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Copter: add SONAR_GAIN to tune reaction to sonar 

Some users report the response to sonar is too violent, this allows that
reaction to be reduced
This commit is contained in:
Randy Mackay 2013-04-20 15:58:36 +09:00
parent 50515e28e1
commit 745df9b13c
4 changed files with 15 additions and 5 deletions
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2
ArduCopter/Attitude.pde
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@ -1215,7 +1215,7 @@ get_throttle_surface_tracking(int16_t target_rate)
target_sonar_alt += target_rate * 0.02f;
distance_error = (target_sonar_alt-sonar_alt);
sonar_induced_slew_rate = constrain(fabsf(THR_SURFACE_TRACKING_P * distance_error),0,THR_SURFACE_TRACKING_VELZ_MAX);
sonar_induced_slew_rate = constrain(fabsf(g.sonar_gain * distance_error),0,THR_SURFACE_TRACKING_VELZ_MAX);
// do not let target altitude get too far from current altitude above ground
// Note: the 750cm limit is perhaps too wide but is consistent with the regular althold limits and helps ensure a smooth transition

4
ArduCopter/Parameters.h
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@ -81,7 +81,8 @@ public:
k_param_wp_yaw_behavior,
k_param_acro_trainer_enabled,
k_param_pilot_velocity_z_max,
k_param_circle_rate, // 29
k_param_circle_rate,
k_param_sonar_gain, // 30
// 65: AP_Limits Library
k_param_limits = 65,
@ -262,6 +263,7 @@ public:
AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
AP_Float sonar_gain;
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only,
// 4=voltage and current
AP_Float volt_div_ratio;

8
ArduCopter/Parameters.pde
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@ -77,6 +77,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
// @Param: SONAR_GAIN
// @DisplayName: Sonar gain
// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
// @Range: 0.01 0.5
// @Increment: 0.01
// @User: Standard
GSCALAR(sonar_gain, "SONAR_GAIN", SONAR_GAIN_DEFAULT),
// @Param: BATT_MONITOR
// @DisplayName: Battery monitoring
// @Description: Controls enabling monitoring of the battery's voltage and current

6
ArduCopter/config.h
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@ -305,12 +305,12 @@
# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
#endif
#ifndef THR_SURFACE_TRACKING_P
# define THR_SURFACE_TRACKING_P 0.2 // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
#ifndef SONAR_GAIN_DEFAULT
# define SONAR_GAIN_DEFAULT 0.2 // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
#endif
#ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 30 // max speed number of good reads that indicates a healthy sonar
# define THR_SURFACE_TRACKING_VELZ_MAX 30 // max vertical speed change while surface tracking with sonar
#endif
//////////////////////////////////////////////////////////////////////////////