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Copter: use pilot_desired_throttle rather than limit_throttle_out in stabilize and acro.

This commit is contained in:
Andy Piper 2022-09-06 19:51:21 +01:00 committed by Peter Hall
parent f3dc805978
commit 7d70762053
2 changed files with 8 additions and 12 deletions
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10
ArduCopter/mode_acro.cpp
View File

@ -28,21 +28,21 @@ void ModeAcro::run()
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
} }
bool limit_throttle_out = false; float pilot_desired_throttle = get_pilot_desired_throttle();
switch (motors->get_spool_state()) { switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN: case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped // Motors Stopped
attitude_control->reset_target_and_rate(true); attitude_control->reset_target_and_rate(true);
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
limit_throttle_out = true; pilot_desired_throttle = 0.0f;
break; break;
case AP_Motors::SpoolState::GROUND_IDLE: case AP_Motors::SpoolState::GROUND_IDLE:
// Landed // Landed
attitude_control->reset_target_and_rate(); attitude_control->reset_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
limit_throttle_out = true; pilot_desired_throttle = 0.0f;
break; break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED: case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
@ -66,9 +66,7 @@ void ModeAcro::run()
} }
// output pilot's throttle without angle boost // output pilot's throttle without angle boost
attitude_control->set_throttle_out(limit_throttle_out ? 0 : get_pilot_desired_throttle(), attitude_control->set_throttle_out(pilot_desired_throttle, false, copter.g.throttle_filt);
false,
copter.g.throttle_filt);
} }
bool ModeAcro::init(bool ignore_checks) bool ModeAcro::init(bool ignore_checks)

10
ArduCopter/mode_stabilize.cpp
View File

@ -32,21 +32,21 @@ void ModeStabilize::run()
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
} }
bool limit_throttle_out = false; float pilot_desired_throttle = get_pilot_desired_throttle();
switch (motors->get_spool_state()) { switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN: case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped // Motors Stopped
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
limit_throttle_out = true; pilot_desired_throttle = 0.0f;
break; break;
case AP_Motors::SpoolState::GROUND_IDLE: case AP_Motors::SpoolState::GROUND_IDLE:
// Landed // Landed
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
limit_throttle_out = true; pilot_desired_throttle = 0.0f;
break; break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED: case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
@ -66,7 +66,5 @@ void ModeStabilize::run()
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// output pilot's throttle // output pilot's throttle
attitude_control->set_throttle_out(limit_throttle_out ? 0 : get_pilot_desired_throttle(), attitude_control->set_throttle_out(pilot_desired_throttle, true, g.throttle_filt);
true,
g.throttle_filt);
} }