Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: feed forward only used for AltHold, Loiter, PosHold 

land modes use non-feedforward alt hold
This commit is contained in:
Leonard Hall 2015-10-27 22:06:50 +09:00 committed by Randy Mackay
parent 2dad15c307
commit 193bfe839e
6 changed files with 26 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduCopter/control_althold.cpp
View File

@ -13,8 +13,9 @@ bool Copter::althold_init(bool ignore_checks)
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
// stop takeoff if running
takeoff_stop();
@ -95,7 +96,7 @@ void Copter::althold_run()
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
@ -124,7 +125,7 @@ void Copter::althold_run()
}
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();
break;
}

7
ArduCopter/control_autotune.cpp
View File

@ -247,8 +247,9 @@ bool Copter::autotune_start(bool ignore_checks)
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}
@ -325,7 +326,7 @@ void Copter::autotune_run()
}
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();
}
}

7
ArduCopter/control_brake.cpp
View File

@ -21,8 +21,9 @@ bool Copter::brake_init(bool ignore_checks)
pos_control.set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}else{
@ -67,6 +68,6 @@ void Copter::brake_run()
// body-frame rate controller is run directly from 100hz loop
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(0.0f, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);
pos_control.update_z_controller();
}

9
ArduCopter/control_loiter.cpp
View File

@ -18,8 +18,9 @@ bool Copter::loiter_init(bool ignore_checks)
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}else{
@ -107,7 +108,7 @@ void Copter::loiter_run()
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
@ -141,7 +142,7 @@ void Copter::loiter_run()
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();
break;
}

7
ArduCopter/control_poshold.cpp
View File

@ -86,8 +86,9 @@ bool Copter::poshold_init(bool ignore_checks)
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
// initialise lean angles to current attitude
poshold.pilot_roll = 0;
@ -510,7 +511,7 @@ void Copter::poshold_run()
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
}

7
ArduCopter/control_sport.cpp
View File

@ -13,8 +13,9 @@ bool Copter::sport_init(bool ignore_checks)
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}
@ -101,7 +102,7 @@ void Copter::sport_run()
}
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
}