radio.cpp
View File

@ -282,9 +282,13 @@ void Plane::control_failsafe()
}
}
void Plane::trim_control_surfaces()
bool Plane::trim_radio()
{
read_radio();
if (failsafe.rc_failsafe) {
// can't trim if we don't have valid input
return false;
}
int16_t trim_roll_range = (channel_roll->get_radio_max() - channel_roll->get_radio_min())/5;
int16_t trim_pitch_range = (channel_pitch->get_radio_max() - channel_pitch->get_radio_min())/5;
if (channel_roll->get_radio_in() < channel_roll->get_radio_min()+trim_roll_range ||
@ -295,7 +299,7 @@ void Plane::trim_control_surfaces()
// there is less than 20 percent range left then assume the
// sticks are not properly centered. This also prevents
// problems with starting APM with the TX off
return;
return false;
}
// trim main surfaces
@ -330,15 +334,8 @@ void Plane::trim_control_surfaces()
channel_roll->set_and_save_trim();
channel_pitch->set_and_save_trim();
channel_rudder->set_and_save_trim();
}
void Plane::trim_radio()
{
for (uint8_t y = 0; y < 30; y++) {
read_radio();
}
trim_control_surfaces();
return true;
}
/*

5
ArduPlane/system.cpp
View File

@ -271,8 +271,9 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
if(g.auto_trim > 0 && control_mode == MANUAL) {
trim_radio();
}
// perform any cleanup required for prev flight mode
exit_mode(control_mode);