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Copter: heli: Update swashplate behavior

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change swashplate behavior on ground in Acro, Stabilize, and AltHold
flight modes. See discussion here:

https://discuss.ardupilot.org/t/tradheli-swashplate-behavior-while-on-the-ground-and-potential-fix-to-issue-5396/22463/18
This commit is contained in:
bnsgeyer 2017-10-26 18:53:49 -04:00 committed by Randy Mackay
parent aec4045f91
commit 3b2c933306
3 changed files with 26 additions and 6 deletions
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20
ArduCopter/control_althold.cpp
View File

@ -74,18 +74,24 @@ void Copter::althold_run()
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN); motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// force descent rate and call position controller // force descent rate and call position controller
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false); pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
heli_flags.init_targets_on_arming=true;
#else #else
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
#endif #endif
pos_control->update_z_controller(); pos_control->update_z_controller();
break; break;
case AltHold_Takeoff: case AltHold_Takeoff:
#if FRAME_CONFIG == HELI_FRAME
if (heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
}
#endif
// set motors to full range // set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
@ -121,8 +127,18 @@ void Copter::althold_run()
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
} }
#if FRAME_CONFIG == HELI_FRAME
if (heli_flags.init_targets_on_arming) {
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false;
}
}
#else
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_yaw_target_to_current_heading();
#endif
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller(); pos_control->update_z_controller();

8
ArduCopter/heli_control_acro.cpp
View File

@ -35,12 +35,14 @@ void Copter::heli_acro_run()
if(!motors->armed()) { if(!motors->armed()) {
heli_flags.init_targets_on_arming=true; heli_flags.init_targets_on_arming=true;
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
} }
if(motors->armed() && heli_flags.init_targets_on_arming) { if(motors->armed() && heli_flags.init_targets_on_arming) {
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_attitude_target_to_current_attitude();
if (motors->rotor_speed_above_critical()) { attitude_control->reset_rate_controller_I_terms();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false; heli_flags.init_targets_on_arming=false;
} }
} }

4
ArduCopter/heli_control_stabilize.cpp
View File

@ -35,11 +35,13 @@ void Copter::heli_stabilize_run()
if(!motors->armed()) { if(!motors->armed()) {
heli_flags.init_targets_on_arming=true; heli_flags.init_targets_on_arming=true;
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
} }
if(motors->armed() && heli_flags.init_targets_on_arming) { if(motors->armed() && heli_flags.init_targets_on_arming) {
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_yaw_target_to_current_heading();
if (motors->rotor_speed_above_critical()) { attitude_control->reset_rate_controller_I_terms();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false; heli_flags.init_targets_on_arming=false;
} }
} }