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TradHeli: Change behavior of Acro and Stabilize modes when disarmed. Servos should move realistically for testing when disarmed.

This commit is contained in:
Robert Lefebvre 2014-05-11 12:21:27 -04:00 committed by Randy Mackay
parent 5b13b2b3da
commit 4b5167e529
2 changed files with 33 additions and 7 deletions
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21
ArduCopter/heli_control_acro.pde
View File

@ -16,14 +16,25 @@ static bool heli_acro_init(bool ignore_checks)
static void heli_acro_run()
{
float target_roll, target_pitch, target_yaw;
// if not armed or main rotor not up to full speed clear stabilized rate errors
// unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed() || !motors.motor_runup_complete()) {
attitude_control.relax_bf_rate_controller();
static bool init_targets_on_arming;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && init_targets_on_arming) {
init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
}
// To-Do: add support for flybarred helis
// convert the input to the desired body frame rate

19
ArduCopter/heli_control_stabilize.pde
View File

@ -20,9 +20,24 @@ static void heli_stabilize_run()
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
static bool init_targets_on_arming;
// To-Do: should tradheli reset roll, pitch, yaw targets when motors are not runup?
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && init_targets_on_arming) {
init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
}
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();