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Plane: make throttle signed (pos and neg)

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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
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2
ArduPlane/Attitude.cpp
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@ -1110,7 +1110,7 @@ void Plane::demo_servos(uint8_t i)
*/ */
void Plane::adjust_nav_pitch_throttle(void) 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) { if (throttle < aparm.throttle_cruise && flight_stage != AP_SpdHgtControl::FLIGHT_VTOL) {
float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise; float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
nav_pitch_cd -= g.stab_pitch_down * 100.0f * p; nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;

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

2
ArduPlane/Plane.h
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@ -915,7 +915,7 @@ private:
void servo_write(uint8_t ch, uint16_t pwm); void servo_write(uint8_t ch, uint16_t pwm);
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void frsky_telemetry_send(void); void frsky_telemetry_send(void);
uint8_t throttle_percentage(void); int8_t throttle_percentage(void);
void change_arm_state(void); void change_arm_state(void);
bool disarm_motors(void); bool disarm_motors(void);
bool arm_motors(AP_Arming::ArmingMethod method); 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) { if (auto_state.vtol_mode) {
return quadplane.throttle_percentage(); return quadplane.throttle_percentage();