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Copter: Tradheli manage yaw better on the ground.

This commit is contained in:
Robert Lefebvre 2015-07-08 15:10:50 -04:00 committed by Randy Mackay
parent 9fcbc77ce0
commit 534ba89756
3 changed files with 24 additions and 3 deletions
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15
ArduCopter/control_althold.cpp
View File

@ -44,7 +44,22 @@ void Copter::althold_run()
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
#if FRAME_CONFIG == HELI_FRAME
// helicopters are held on the ground until rotor speed runup has finished
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.rotor_runup_complete());
if(!motors.armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
// if we have recently armed and rotor is just ramping up speed, relax yaw controller
if(motors.armed() && heli_flags.init_targets_on_arming) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
if (motors.rotor_speed_above_critical()) {
heli_flags.init_targets_on_arming=false;
}
}
#else
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()));
#endif

7
ArduCopter/heli_control_acro.cpp
View File

@ -33,10 +33,13 @@ void Copter::heli_acro_run()
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
if (motors.rotor_speed_above_critical()) {
heli_flags.init_targets_on_arming=false;
}
}
// send RC inputs direct into motors library for use during manual passthrough for helicopter setup

5
ArduCopter/heli_control_stabilize.cpp
View File

@ -36,8 +36,11 @@ void Copter::heli_stabilize_run()
}
if(motors.armed() && heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
if (motors.rotor_speed_above_critical()) {
heli_flags.init_targets_on_arming=false;
}
}
// send RC inputs direct into motors library for use during manual passthrough for helicopter setup