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Plane: bring in demanded climb rate over 1 second

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when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
This commit is contained in:
Andrew Tridgell 2017-04-08 14:39:55 +10:00
parent 17ba8b3304
commit 664e41cec6
2 changed files with 10 additions and 0 deletions
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9
ArduPlane/quadplane.cpp
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@ -722,6 +722,8 @@ void QuadPlane::run_z_controller(void)
// the base throttle we start at is the current throttle we are using
float base_throttle = constrain_float(motors->get_throttle() - motors->get_throttle_hover(), 0, 1) * 1000;
pid_accel_z.set_integrator(base_throttle);
last_pidz_init_ms = now;
}
last_pidz_active_ms = now;
pos_control->update_z_controller();
@ -1023,6 +1025,13 @@ float QuadPlane::assist_climb_rate_cms(void)
climb_rate *= plane.channel_throttle->get_control_in();
}
climb_rate = constrain_float(climb_rate, -wp_nav->get_speed_down(), wp_nav->get_speed_up());
// bring in the demanded climb rate over 2 seconds
uint16_t dt_since_start = last_pidz_active_ms - last_pidz_init_ms;
if (dt_since_start < 2000) {
climb_rate = linear_interpolate(0, climb_rate, dt_since_start, 0, 2000);
}
return climb_rate;
}

1
ArduPlane/quadplane.h
View File

@ -368,6 +368,7 @@ private:
// time when we last ran the vertical accel controller
uint32_t last_pidz_active_ms;
uint32_t last_pidz_init_ms;
void tiltrotor_slew(float tilt);
void tiltrotor_binary_slew(bool forward);