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Sub: Add throttle channel gain scalar parameter

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This commit is contained in:
Jacob Walser 2016-12-07 12:45:26 -05:00 committed by Andrew Tridgell
parent e61bf46882
commit 5bd2af6b77
3 changed files with 10 additions and 2 deletions
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7
ArduSub/Parameters.cpp
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@ -517,6 +517,13 @@ const AP_Param::Info Sub::var_info[] = {
// @Range: 30 400 // @Range: 30 400
GSCALAR(lights_step, "JS_LIGHTS_STEP", 100), GSCALAR(lights_step, "JS_LIGHTS_STEP", 100),
// @Param: JS_THR_GAIN
// @DisplayName: Throttle gain scalar
// @Description: Scalar for gain on the throttle channel
// @User: Standard
// @Range: 0.5 4.0
GSCALAR(throttle_gain, "JS_THR_GAIN", 1.0f),
// @Group: BTN0_ // @Group: BTN0_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_0, "BTN0_", JSButton), GGROUP(jbtn_0, "BTN0_", JSButton),

3
ArduSub/Parameters.h
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@ -206,7 +206,7 @@ public:
k_param_disarm_delay, k_param_disarm_delay,
k_param_terrain_follow, k_param_terrain_follow,
k_param_rc_feel_rp, k_param_rc_feel_rp,
k_param_throttle_gain,
// Acro Mode parameters // Acro Mode parameters
k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
@ -345,6 +345,7 @@ public:
AP_Float maxGain; AP_Float maxGain;
AP_Float minGain; AP_Float minGain;
AP_Int8 numGainSettings; AP_Int8 numGainSettings;
AP_Float throttle_gain;
AP_Int16 cam_tilt_step; AP_Int16 cam_tilt_step;
AP_Int16 lights_step; AP_Int16 lights_step;

2
ArduSub/joystick.cpp
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@ -46,7 +46,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
uint32_t tnow_ms = millis(); uint32_t tnow_ms = millis();
float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain
float throttleScale = 0.8*gain; // Scale 0-1000 to 0-800 with gain float throttleScale = 0.8*gain*g.throttle_gain; // Scale 0-1000 to 0-800 times gain
int16_t rpyCenter = 1500; int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale; int16_t throttleBase = 1500-500*throttleScale;