Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 00:58:37 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: quadplane sets motors desired spool state

Browse Source
This commit is contained in:
Randy Mackay 2016-02-04 13:03:39 +09:00
parent 0abea7af68
commit 39f795d9fd
1 changed files with 14 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduPlane/quadplane.cpp
View File

@ -495,8 +495,10 @@ void QuadPlane::hold_stabilize(float throttle_in)
smoothing_gain); smoothing_gain);
if (throttle_in <= 0) { if (throttle_in <= 0) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0); attitude_control->set_throttle_out_unstabilized(0, true, 0);
} else { } else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
attitude_control->set_throttle_out(throttle_in, true, 0); attitude_control->set_throttle_out(throttle_in, true, 0);
} }
} }
@ -528,6 +530,9 @@ void QuadPlane::init_hover(void)
*/ */
void QuadPlane::hold_hover(float target_climb_rate) void QuadPlane::hold_hover(float target_climb_rate)
{ {
// motors use full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speeds and acceleration // initialize vertical speeds and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_accel_z(pilot_accel_z);
@ -550,6 +555,7 @@ void QuadPlane::hold_hover(float target_climb_rate)
void QuadPlane::control_hover(void) void QuadPlane::control_hover(void)
{ {
if (throttle_wait) { if (throttle_wait) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0); attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0); pos_control->relax_alt_hold_controllers(0);
} else { } else {
@ -616,6 +622,7 @@ bool QuadPlane::should_relax(void)
void QuadPlane::control_loiter() void QuadPlane::control_loiter()
{ {
if (throttle_wait) { if (throttle_wait) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0); attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0); pos_control->relax_alt_hold_controllers(0);
wp_nav->init_loiter_target(); wp_nav->init_loiter_target();
@ -631,7 +638,10 @@ void QuadPlane::control_loiter()
wp_nav->init_loiter_target(); wp_nav->init_loiter_target();
} }
last_loiter_ms = millis(); last_loiter_ms = millis();
// motors use full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speed and acceleration // initialize vertical speed and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_accel_z(pilot_accel_z);
@ -791,7 +801,8 @@ void QuadPlane::update_transition(void)
plane.control_mode == ACRO || plane.control_mode == ACRO ||
plane.control_mode == TRAINING) { plane.control_mode == TRAINING) {
// in manual modes quad motors are always off // in manual modes quad motors are always off
motors->output_min(); motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->output();
transition_state = TRANSITION_DONE; transition_state = TRANSITION_DONE;
return; return;
} }
@ -861,7 +872,7 @@ void QuadPlane::update_transition(void)
} }
case TRANSITION_DONE: case TRANSITION_DONE:
motors->output_min(); motors->output();
break; break;
} }
} }
@ -1216,7 +1227,6 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
if (!setup()) { if (!setup()) {
return false; return false;
} }
motors->slow_start(true);
pid_rate_roll.reset_I(); pid_rate_roll.reset_I();
pid_rate_pitch.reset_I(); pid_rate_pitch.reset_I();
pid_rate_yaw.reset_I(); pid_rate_yaw.reset_I();