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Copter: use loop rate for copter 

this allows for SCHED_LOOP_RATE below 400 in SITL for copter
This commit is contained in:
Andrew Tridgell 2016-06-05 11:21:31 +10:00
parent 255bda9f9c
commit 86d8450666
4 changed files with 8 additions and 7 deletions
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6
ArduCopter/crash_check.cpp
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@ -43,7 +43,7 @@ void Copter::crash_check()
crash_counter++; crash_counter++;
// check if crashing for 2 seconds // check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * MAIN_LOOP_RATE)) { if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH); Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs // send message to gcs
@ -106,7 +106,7 @@ void Copter::parachute_check()
} }
// increment counter // increment counter
if (control_loss_count < (PARACHUTE_CHECK_TRIGGER_SEC*MAIN_LOOP_RATE)) { if (control_loss_count < (PARACHUTE_CHECK_TRIGGER_SEC*scheduler.get_loop_rate_hz())) {
control_loss_count++; control_loss_count++;
} }
@ -122,7 +122,7 @@ void Copter::parachute_check()
// To-Do: add check that the vehicle is actually falling // To-Do: add check that the vehicle is actually falling
// check if loss of control for at least 1 second // check if loss of control for at least 1 second
} else if (control_loss_count >= (PARACHUTE_CHECK_TRIGGER_SEC*MAIN_LOOP_RATE)) { } else if (control_loss_count >= (PARACHUTE_CHECK_TRIGGER_SEC*scheduler.get_loop_rate_hz())) {
// reset control loss counter // reset control loss counter
control_loss_count = 0; control_loss_count = 0;
// log an error in the dataflash // log an error in the dataflash

4
ArduCopter/heli.cpp
View File

@ -87,10 +87,10 @@ void Copter::update_heli_control_dynamics(void)
// if we are not landed and motor power is demanded, increment slew scalar // if we are not landed and motor power is demanded, increment slew scalar
hover_roll_trim_scalar_slew++; hover_roll_trim_scalar_slew++;
} }
hover_roll_trim_scalar_slew = constrain_int16(hover_roll_trim_scalar_slew, 0, MAIN_LOOP_RATE); hover_roll_trim_scalar_slew = constrain_int16(hover_roll_trim_scalar_slew, 0, scheduler.get_loop_rate_hz());
// set hover roll trim scalar, will ramp from 0 to 1 over 1 second after we think helicopter has taken off // set hover roll trim scalar, will ramp from 0 to 1 over 1 second after we think helicopter has taken off
attitude_control.set_hover_roll_trim_scalar((float)(hover_roll_trim_scalar_slew/MAIN_LOOP_RATE)); attitude_control.set_hover_roll_trim_scalar((float)(hover_roll_trim_scalar_slew/scheduler.get_loop_rate_hz()));
} }
// heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing // heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing

4
ArduCopter/land_detector.cpp
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@ -65,7 +65,7 @@ void Copter::update_land_detector()
if (motor_at_lower_limit && accel_stationary) { if (motor_at_lower_limit && accel_stationary) {
// landed criteria met - increment the counter and check if we've triggered // landed criteria met - increment the counter and check if we've triggered
if( land_detector_count < ((float)LAND_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) { if( land_detector_count < ((float)LAND_DETECTOR_TRIGGER_SEC)*scheduler.get_loop_rate_hz()) {
land_detector_count++; land_detector_count++;
} else { } else {
set_land_complete(true); set_land_complete(true);
@ -76,7 +76,7 @@ void Copter::update_land_detector()
} }
} }
set_land_complete_maybe(ap.land_complete || (land_detector_count >= LAND_DETECTOR_MAYBE_TRIGGER_SEC*MAIN_LOOP_RATE)); set_land_complete_maybe(ap.land_complete || (land_detector_count >= LAND_DETECTOR_MAYBE_TRIGGER_SEC*scheduler.get_loop_rate_hz()));
} }
// set land_complete flag and disarm motors if disarm-on-land is configured // set land_complete flag and disarm motors if disarm-on-land is configured

1
ArduCopter/radio.cpp
View File

@ -56,6 +56,7 @@ void Copter::init_rc_out()
{ {
motors.set_update_rate(g.rc_speed); motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation); motors.set_frame_orientation(g.frame_orientation);
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.Init(); // motor initialisation motors.Init(); // motor initialisation
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
motors.set_throttle_range(g.throttle_min, channel_throttle->get_radio_min(), channel_throttle->get_radio_max()); motors.set_throttle_range(g.throttle_min, channel_throttle->get_radio_min(), channel_throttle->get_radio_max());