Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: keep manual throttle mix at zero throttle when airmode is on 

allow landing detection in airmode
increase landing detection timeout in airmode.
This commit is contained in:
Andy Piper 2022-06-08 20:42:08 +01:00 committed by Randy Mackay
parent f7d21b63a7
commit 877f98e547
2 changed files with 16 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopter/config.h
View File

@ -417,6 +417,9 @@
#ifndef LAND_DETECTOR_TRIGGER_SEC
# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
#endif
#ifndef LAND_AIRMODE_DETECTOR_TRIGGER_SEC
# define LAND_AIRMODE_DETECTOR_TRIGGER_SEC 3.0f // number of seconds to detect a landing in air mode
#endif
#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
#endif

17
ArduCopter/land_detector.cpp
View File

@ -60,6 +60,7 @@ void Copter::update_land_detector()
land_detector_count = 0;
} else {
float land_trigger_sec = LAND_DETECTOR_TRIGGER_SEC;
#if FRAME_CONFIG == HELI_FRAME
// check for both manual collective modes and modes that use altitude hold. For manual collective (called throttle
// because multi's use throttle), check that collective pitch is below land min collective position or throttle stick is zero.
@ -70,9 +71,17 @@ void Copter::update_land_detector()
const bool landing = flightmode->is_landing();
bool motor_at_lower_limit = (flightmode->has_manual_throttle() && (motors->get_below_land_min_coll() || heli_flags.coll_stk_low) && fabsf(ahrs.get_roll()) < M_PI/2.0f)
|| ((!force_flying || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f);
bool throttle_mix_at_min = true;
#else
// check that the average throttle output is near minimum (less than 12.5% hover throttle)
bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();
bool motor_at_lower_limit = motors->limit.throttle_lower;
bool throttle_mix_at_min = attitude_control->is_throttle_mix_min();
// set throttle_mix_at_min to true because throttle is never at mix min in airmode
// increase land_trigger_sec when using airmode
if (flightmode->has_manual_throttle() && air_mode == AirMode::AIRMODE_ENABLED) {
land_trigger_sec = LAND_AIRMODE_DETECTOR_TRIGGER_SEC;
throttle_mix_at_min = true;
}
#endif
uint8_t land_detector_scalar = 1;
@ -99,9 +108,9 @@ void Copter::update_land_detector()
const bool WoW_check = true;
#endif
if (motor_at_lower_limit && accel_stationary && descent_rate_low && rangefinder_check && WoW_check) {
if (motor_at_lower_limit && throttle_mix_at_min && accel_stationary && descent_rate_low && rangefinder_check && WoW_check) {
// landed criteria met - increment the counter and check if we've triggered
if( land_detector_count < ((float)LAND_DETECTOR_TRIGGER_SEC)*scheduler.get_loop_rate_hz()) {
if( land_detector_count < land_trigger_sec*scheduler.get_loop_rate_hz()) {
land_detector_count++;
} else {
set_land_complete(true);
@ -174,7 +183,7 @@ void Copter::update_throttle_mix()
if (flightmode->has_manual_throttle()) {
// manual throttle
if (channel_throttle->get_control_in() <= 0 || air_mode == AirMode::AIRMODE_DISABLED) {
if (channel_throttle->get_control_in() <= 0 && air_mode != AirMode::AIRMODE_ENABLED) {
attitude_control->set_throttle_mix_min();
} else {
attitude_control->set_throttle_mix_man();