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Copter: use scaled throttle for accel-throttle's I term

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Accel throttle's I term is taken from scaled manual throttle
This commit is contained in:
Randy Mackay 2013-01-31 16:30:03 +09:00
parent e95f838cf6
commit 5a3c7b2d35
2 changed files with 3 additions and 3 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1800,7 +1800,7 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
set_new_altitude(current_loc.alt); // by default hold the current altitude set_new_altitude(current_loc.alt); // by default hold the current altitude
if ( throttle_mode <= THROTTLE_MANUAL_TILT_COMPENSATED ) { // reset the alt hold I terms if previous throttle mode was manual if ( throttle_mode <= THROTTLE_MANUAL_TILT_COMPENSATED ) { // reset the alt hold I terms if previous throttle mode was manual
reset_throttle_I(); reset_throttle_I();
set_accel_throttle_I_from_pilot_throttle(); set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in));
} }
throttle_initialised = true; throttle_initialised = true;
break; break;

4
ArduCopter/Attitude.pde
View File

@ -1196,10 +1196,10 @@ static void reset_throttle_I(void)
g.pid_throttle_accel.reset_I(); g.pid_throttle_accel.reset_I();
} }
static void set_accel_throttle_I_from_pilot_throttle(void) static void set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
{ {
// shift difference between pilot's throttle and hover throttle into accelerometer I // shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_throttle_accel.set_integrator(g.rc_3.control_in-g.throttle_cruise); g.pid_throttle_accel.set_integrator(pilot_throttle-g.throttle_cruise);
} }
static void reset_stability_I(void) static void reset_stability_I(void)