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Copter: remove unused throttle modes 

These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
This commit is contained in:
Randy Mackay 2013-04-17 22:14:22 +09:00
parent 02bd24cf57
commit 2b4a7d60a9
2 changed files with 3 additions and 76 deletions
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69
ArduCopter/ArduCopter.pde
View File

@ -1762,24 +1762,6 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
throttle_initialised = true;
break;
case THROTTLE_ACCELERATION: // pilot inputs the desired acceleration
if( g.throttle_accel_enabled ) { // this throttle mode requires use of the accel based throttle controller
altitude_error = 0; // clear altitude error reported to GCS
throttle_initialised = true;
}
break;
case THROTTLE_RATE:
altitude_error = 0; // clear altitude error reported to GCS
throttle_initialised = true;
break;
case THROTTLE_STABILIZED_RATE:
case THROTTLE_DIRECT_ALT:
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
throttle_initialised = true;
break;
case THROTTLE_HOLD:
case THROTTLE_AUTO:
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
@ -1898,57 +1880,6 @@ void update_throttle_mode(void)
set_target_alt_for_reporting(0);
break;
case THROTTLE_ACCELERATION:
// pilot inputs the desired acceleration
if(g.rc_3.control_in <= 0){
set_throttle_out(0, false);
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
}else{
int16_t desired_acceleration = get_pilot_desired_acceleration(g.rc_3.control_in);
set_throttle_accel_target(desired_acceleration);
}
set_target_alt_for_reporting(0);
break;
case THROTTLE_RATE:
// pilot inputs the desired climb rate. Note this is the unstabilized rate controller
if(g.rc_3.control_in <= 0){
set_throttle_out(0, false);
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
}else{
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
get_throttle_rate(pilot_climb_rate);
}
set_target_alt_for_reporting(0);
break;
case THROTTLE_STABILIZED_RATE:
// pilot inputs the desired climb rate. Note this is the stabilized rate controller
if(g.rc_3.control_in <= 0){
set_throttle_out(0, false);
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
altitude_error = 0; // clear altitude error reported to GCS - normally underlying alt hold controller updates altitude error reported to GCS
set_target_alt_for_reporting(0);
}else{
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
get_throttle_rate_stabilized(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}
break;
case THROTTLE_DIRECT_ALT:
// pilot inputs a desired altitude from 0 ~ 10 meters
if(g.rc_3.control_in <= 0){
set_throttle_out(0, false);
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
altitude_error = 0; // clear altitude error reported to GCS - normally underlying alt hold controller updates altitude error reported to GCS
set_target_alt_for_reporting(0);
}else{
int32_t desired_alt = get_pilot_desired_direct_alt(g.rc_3.control_in);
get_throttle_althold_with_slew(desired_alt, g.auto_velocity_z_min, g.auto_velocity_z_max);
set_target_alt_for_reporting(desired_alt);
}
break;
case THROTTLE_HOLD:
// alt hold plus pilot input of climb rate
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);

10
ArduCopter/defines.h
View File

@ -35,13 +35,9 @@
#define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors
#define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation
#define THROTTLE_ACCELERATION 2 // pilot inputs the desired acceleration
#define THROTTLE_RATE 3 // pilot inputs the desired climb rate. Note: this uses the unstabilized rate controller
#define THROTTLE_STABILIZED_RATE 4 // pilot inputs the desired climb rate. Uses stabilized rate controller
#define THROTTLE_DIRECT_ALT 5 // pilot inputs a desired altitude from 0 ~ 10 meters
#define THROTTLE_HOLD 6 // alt hold plus pilot input of climb rate
#define THROTTLE_AUTO 7 // auto pilot altitude controller with target altitude held in next_WP.alt
#define THROTTLE_LAND 8 // landing throttle controller
#define THROTTLE_HOLD 2 // alt hold plus pilot input of climb rate
#define THROTTLE_AUTO 3 // auto pilot altitude controller with target altitude held in next_WP.alt
#define THROTTLE_LAND 4 // landing throttle controller
// sonar - for use with CONFIG_SONAR_SOURCE