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MotorsHeli: COLYAW to float

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This commit is contained in:
Randy Mackay 2015-05-08 10:49:41 +09:00
parent edfa206bb8
commit 3d9a6a69e2
2 changed files with 6 additions and 1 deletions
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3
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -144,6 +144,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @DisplayName: Collective-Yaw Mixing
// @Description: Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
// @Range: -10 10
// @Increment: 0.1
AP_GROUPINFO("COLYAW", 14, AP_MotorsHeli, _collective_yaw_effect, 0),
// @Param: GOV_SETPOINT
@ -606,6 +607,8 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
// the feed-forward is not required when the motor is shut down and not creating torque
// also not required if we are using external gyro
if ((_rotor_desired > 0) && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTOR_HELI_COLYAW_RANGE, AP_MOTOR_HELI_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);
}
}

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -59,6 +59,8 @@
// minimum outputs for direct drive motors
#define AP_MOTOR_HELI_DDTAIL_DEFAULT 500
// COLYAW parameter min and max values
#define AP_MOTOR_HELI_COLYAW_RANGE 10.0f
// main rotor speed control types (ch8 out)
#define AP_MOTORS_HELI_RSC_MODE_NONE 0 // main rotor ESC is directly connected to receiver, pilot controls ESC speed through transmitter directly
@ -275,7 +277,7 @@ private:
AP_Int16 _ext_gyro_gain; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
AP_Int8 _servo_manual; // Pass radio inputs directly to servos during set-up through mission planner
AP_Int16 _phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
AP_Int16 _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Int16 _rsc_setpoint; // rotor speed when RSC mode is set to is enabledv
AP_Int8 _rsc_mode; // Which main rotor ESC control mode is active
AP_Int8 _rsc_ramp_time; // Time in seconds for the output to the main rotor's ESC to reach full speed