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removed throttle_slew - Just wasn't working well enough and added too much complexity 

moved reading sonar to the 50hz loop so the Mode filter could do it's thing without causing so much latency

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3094 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-14 02:30:37 +00:00
parent bfa7cc2cb5
commit 312c0e6b3b
3 changed files with 26 additions and 16 deletions
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36
ArduCopterMega/ArduCopterMega.pde
View File

@ -398,7 +398,7 @@ static int landing_distance; // meters;
static long old_alt; // used for managing altitude rates
static int velocity_land;
static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
static int throttle_slew; // used to smooth throttle tranistions
//static int throttle_slew; // used to smooth throttle tranistions
// Loiter management
// -----------------
@ -782,6 +782,12 @@ static void fifty_hz_loop()
// ------------------------------
throttle_integrator += g.rc_3.servo_out;
// Read Sonar
// ----------
if(g.sonar_enabled){
sonar_alt = sonar.read();
}
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED
// HIL for a copter needs very fast update of the servo values
hil.send_message(MSG_RADIO_OUT);
@ -790,12 +796,12 @@ static void fifty_hz_loop()
// use Yaw to find our bearing error
calc_bearing_error();
if (throttle_slew < 0)
throttle_slew++;
else if (throttle_slew > 0)
throttle_slew--;
//if (throttle_slew < 0)
// throttle_slew++;
//else if (throttle_slew > 0)
// throttle_slew--;
throttle_slew = min((800 - g.rc_3.control_in), throttle_slew);
//throttle_slew = min((800 - g.rc_3.control_in), throttle_slew);
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
@ -1360,6 +1366,10 @@ static void update_navigation()
// rotate that pitch to the copter frame of reference
calc_nav_output();
//if(wp_distance < 4 )
// set_mode(LOITER);
break;
// switch passthrough to LOITER
@ -1443,7 +1453,6 @@ static void update_alt()
// read barometer
baro_alt = read_barometer();
sonar_alt = sonar.read();
if(baro_alt < 1000){
scale = (sonar_alt - 400) / 200;
@ -1585,15 +1594,16 @@ static void auto_throttle()
nav_throttle = get_nav_throttle(altitude_error);
// apply throttle control
g.rc_3.servo_out = get_throttle(nav_throttle - throttle_slew);
//g.rc_3.servo_out = get_throttle(nav_throttle - throttle_slew);
g.rc_3.servo_out = get_throttle(nav_throttle);
if(motor_armed){
//if(motor_armed){
// remember throttle offset
throttle_slew = g.rc_3.servo_out - g.rc_3.control_in;
}else{
//throttle_slew = g.rc_3.servo_out - g.rc_3.control_in;
//}else{
// don't allow
throttle_slew = 0;
}
//throttle_slew = 0;
//}
// clear the new data flag
invalid_throttle = false;

2
ArduCopterMega/Attitude.pde
View File

@ -150,7 +150,7 @@ static int
get_throttle(int throttle_input)
{
throttle_input = (float)throttle_input * angle_boost();
throttle_input = max(throttle_slew, throttle_input);
//throttle_input = max(throttle_slew, throttle_input);
return max(throttle_input, 0);
}

4
ArduCopterMega/motors.pde
View File

@ -33,7 +33,7 @@ static void arm_motors()
// Clear throttle slew
// -------------------
throttle_slew = 0;
//throttle_slew = 0;
// Remember Orientation
// --------------------
@ -83,7 +83,7 @@ static void arm_motors()
// Clear throttle slew
// -------------------
throttle_slew = 0;
//throttle_slew = 0;
arming_counter++;