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Copter: change heli integrator management and add hover coll learning

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This commit is contained in:
bnsgeyer 2020-11-15 18:33:43 -05:00 committed by Bill Geyer
parent c052b58f70
commit 6a1d45763b
5 changed files with 21 additions and 16 deletions
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6
ArduCopter/Attitude.cpp
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@ -38,7 +38,6 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
// called at 100hz // called at 100hz
void Copter::update_throttle_hover() void Copter::update_throttle_hover()
{ {
#if FRAME_CONFIG != HELI_FRAME
// if not armed or landed exit // if not armed or landed exit
if (!motors->armed() || ap.land_complete) { if (!motors->armed() || ap.land_complete) {
return; return;
@ -57,13 +56,12 @@ void Copter::update_throttle_hover()
// get throttle output // get throttle output
float throttle = motors->get_throttle(); float throttle = motors->get_throttle();
// calc average throttle if we are in a level hover // calc average throttle if we are in a level hover. accounts for heli hover roll trim
if (throttle > 0.0f && fabsf(inertial_nav.get_velocity_z()) < 60 && if (throttle > 0.0f && fabsf(inertial_nav.get_velocity_z()) < 60 &&
labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) { labs(ahrs.roll_sensor-attitude_control->get_roll_trim_cd()) < 500 && labs(ahrs.pitch_sensor) < 500) {
// Can we set the time constant automatically // Can we set the time constant automatically
motors->update_throttle_hover(0.01f); motors->update_throttle_hover(0.01f);
} }
#endif
} }
// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared // set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared

9
ArduCopter/heli.cpp
View File

@ -74,7 +74,14 @@ void Copter::check_dynamic_flight(void)
void Copter::update_heli_control_dynamics(void) void Copter::update_heli_control_dynamics(void)
{ {
// Use Leaky_I if we are not moving fast // Use Leaky_I if we are not moving fast
attitude_control->use_leaky_i(!heli_flags.dynamic_flight); // attitude_control->use_leaky_i(!heli_flags.dynamic_flight);
attitude_control->use_leaky_i(false);
if (ap.land_complete || ap.land_complete_maybe) {
motors->set_land_complete(true);
} else {
motors->set_land_complete(false);
}
if (ap.land_complete || (is_zero(motors->get_desired_rotor_speed()))){ if (ap.land_complete || (is_zero(motors->get_desired_rotor_speed()))){
// if we are landed or there is no rotor power demanded, decrement slew scalar // if we are landed or there is no rotor power demanded, decrement slew scalar

2
ArduCopter/land_detector.cpp
View File

@ -47,7 +47,7 @@ void Copter::update_land_detector()
} else if (ap.land_complete) { } else if (ap.land_complete) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// if rotor speed and collective pitch are high then clear landing flag // if rotor speed and collective pitch are high then clear landing flag
if (motors->get_throttle() > get_non_takeoff_throttle() && !motors->limit.throttle_lower && motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) { if (motors->get_takeoff_collective() && motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
#else #else
// if throttle output is high then clear landing flag // if throttle output is high then clear landing flag
if (motors->get_throttle() > get_non_takeoff_throttle()) { if (motors->get_throttle() > get_non_takeoff_throttle()) {

10
ArduCopter/mode_acro_heli.cpp
View File

@ -49,16 +49,16 @@ void ModeAcro_Heli::run()
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
break; break;
case AP_Motors::SpoolState::GROUND_IDLE: case AP_Motors::SpoolState::GROUND_IDLE:
// Landed // If aircraft is landed, set target heading to current and reset the integrator
if (motors->init_targets_on_arming()) { // Otherwise motors could be at ground idle for practice autorotation
if (copter.ap.land_complete) {
attitude_control->set_attitude_target_to_current_attitude(); attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
} }
break; break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED: case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle if (copter.ap.land_complete) {
if (!motors->limit.throttle_lower) { attitude_control->reset_rate_controller_I_terms();
set_land_complete(false);
} }
break; break;
case AP_Motors::SpoolState::SPOOLING_UP: case AP_Motors::SpoolState::SPOOLING_UP:

10
ArduCopter/mode_stabilize_heli.cpp
View File

@ -54,16 +54,16 @@ void ModeStabilize_Heli::run()
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
break; break;
case AP_Motors::SpoolState::GROUND_IDLE: case AP_Motors::SpoolState::GROUND_IDLE:
// Landed // If aircraft is landed, set target heading to current and reset the integrator
if (motors->init_targets_on_arming()) { // Otherwise motors could be at ground idle for practice autorotation
if (copter.ap.land_complete) {
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
} }
break; break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED: case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle if (copter.ap.land_complete) {
if (!motors->limit.throttle_lower) { attitude_control->reset_rate_controller_I_terms();
set_land_complete(false);
} }
case AP_Motors::SpoolState::SPOOLING_UP: case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN: case AP_Motors::SpoolState::SPOOLING_DOWN: