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Copter: #define for initial altitude jump during take-off

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Developers can add a line like to APM_Config.h to reduce the initial
jump when taking off in Loiter or AltHold flightmodes:
#define ALT_HOLD_TAKEOFF_JUMP 0
This commit is contained in:
Randy Mackay 2013-09-12 22:31:42 +09:00
parent 072b231c3f
commit 653a5036ae
2 changed files with 8 additions and 5 deletions
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2
ArduCopter/Attitude.pde
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@ -985,7 +985,7 @@ set_throttle_takeoff()
{ {
// set alt target // set alt target
if (controller_desired_alt < current_loc.alt) { if (controller_desired_alt < current_loc.alt) {
controller_desired_alt = current_loc.alt + 20; controller_desired_alt = current_loc.alt + ALT_HOLD_TAKEOFF_JUMP;
} }
// clear i term from acceleration controller // clear i term from acceleration controller
if (g.pid_throttle_accel.get_integrator() < 0) { if (g.pid_throttle_accel.get_integrator() < 0) {

7
ArduCopter/config.h
View File

@ -928,13 +928,17 @@
// Throttle control gains // Throttle control gains
// //
#ifndef THROTTLE_CRUISE #ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 450 // # define THROTTLE_CRUISE 450 // default estimate of throttle required for vehicle to maintain a hover
#endif #endif
#ifndef THR_MID #ifndef THR_MID
# define THR_MID 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position # define THR_MID 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif #endif
#ifndef ALT_HOLD_TAKEOFF_JUMP
# define ALT_HOLD_TAKEOFF_JUMP 20 // jump in altitude target when taking off in Loiter or AltHold flight modes
#endif
#ifndef ALT_HOLD_P #ifndef ALT_HOLD_P
# define ALT_HOLD_P 1.0f # define ALT_HOLD_P 1.0f
#endif #endif
@ -964,7 +968,6 @@
#ifndef PILOT_VELZ_MAX #ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s # define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
#endif #endif
#define ACCELERATION_MAX_Z 750 // maximum veritcal acceleration in cm/s/s
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode // max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT #ifndef ALT_HOLD_INIT_MAX_OVERSHOOT