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Copter: add "high throttle cancels landing" option

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This commit is contained in:
Jonathan Challinger 2016-01-06 13:39:36 -08:00 committed by Randy Mackay
parent 9e0cd7a5cf
commit 8965185587
8 changed files with 45 additions and 3 deletions
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1
ArduCopter/Copter.cpp
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@ -70,6 +70,7 @@ Copter::Copter(void) :
baro_alt(0),
baro_climbrate(0.0f),
land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
rc_throttle_control_in_filter(1.0f),
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
yaw_look_at_WP_bearing(0.0f),
yaw_look_at_heading(0),

2
ArduCopter/Copter.h
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@ -395,6 +395,8 @@ private:
float baro_climbrate; // barometer climbrate in cm/s
LowPassFilterVector3f land_accel_ef_filter; // accelerations for land and crash detector tests
LowPassFilterFloat rc_throttle_control_in_filter;
// 3D Location vectors
// Current location of the copter (altitude is relative to home)
struct Location current_loc;

4
ArduCopter/Parameters.cpp
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@ -93,9 +93,9 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: PILOT_THR_BHV
// @DisplayName: Throttle stick behavior
// @Description: Bits for: Feedback starts from mid stick
// @Description: Bitmask containing various throttle stick options. Add up the values for options that you want.
// @User: Standard
// @Values: 0:None,1:FeedbackFromMid
// @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing
GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
// @Group: SERIAL

7
ArduCopter/control_auto.cpp
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@ -324,6 +324,13 @@ void Copter::auto_land_run()
// process pilot's input
if (!failsafe.radio) {
if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();

14
ArduCopter/control_land.cpp
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@ -87,6 +87,13 @@ void Copter::land_gps_run()
// process pilot inputs
if (!failsafe.radio) {
if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
@ -148,6 +155,13 @@ void Copter::land_nogps_run()
// process pilot inputs
if (!failsafe.radio) {
if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();

14
ArduCopter/control_rtl.cpp
View File

@ -267,6 +267,13 @@ void Copter::rtl_descent_run()
// process pilot's input
if (!failsafe.radio) {
if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
@ -355,6 +362,13 @@ void Copter::rtl_land_run()
// process pilot's input
if (!failsafe.radio) {
if((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > 0.7f*THR_MAX){
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();

1
ArduCopter/defines.h
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@ -423,5 +423,6 @@ enum FlipState {
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
#endif // _DEFINES_H

5
ArduCopter/radio.cpp
View File

@ -101,7 +101,6 @@ void Copter::read_radio()
uint32_t tnow_ms = millis();
if (hal.rcin->new_input()) {
last_update_ms = tnow_ms;
ap.new_radio_frame = true;
RC_Channel::set_pwm_all();
@ -115,6 +114,10 @@ void Copter::read_radio()
// update output on any aux channels, for manual passthru
RC_Channel_aux::output_ch_all();
float dt = (tnow_ms - last_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(g.rc_3.control_in, dt);
last_update_ms = tnow_ms;
}else{
uint32_t elapsed = tnow_ms - last_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE