Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-28 19:48:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: make throttle signed (pos and neg)

Browse Source
This commit is contained in:
Tom Pittenger 2016-01-29 22:38:31 -08:00 committed by Andrew Tridgell
parent 5338a76a58
commit 1cb094f12e
4 changed files with 10 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/Attitude.cpp
View File

@ -1110,7 +1110,7 @@ void Plane::demo_servos(uint8_t i)
*/
void Plane::adjust_nav_pitch_throttle(void)
{
uint8_t throttle = throttle_percentage();
int8_t throttle = throttle_percentage();
if (throttle < aparm.throttle_cruise && flight_stage != AP_SpdHgtControl::FLIGHT_VTOL) {
float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;

13
ArduPlane/Log.cpp
View File

@ -242,13 +242,12 @@ struct PACKED log_Control_Tuning {
int16_t pitch;
int16_t throttle_out;
int16_t rudder_out;
float accel_y;
int16_t throttle_dem;
};
// Write a control tuning packet. Total length : 22 bytes
void Plane::Log_Write_Control_Tuning()
{
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_us : AP_HAL::micros64(),
@ -258,7 +257,7 @@ void Plane::Log_Write_Control_Tuning()
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)channel_throttle->servo_out,
rudder_out : (int16_t)channel_rudder->servo_out,
accel_y : accel.y
throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -340,7 +339,7 @@ struct PACKED log_Sonar {
float voltage;
float baro_alt;
float groundspeed;
uint8_t throttle;
int8_t throttle;
uint8_t count;
float correction;
};
@ -361,7 +360,7 @@ void Plane::Log_Write_Sonar()
voltage : rangefinder.voltage_mv()*0.001f,
baro_alt : barometer.get_altitude(),
groundspeed : gps.ground_speed(),
throttle : (uint8_t)(100 * channel_throttle->norm_output()),
throttle : (int8_t)(100 * channel_throttle->norm_output()),
count : rangefinder_state.in_range_count,
correction : rangefinder_state.correction
};
@ -483,11 +482,11 @@ static const struct LogStructure log_structure[] = {
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qcccchhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
"CTUN", "Qcccchhh", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QCfccccfIf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM,XT" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QHfffBBf", "TimeUS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" },
"SONR", "QHfffbBf", "TimeUS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "QBH", "TimeUS,ArmState,ArmChecks" },
{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),

2
ArduPlane/Plane.h
View File

@ -915,7 +915,7 @@ private:
void servo_write(uint8_t ch, uint16_t pwm);
bool should_log(uint32_t mask);
void frsky_telemetry_send(void);
uint8_t throttle_percentage(void);
int8_t throttle_percentage(void);
void change_arm_state(void);
bool disarm_motors(void);
bool arm_motors(AP_Arming::ArmingMethod method);

4
ArduPlane/system.cpp
View File

@ -753,9 +753,9 @@ void Plane::frsky_telemetry_send(void)
/*
return throttle percentage from 0 to 100
return throttle percentage from 0 to 100 for normal use and -100 to 100 when using reverse thrust
*/
uint8_t Plane::throttle_percentage(void)
int8_t Plane::throttle_percentage(void)
{
if (auto_state.vtol_mode) {
return quadplane.throttle_percentage();