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Copter: payload place requires 30% throttle reduction to release

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Peter Barker 2016-12-20 15:00:44 +11:00 committed by Randy Mackay
parent c191a44b27
commit 3551609a21
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/commands_logic.cpp
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@ -699,7 +699,7 @@ bool Copter::verify_payload_place()
{ {
const uint16_t hover_throttle_calibrate_time = 2000; // milliseconds const uint16_t hover_throttle_calibrate_time = 2000; // milliseconds
const uint16_t descend_throttle_calibrate_time = 2000; // milliseconds const uint16_t descend_throttle_calibrate_time = 2000; // milliseconds
const float hover_throttle_placed_fraction = 0.8; // i.e. if throttle is less than 80% of hover we have placed const float hover_throttle_placed_fraction = 0.7; // i.e. if throttle is less than 70% of hover we have placed
const float descent_throttle_placed_fraction = 0.9; // i.e. if throttle is less than 90% of descent throttle we have placed const float descent_throttle_placed_fraction = 0.9; // i.e. if throttle is less than 90% of descent throttle we have placed
const uint16_t placed_time = 500; // how long we have to be below a throttle threshold before considering placed const uint16_t placed_time = 500; // how long we have to be below a throttle threshold before considering placed
@ -803,6 +803,7 @@ bool Copter::verify_payload_place()
} else { } else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Gripper not valid"); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Gripper not valid");
nav_payload_place.state = PayloadPlaceStateType_Ascending_Start; nav_payload_place.state = PayloadPlaceStateType_Ascending_Start;
break;
} }
nav_payload_place.state = PayloadPlaceStateType_Releasing; nav_payload_place.state = PayloadPlaceStateType_Releasing;
// no break // no break