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Plane: setup better defaults for tailsitters

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This commit is contained in:
Andrew Tridgell 2017-04-04 08:18:30 +10:00
parent fafd940dd5
commit 36d8f730e1
2 changed files with 44 additions and 10 deletions
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50
ArduPlane/quadplane.cpp
View File

@ -370,10 +370,15 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
static const struct { struct defaults_struct {
const char *name; const char *name;
float value; float value;
} defaults_table[] = { };
/*
defaults for all quadplanes
*/
static const struct defaults_struct defaults_table[] = {
{ "Q_A_RAT_RLL_P", 0.25 }, { "Q_A_RAT_RLL_P", 0.25 },
{ "Q_A_RAT_RLL_I", 0.25 }, { "Q_A_RAT_RLL_I", 0.25 },
{ "Q_A_RAT_RLL_FILT", 10.0 }, { "Q_A_RAT_RLL_FILT", 10.0 },
@ -383,6 +388,19 @@ static const struct {
{ "Q_M_SPOOL_TIME", 0.25 }, { "Q_M_SPOOL_TIME", 0.25 },
}; };
/*
extra defaults for tailsitters
*/
static const struct defaults_struct defaults_table_tailsitter[] = {
{ "KFF_RDDRMIX", 0.02 },
{ "Q_A_RAT_PIT_FF", 0.2 },
{ "Q_A_RAT_YAW_FF", 0.2 },
{ "Q_A_RAT_YAW_I", 0.18 },
{ "LIM_PITCH_MAX", 3000 },
{ "LIM_PITCH_MIN", -3000 },
{ "MIXING_GAIN", 1.0 },
};
QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) : QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
ahrs(_ahrs) ahrs(_ahrs)
{ {
@ -567,19 +585,33 @@ failed:
return false; return false;
} }
/*
setup default parameters from a defaults_struct table
*/
void QuadPlane::setup_defaults_table(const struct defaults_struct *table, uint8_t count)
{
for (uint8_t i=0; i<count; i++) {
if (!AP_Param::set_default_by_name(table[i].name, table[i].value)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane setup failure for %s",
table[i].name);
AP_HAL::panic("quadplane bad default %s", table[i].name);
}
}
}
/* /*
setup default parameters from defaults_table setup default parameters from defaults_table
*/ */
void QuadPlane::setup_defaults(void) void QuadPlane::setup_defaults(void)
{ {
for (uint8_t i=0; i<ARRAY_SIZE(defaults_table); i++) { setup_defaults_table(defaults_table, ARRAY_SIZE(defaults_table));
if (!AP_Param::set_default_by_name(defaults_table[i].name, defaults_table[i].value)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane setup failure for %s",
defaults_table[i].name);
AP_HAL::panic("quadplane bad default %s", defaults_table[i].name);
}
}
enum AP_Motors::motor_frame_class motor_class;
motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
if (motor_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
setup_defaults_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
}
// reset ESC calibration // reset ESC calibration
if (esc_calibration != 0) { if (esc_calibration != 0) {
esc_calibration.set_and_save(0); esc_calibration.set_and_save(0);

4
ArduPlane/quadplane.h
View File

@ -28,7 +28,6 @@ public:
void control_auto(const Location &loc); void control_auto(const Location &loc);
bool init_mode(void); bool init_mode(void);
bool setup(void); bool setup(void);
void setup_defaults(void);
void vtol_position_controller(void); void vtol_position_controller(void);
void setup_target_position(void); void setup_target_position(void);
@ -196,6 +195,9 @@ private:
void check_throttle_suppression(void); void check_throttle_suppression(void);
void run_z_controller(void); void run_z_controller(void);
void setup_defaults(void);
void setup_defaults_table(const struct defaults_struct *defaults, uint8_t count);
AP_Int16 transition_time_ms; AP_Int16 transition_time_ms;