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Sub: Revert to 29f8ce95, prior to deadzone PR

This commit is contained in:
Jacob Walser 2016-11-17 15:00:47 -05:00 committed by Andrew Tridgell
parent e49f6fb8a6
commit 4704faf60d
6 changed files with 9 additions and 20 deletions
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5
ArduSub/Attitude.cpp
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@ -128,11 +128,6 @@ void Sub::set_throttle_takeoff()
pos_control.init_takeoff();
}
int16_t Sub::get_throttle_control_dz()
{
return (channel_throttle->pwm_to_angle() + 1000)/2;
}
// get_pilot_desired_throttle - transform pilot's throttle input to make cruise throttle mid stick
// used only for manual throttle modes
// returns throttle output 0 to 1000

1
ArduSub/Sub.h
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@ -1056,7 +1056,6 @@ private:
void auto_terrain_recover_run(void);
void translate_wpnav_rp(float &lateral_out, float &forward_out);
int16_t get_throttle_control_dz();
bool surface_init(bool ignore_flags);
void surface_run();

12
ArduSub/control_manual.cpp
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@ -27,10 +27,10 @@ void Sub::manual_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
motors.set_roll(channel_roll->norm_input_dz()*0.67f);
motors.set_pitch(channel_pitch->norm_input_dz()*0.67f);
motors.set_yaw(channel_yaw->norm_input_dz()*0.67f);
motors.set_throttle(channel_throttle->norm_input_dz());
motors.set_forward(channel_forward->norm_input_dz()*0.67f);
motors.set_lateral(channel_lateral->norm_input_dz()*0.67f);
motors.set_roll(channel_roll->norm_input()*0.67f);
motors.set_pitch(channel_pitch->norm_input()*0.67f);
motors.set_yaw(channel_yaw->norm_input()*0.67f);
motors.set_throttle(channel_throttle->norm_input());
motors.set_forward(channel_forward->norm_input()*0.67f);
motors.set_lateral(channel_lateral->norm_input()*0.67f);
}

4
ArduSub/control_surface.cpp
View File

@ -59,6 +59,6 @@ void Sub::surface_run()
pos_control.update_z_controller();
// pilot has control for repositioning
motors.set_forward(channel_forward->norm_input_dz());
motors.set_lateral(channel_lateral->norm_input_dz());
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
}

2
ArduSub/defines.h
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@ -507,5 +507,3 @@ enum ThrowModeState {
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
#define JOYSTICK_INITIAL_GAIN 0.5

5
ArduSub/joystick.cpp
View File

@ -21,7 +21,7 @@ namespace {
int16_t video_switch = 1100;
int16_t x_last, y_last, z_last;
uint16_t buttons_prev;
float gain = JOYSTICK_INITIAL_GAIN;
float gain = 0.5;
float maxGain = 1.0;
float minGain = 0.25;
int8_t numGainSettings = 4;
@ -203,21 +203,18 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
} else {
gain = 1.0f;
}
RC_Channel::scale_dead_zones(gain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",gain*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
if ( !held ) {
gain = constrain_float(gain + (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
RC_Channel::scale_dead_zones(gain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",gain*100);
}
break;
case JSButton::button_function_t::k_gain_dec:
if ( !held ) {
gain = constrain_float(gain - (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
RC_Channel::scale_dead_zones(gain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",gain*100);
}
break;