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TradHeli: add get_pilot_desired_collective

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Perhaps this should be moved to the main code's heli.pde sketch
This commit is contained in:
Randy Mackay 2013-11-06 14:50:42 +09:00
parent eaef5315bf
commit 1f65bb537f
2 changed files with 19 additions and 9 deletions
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18
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -317,6 +317,21 @@ bool AP_MotorsHeli::allow_arming()
return true;
}
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
int16_t AP_MotorsHeli::get_pilot_desired_collective(int16_t control_in)
{
// return immediately if reduce collective range for manual flight has not been configured
if (_manual_collective_min == 0 && _manual_collective_max == 100) {
return control_in;
}
// scale
int16_t collective_out;
collective_out = _manual_collective_min*10 + control_in * _collective_scalar_manual;
collective_out = constrain_int16(collective_out, 0, 1000);
return collective_out;
}
//
// protected methods
//
@ -497,9 +512,6 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
// scale collective pitch
_collective_out = constrain_int16(coll_in, 0, 1000);
if (_heliflags.manual_collective){
_collective_out = _collective_out * _collective_scalar_manual + _manual_collective_min*10;
}
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// rudder feed forward based on collective

10
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -40,7 +40,7 @@
#define AP_MOTORS_HELI_COLLECTIVE_MAX 1750
#define AP_MOTORS_HELI_COLLECTIVE_MID 1500
// swash min and max position (expressed as percentage) while in stabilize mode
// swash min and max position while in stabilize mode (as a number from 0 ~ 1000)
#define AP_MOTORS_HELI_MANUAL_COLLECTIVE_MIN 0
#define AP_MOTORS_HELI_MANUAL_COLLECTIVE_MAX 100
@ -101,7 +101,6 @@ public:
// initialise flags
_heliflags.swash_initialised = 0;
_heliflags.manual_collective = 0;
_heliflags.landing_collective = 0;
_heliflags.motor_runup_complete = 0;
};
@ -139,15 +138,15 @@ public:
// has_flybar - returns true if we have a mechical flybar
bool has_flybar() { return _flybar_mode; }
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
int16_t get_pilot_desired_collective(int16_t control_in);
// get_collective_mid - returns collective mid position as a number from 0 ~ 1000
int16_t get_collective_mid() { return _collective_mid; }
// get_collective_out - returns collective position from last output as a number from 0 ~ 1000
int16_t get_collective_out() { return _collective_out; }
// set_collective_for_manual_control - limits collective to reduced range for stabilize (i.e. manual) flying
void set_collective_for_manual_control(bool true_false) { _heliflags.manual_collective = true_false; }
// get min/max collective when controlled manually as a number from 0 ~ 1000 (note that parameter is stored as percentage)
int16_t get_manual_collective_min() { return _manual_collective_min*10; }
int16_t get_manual_collective_max() { return _manual_collective_max*10; }
@ -194,7 +193,6 @@ private:
// flags bitmask
struct heliflags_type {
uint8_t swash_initialised : 1; // true if swash has been initialised
uint8_t manual_collective : 1; // true if pilot is manually controlling the collective. If true then we reduce the swash range
uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum
uint8_t motor_runup_complete : 1; // true if the rotors have had enough time to wind up
} _heliflags;