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APM: added ALT_CTRL_ALG parameter

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this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm

The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
This commit is contained in:
Andrew Tridgell 2012-08-28 13:15:04 +10:00
parent 16dd911547
commit 3f54b83238
6 changed files with 27 additions and 5 deletions
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4
ArduPlane/ArduPlane.pde
View File

@ -1073,7 +1073,7 @@ static void update_current_flight_mode(void)
nav_roll_cd = 0;
}
if(airspeed.use()) {
if (alt_control_airspeed()) {
calc_nav_pitch();
if (nav_pitch_cd < takeoff_pitch_cd)
nav_pitch_cd = takeoff_pitch_cd;
@ -1092,7 +1092,7 @@ static void update_current_flight_mode(void)
calc_nav_pitch();
calc_throttle();
if (!airspeed.use() || land_complete) {
if (!alt_control_airspeed() || land_complete) {
// hold pitch constant in final approach
nav_pitch_cd = g.land_pitch_cd;
}

10
ArduPlane/Attitude.pde
View File

@ -134,7 +134,7 @@ static void crash_checker()
static void calc_throttle()
{
if (!airspeed.use()) {
if (!alt_control_airspeed()) {
int16_t throttle_target = g.throttle_cruise + throttle_nudge;
// TODO: think up an elegant way to bump throttle when
@ -200,7 +200,7 @@ static void calc_nav_pitch()
{
// Calculate the Pitch of the plane
// --------------------------------
if (airspeed.use()) {
if (alt_control_airspeed()) {
nav_pitch_cd = -g.pidNavPitchAirspeed.get_pid(airspeed_error_cm);
} else {
nav_pitch_cd = g.pidNavPitchAltitude.get_pid(altitude_error_cm);
@ -470,3 +470,9 @@ static void demo_servos(byte i) {
i--;
}
}
// return true if we should use airspeed for altitude/throttle control
static bool alt_control_airspeed(void)
{
return airspeed.use() && g.alt_control_algorithm == ALT_CONTROL_DEFAULT;
}

2
ArduPlane/Parameters.h
View File

@ -88,6 +88,7 @@ public:
k_param_flybywire_airspeed_max,
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
k_param_flybywire_elev_reverse,
k_param_alt_control_algorithm,
//
// 130: Sensor parameters
@ -238,6 +239,7 @@ public:
// Estimation
//
AP_Float altitude_mix;
AP_Int8 alt_control_algorithm;
// Waypoints
//

7
ArduPlane/Parameters.pde
View File

@ -128,6 +128,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX),
// @Param: ALT_CTRL_ALG
// @DisplayName: Altitude control algorithm
// @Description: This sets what algorithm will be used for altitude control. The default is to select the algorithm based on whether airspeed is enabled. If you set it to 1, then the airspeed based algorithm won't be used for altitude control, but airspeed can be used for other flight control functions
// @Values: 0:Default Method,1:non-airspeed
// @User: Advanced
GSCALAR(alt_control_algorithm, "ALT_CTRL_ALG", ALT_CONTROL_DEFAULT),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),

7
ArduPlane/defines.h
View File

@ -255,4 +255,11 @@ enum gcs_severity {
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
// altitude control algorithms
enum {
ALT_CONTROL_DEFAULT=0,
ALT_CONTROL_NON_AIRSPEED=1
};
#endif // _DEFINES_H

2
ArduPlane/radio.pde
View File

@ -95,7 +95,7 @@ static void read_radio()
g.channel_throttle.servo_out = g.channel_throttle.control_in;
if (g.channel_throttle.servo_out > 50) {
if (airspeed.use()) {
if (alt_control_airspeed()) {
airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
} else {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5);