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Sub: desired-ground-idle replaces spin-when-armed

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This commit is contained in:
Randy Mackay 2018-12-28 20:12:59 +09:00
parent 2650b1fe93
commit 8ba87171e6
9 changed files with 15 additions and 15 deletions
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2
ArduSub/control_acro.cpp
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@ -26,7 +26,7 @@ void Sub::acro_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}

2
ArduSub/control_althold.cpp
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@ -37,7 +37,7 @@ void Sub::althold_run()
pos_control.set_max_accel_z(g.pilot_accel_z);
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());

8
ArduSub/control_auto.cpp
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@ -117,7 +117,7 @@ void Sub::auto_wp_run()
// (of course it would be better if people just used take-off)
// call attitude controller
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
@ -204,7 +204,7 @@ void Sub::auto_spline_run()
// (of course it would be better if people just used take-off)
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
return;
}
@ -389,7 +389,7 @@ void Sub::auto_loiter_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -674,7 +674,7 @@ void Sub::auto_terrain_recover_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}

2
ArduSub/control_circle.cpp
View File

@ -41,7 +41,7 @@ void Sub::circle_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
// To-Do: add some initialisation of position controllers
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);

8
ArduSub/control_guided.cpp
View File

@ -291,7 +291,7 @@ void Sub::guided_pos_control_run()
{
// if motors not enabled set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -342,7 +342,7 @@ void Sub::guided_vel_control_run()
if (!motors.armed()) {
// initialise velocity controller
pos_control.init_vel_controller_xyz();
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -397,7 +397,7 @@ void Sub::guided_posvel_control_run()
// set target position and velocity to current position and velocity
pos_control.set_pos_target(inertial_nav.get_position());
pos_control.set_desired_velocity(Vector3f(0,0,0));
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -467,7 +467,7 @@ void Sub::guided_angle_control_run()
{
// if motors not enabled set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);

2
ArduSub/control_manual.cpp
View File

@ -19,7 +19,7 @@ void Sub::manual_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}

2
ArduSub/control_poshold.cpp
View File

@ -40,7 +40,7 @@ void Sub::poshold_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
loiter_nav.clear_pilot_desired_acceleration();
loiter_nav.init_target();
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);

2
ArduSub/control_stabilize.cpp
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@ -20,7 +20,7 @@ void Sub::stabilize_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
last_pilot_heading = ahrs.yaw_sensor;
return;

2
ArduSub/control_surface.cpp
View File

@ -27,7 +27,7 @@ void Sub::surface_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.output_min();
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}