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Copter: Drift throttle assist range increased 

Throttle assist is applied from 213 ~ 787
Deadband and constraint added
This commit is contained in:
Jason Short 2014-03-31 13:05:43 +09:00 committed by Randy Mackay
parent bccf1de563
commit 50dcbe6549
1 changed files with 11 additions and 4 deletions
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15
ArduCopter/control_drift.pde
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@ -9,7 +9,11 @@
#endif
#ifndef DRIFT_THR_GAIN
# define DRIFT_THR_GAIN 2.0f
# define DRIFT_THR_GAIN 1.8f
#endif
#ifndef DRIFT_THR_MAX_ASSIST
# define DRIFT_THR_MAX_ASSIST 300.0f
#endif
// drift_init - initialise drift controller
@ -72,9 +76,12 @@ static void drift_run()
breaker = 0.0;
}
// throttle assist
float thr_assist = 1.0 - ((float)abs(pilot_throttle_scaled - 500) / 200.0);
thr_assist = max(thr_assist, 0) * -DRIFT_THR_GAIN * vel.z;
// throttle assist - adjusts throttle to slow the vehicle's vertical velocity
// Only active when pilot's throttle is between 213 ~ 787
// Assistance is strongest when throttle is at mid, drops linearly to no assistance at 213 and 787
float thr_assist = 1.2 - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_GAIN * vel.z;
thr_assist = constrain_float(thr_assist, -DRIFT_THR_MAX_ASSIST, DRIFT_THR_MAX_ASSIST);
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());