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Copter: set tradheli rotor speed using 0 to 1 range

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This commit is contained in:
Randy Mackay 2016-02-03 18:02:21 +09:00
parent 7fc37e7801
commit 3eaf7a4582
2 changed files with 6 additions and 9 deletions
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2
ArduCopter/Copter.h
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@ -545,8 +545,6 @@ private:
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart. // governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4}; ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4};
int16_t rsc_control_deglitched;
// Tradheli flags // Tradheli flags
struct { struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms) uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)

13
ArduCopter/heli.cpp
View File

@ -93,7 +93,7 @@ void Copter::update_heli_control_dynamics(void)
// Use Leaky_I if we are not moving fast // Use Leaky_I if we are not moving fast
attitude_control.use_leaky_i(!heli_flags.dynamic_flight); attitude_control.use_leaky_i(!heli_flags.dynamic_flight);
if (ap.land_complete || (motors.get_desired_rotor_speed() == 0)){ if (ap.land_complete || (is_zero(motors.get_desired_rotor_speed()))){
// if we are landed or there is no rotor power demanded, decrement slew scalar // if we are landed or there is no rotor power demanded, decrement slew scalar
hover_roll_trim_scalar_slew--; hover_roll_trim_scalar_slew--;
} else { } else {
@ -156,18 +156,17 @@ void Copter::heli_update_rotor_speed_targets()
// get rotor control method // get rotor control method
uint8_t rsc_control_mode = motors.get_rsc_mode(); uint8_t rsc_control_mode = motors.get_rsc_mode();
rsc_control_deglitched = rotor_speed_deglitch_filter.apply(g.rc_8.control_in); float rsc_control_deglitched = rotor_speed_deglitch_filter.apply((float)g.rc_8.control_in/1000.0f);
switch (rsc_control_mode) { switch (rsc_control_mode) {
case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH: case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
// pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom // pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom
if (rsc_control_deglitched > 10) { if (rsc_control_deglitched > 0.01f) {
motors.set_interlock(true); motors.set_interlock(true);
motors.set_desired_rotor_speed(rsc_control_deglitched); motors.set_desired_rotor_speed(rsc_control_deglitched);
} else { } else {
motors.set_interlock(false); motors.set_interlock(false);
motors.set_desired_rotor_speed(0); motors.set_desired_rotor_speed(0.0f);
} }
break; break;
case ROTOR_CONTROL_MODE_SPEED_SETPOINT: case ROTOR_CONTROL_MODE_SPEED_SETPOINT:
@ -175,12 +174,12 @@ void Copter::heli_update_rotor_speed_targets()
case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT: case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT:
// pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode // pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode
// other than being used to create a crude estimate of rotor speed // other than being used to create a crude estimate of rotor speed
if (rsc_control_deglitched > 0) { if (rsc_control_deglitched > 0.0f) {
motors.set_interlock(true); motors.set_interlock(true);
motors.set_desired_rotor_speed(motors.get_rsc_setpoint()); motors.set_desired_rotor_speed(motors.get_rsc_setpoint());
}else{ }else{
motors.set_interlock(false); motors.set_interlock(false);
motors.set_desired_rotor_speed(0); motors.set_desired_rotor_speed(0.0f);
} }
break; break;
} }