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Copter: autotune uses throttle in 0 to 1 range and sets motor spool state

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This commit is contained in:
Leonard Hall 2016-01-18 12:53:02 +09:00 committed by Randy Mackay
parent 068fc7feac
commit 80a11e4d3d
1 changed files with 11 additions and 2 deletions
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13
ArduCopter/control_autotune.cpp
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@ -268,7 +268,8 @@ void Copter::autotune_run()
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
// this should not actually be possible because of the autotune_init() checks
if (!ap.auto_armed || !motors.get_interlock()) {
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
return;
@ -296,8 +297,13 @@ void Copter::autotune_run()
// reset target lean angles and heading while landed
if (ap.land_complete) {
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
}else{
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
}
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
}else{
// check if pilot is overriding the controls
@ -321,6 +327,9 @@ void Copter::autotune_run()
}
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// if pilot override call attitude controller
if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) {
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());