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Copter: integrate pre-takeoff throttle feedback 

This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes

pair-programmed with Randy Mackay
This commit is contained in:
lthall 2014-07-17 18:18:10 +09:00 committed by Randy Mackay
parent 11678ba936
commit 9202149fb1
6 changed files with 12 additions and 9 deletions
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4
ArduCopter/control_althold.pde
View File

@ -59,8 +59,8 @@ static void althold_run()
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
}else{
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());

4
ArduCopter/control_autotune.pde
View File

@ -243,8 +243,8 @@ static void autotune_run()
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
}else{
// check if pilot is overriding the controls
if (target_roll != 0 || target_pitch != 0 || target_yaw_rate != 0.0f || target_climb_rate != 0) {

3
ArduCopter/control_loiter.pde
View File

@ -72,7 +72,8 @@ static void loiter_run()
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
}else{
// run loiter controller
wp_nav.update_loiter();

3
ArduCopter/control_ofloiter.pde
View File

@ -70,7 +70,8 @@ static void ofloiter_run()
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
reset_optflow_I();
}else{
// mix in user control with optical flow

3
ArduCopter/control_poshold.pde
View File

@ -188,7 +188,8 @@ static void poshold_run()
wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
return;
}else{
// convert pilot input to lean angles

4
ArduCopter/control_sport.pde
View File

@ -78,8 +78,8 @@ static void sport_run()
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
}else{
// call attitude controller