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AP_Motors: added MOT_SPOOL_TIME 

this allows for quadplanes to have faster spoolup, which can help with
transitions
This commit is contained in:
Andrew Tridgell 2017-02-13 21:35:30 +11:00 committed by Randy Mackay
parent 18b5446765
commit 2187417d74
2 changed files with 21 additions and 4 deletions
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20
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -154,6 +154,15 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("YAW_SV_ANGLE", 35, AP_MotorsMulticopter, _yaw_servo_angle_max_deg, 30), AP_GROUPINFO("YAW_SV_ANGLE", 35, AP_MotorsMulticopter, _yaw_servo_angle_max_deg, 30),
// @Param: SPOOL_TIME
// @DisplayName: Spool up time
// @Description: Time in seconds to spool up the motors from zero to min throttle.
// @Range: 0 2
// @Units: Seconds
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("SPOOL_TIME", 36, AP_MotorsMulticopter, _spool_up_time, AP_MOTORS_SPOOL_UP_TIME_DEFAULT),
AP_GROUPEND AP_GROUPEND
}; };
@ -415,6 +424,11 @@ void AP_MotorsMulticopter::output_logic()
_spool_mode = SHUT_DOWN; _spool_mode = SHUT_DOWN;
} }
if (_spool_up_time < 0.05) {
// prevent float exception
_spool_up_time.set(0.05);
}
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
// Motors should be stationary. // Motors should be stationary.
@ -448,7 +462,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = true; limit.throttle_upper = true;
// set and increment ramp variables // set and increment ramp variables
float spool_step = 1.0f/(AP_MOTORS_SPOOL_UP_TIME*_loop_rate); float spool_step = 1.0f/(_spool_up_time*_loop_rate);
if (_spool_desired == DESIRED_SHUT_DOWN){ if (_spool_desired == DESIRED_SHUT_DOWN){
_spin_up_ratio -= spool_step; _spin_up_ratio -= spool_step;
// constrain ramp value and update mode // constrain ramp value and update mode
@ -491,7 +505,7 @@ void AP_MotorsMulticopter::output_logic()
// set and increment ramp variables // set and increment ramp variables
_spin_up_ratio = 1.0f; _spin_up_ratio = 1.0f;
_throttle_thrust_max += 1.0f/(AP_MOTORS_SPOOL_UP_TIME*_loop_rate); _throttle_thrust_max += 1.0f/(_spool_up_time*_loop_rate);
// constrain ramp value and update mode // constrain ramp value and update mode
if (_throttle_thrust_max >= MIN(get_throttle(), get_current_limit_max_throttle())) { if (_throttle_thrust_max >= MIN(get_throttle(), get_current_limit_max_throttle())) {
@ -541,7 +555,7 @@ void AP_MotorsMulticopter::output_logic()
// set and increment ramp variables // set and increment ramp variables
_spin_up_ratio = 1.0f; _spin_up_ratio = 1.0f;
_throttle_thrust_max -= 1.0f/(AP_MOTORS_SPOOL_UP_TIME*_loop_rate); _throttle_thrust_max -= 1.0f/(_spool_up_time*_loop_rate);
// constrain ramp value and update mode // constrain ramp value and update mode
if (_throttle_thrust_max <= 0.0f){ if (_throttle_thrust_max <= 0.0f){

5
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -27,7 +27,7 @@
#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz #define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz
// spool definition // spool definition
#define AP_MOTORS_SPOOL_UP_TIME 0.5f // time (in seconds) for throttle to increase from zero to min throttle, and min throttle to full throttle. #define AP_MOTORS_SPOOL_UP_TIME_DEFAULT 0.5f // time (in seconds) for throttle to increase from zero to min throttle, and min throttle to full throttle.
/// @class AP_MotorsMulticopter /// @class AP_MotorsMulticopter
class AP_MotorsMulticopter : public AP_Motors { class AP_MotorsMulticopter : public AP_Motors {
@ -166,6 +166,9 @@ protected:
// Maximum lean angle of yaw servo in degrees. This is specific to tricopter // Maximum lean angle of yaw servo in degrees. This is specific to tricopter
AP_Float _yaw_servo_angle_max_deg; AP_Float _yaw_servo_angle_max_deg;
// time to spool motors to min throttle
AP_Float _spool_up_time;
// motor output variables // motor output variables
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled
int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN) int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN)