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This allows users to test the Auto_throttle hold or cruise value

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This commit is contained in:
Jason Short 2012-01-14 11:43:52 -08:00
parent 46ef246e67
commit 3ebed0b278
4 changed files with 19 additions and 3 deletions
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6
ArduCopter/APM_Config.h
View File

@ -64,4 +64,10 @@
#define USERHOOK_VARIABLES "UserVariables.h"
// to enable, set to 1
// to disable, set to 0
#define AUTO_THROTTLE_HOLD 1
//# define LOGGING_ENABLED DISABLED

12
ArduCopter/ArduCopter.pde
View File

@ -1494,6 +1494,10 @@ void update_throttle_mode(void)
{
int16_t throttle_out;
#if AUTO_THROTTLE_HOLD != 0
static float throttle_avg = THROTTLE_CRUISE;
#endif
switch(throttle_mode){
case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0){
@ -1508,11 +1512,13 @@ void update_throttle_mode(void)
}
#endif
#if AUTO_THROTTLE_HOLD != 0
// calc average throttle
if ((g.rc_3.control_in > MINIMUM_THROTTLE)){
//throttle_avg = throttle_avg * .98 + rc_3.control_in * .02;
//g.throttle_cruise = throttle_avg;
if ((g.rc_3.control_in > MINIMUM_THROTTLE) && abs(climb_rate) < 60){
throttle_avg = throttle_avg * .98 + (float)g.rc_3.control_in * .02;
g.throttle_cruise = throttle_avg;
}
#endif
// Code to manage the Copter state
if ((millis() - takeoff_timer) > 5000){

2
ArduCopter/motors.pde
View File

@ -121,6 +121,8 @@ static void init_disarm_motors()
motor_armed = false;
compass.save_offsets();
g.throttle_cruise.save();
// we are not in the air
takeoff_complete = false;

2
ArduCopter/system.pde
View File

@ -616,12 +616,14 @@ static void update_throttle_cruise()
static void
init_throttle_cruise()
{
#if AUTO_THROTTLE_HOLD == 0
// are we moving from manual throttle to auto_throttle?
if((old_control_mode <= STABILIZE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
g.pi_throttle.reset_I();
g.pi_alt_hold.reset_I();
g.throttle_cruise.set_and_save(g.rc_3.control_in);
}
#endif
}
#if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED