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Reset_hold_I no longer clears throttle_I value for return to alt hold 

Removed Baro Init in Auto Mode.
increased Rate Error limit on Alt Hold
Slightly decreased alt P to reduce pulsing motors
Added rate limit for nav so we can reduce initial pitch to target.
Using MINIMUM_THROTTLE value to test for Reseting Alt Hold now. 
Fixed extra Log formatting statement in CTUN.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3294 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-09-07 16:43:06 +00:00
parent 1853c8ae0a
commit 3b622dc43c
6 changed files with 9 additions and 16 deletions
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7
ArduCopterMega/Attitude.pde
View File

@ -99,7 +99,7 @@ get_nav_throttle(long z_error, int target_speed)
target_speed = z_error * scaler;
rate_error = target_speed - altitude_rate;
rate_error = constrain(rate_error, -90, 90);
rate_error = constrain(rate_error, -110, 110);
throttle = g.pi_throttle.get_pi(rate_error, delta_ms_medium_loop);
return g.throttle_cruise + rate_error;
@ -151,9 +151,7 @@ static void reset_hold_I(void)
{
g.pi_loiter_lat.reset_I();
g.pi_loiter_lat.reset_I();
g.pi_crosstrack.reset_I();
g.pi_throttle.reset_I();
}
// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
@ -174,7 +172,6 @@ throttle control
static int get_throttle(int throttle_input)
{
throttle_input = (float)throttle_input * angle_boost();
//throttle_input = max(throttle_slew, throttle_input);
return max(throttle_input, 0);
}
@ -216,7 +213,7 @@ static int alt_hold_velocity()
static float angle_boost()
{
float temp = cos_pitch_x * cos_roll_x;
temp = 2.0 - constrain(temp, .5, 1.0);
temp = 2.0 - constrain(temp, .6, 1.0);
return temp;
}

2
ArduCopterMega/Log.pde
View File

@ -656,7 +656,6 @@ static void Log_Read_Control_Tuning()
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt());
}
@ -706,6 +705,7 @@ static void Log_Read_Performance()
DataFlash.ReadByte(),
DataFlash.ReadByte(),
DataFlash.ReadByte(),
DataFlash.ReadByte(),
DataFlash.ReadByte(),

7
ArduCopterMega/commands.pde
View File

@ -22,13 +22,6 @@ static void clear_command_queue(){
static void init_auto()
{
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground -
// this resets Baro for more accuracy
//-----------------------------------
init_barometer();
#endif
//if (g.waypoint_index == g.waypoint_total) {
// Serial.println("ia_f");
// do_RTL();

4
ArduCopterMega/config.h
View File

@ -513,10 +513,10 @@
// Throttle control gains
//
#ifndef THROTTLE_P
# define THROTTLE_P 0.4 // trying a lower val
# define THROTTLE_P 0.35 //
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.10 //with 4m error, 12.5s windup
# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
#endif
//#ifndef THROTTLE_D
//# define THROTTLE_D 0.6 // upped with filter

2
ArduCopterMega/navigation.pde
View File

@ -104,6 +104,7 @@ static void calc_nav_rate(int x_error, int y_error, int max_speed, int min_speed
// calc the cos of the error to tell how fast we are moving towards the target in cm
y_actual_speed = (float)g_gps->ground_speed * cos(radians((float)g_gps->ground_course/100.0));
y_rate_error = y_target_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum
nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
//Serial.printf("yr: %d, nav_lat: %d, int:%d \n",y_rate_error, nav_lat, g.pi_nav_lat.get_integrator());
@ -111,6 +112,7 @@ static void calc_nav_rate(int x_error, int y_error, int max_speed, int min_speed
// calc the sin of the error to tell how fast we are moving laterally to the target in cm
x_actual_speed = (float)g_gps->ground_speed * sin(radians((float)g_gps->ground_course/100.0));
x_rate_error = x_target_speed - x_actual_speed;
x_rate_error = constrain(x_rate_error, -250, 250);
nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
}

3
ArduCopterMega/system.pde
View File

@ -392,6 +392,7 @@ static void set_mode(byte mode)
yaw_mode = ALT_HOLD_YAW;
roll_pitch_mode = ALT_HOLD_RP;
throttle_mode = ALT_HOLD_THR;
reset_hold_I();
init_throttle_cruise();
next_WP.alt = current_loc.alt;
@ -538,7 +539,7 @@ static void
init_throttle_cruise()
{
// are we moving from manual throttle to auto_throttle?
if((old_control_mode <= SIMPLE) && (g.rc_3.control_in > 150)){
if((old_control_mode <= SIMPLE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
g.pi_throttle.reset_I();
g.throttle_cruise.set_and_save(g.rc_3.control_in);
}