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Plane: added new ESC calibration method

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This commit is contained in:
Andrew Tridgell 2016-06-02 13:10:39 +10:00
parent 860587ece7
commit 978a89efa6
2 changed files with 55 additions and 0 deletions
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51
ArduPlane/quadplane.cpp
View File

@ -312,6 +312,13 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 1
// @User: Standard
AP_GROUPINFO("THR_MIN", 41, QuadPlane, throttle_min, 100),
// @Param: ESC_CAL
// @DisplayName: ESC Calibration
// @Description: This is used to calibrate the throttle range of the VTOL motors. Please read http://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.
// @Values: 0:Disabled,1:ThrottleInput,2:FullInput
// @User: Standard
AP_GROUPINFO("ESC_CAL", 42, QuadPlane, esc_calibration, 0),
AP_GROUPEND
};
@ -473,8 +480,38 @@ void QuadPlane::setup_defaults(void)
AP_HAL::panic("quadplane bad default %s", defaults_table[i].name);
}
}
// reset ESC calibration
if (esc_calibration != 0) {
esc_calibration.set_and_save(0);
}
}
// run ESC calibration
void QuadPlane::run_esc_calibration(void)
{
if (!motors->armed()) {
motors->set_throttle_passthrough_for_esc_calibration(0);
AP_Notify::flags.esc_calibration = false;
return;
}
if (!AP_Notify::flags.esc_calibration) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Starting ESC calibration");
}
AP_Notify::flags.esc_calibration = true;
switch (esc_calibration) {
case 1:
// throttle based calibration
motors->set_throttle_passthrough_for_esc_calibration(plane.channel_throttle->get_control_in() * 0.01f);
break;
case 2:
// full range calibration
motors->set_throttle_passthrough_for_esc_calibration(1);
break;
}
}
// init quadplane stabilize mode
void QuadPlane::init_stabilize(void)
{
@ -502,6 +539,13 @@ void QuadPlane::hold_stabilize(float throttle_in)
// quadplane stabilize mode
void QuadPlane::control_stabilize(void)
{
// special check for ESC calibration in QSTABILIZE
if (esc_calibration != 0) {
run_esc_calibration();
return;
}
// normal QSTABILIZE mode
float pilot_throttle_scaled = plane.channel_throttle->get_control_in() / 100.0f;
hold_stabilize(pilot_throttle_scaled);
@ -959,6 +1003,10 @@ void QuadPlane::update(void)
*/
void QuadPlane::motors_output(void)
{
if (esc_calibration && AP_Notify::flags.esc_calibration && plane.control_mode == QSTABILIZE) {
// output is direct from run_esc_calibration()
return;
}
motors->output();
if (motors->armed()) {
plane.DataFlash.Log_Write_Rate(plane.ahrs, *motors, *attitude_control, *pos_control);
@ -1014,6 +1062,9 @@ bool QuadPlane::init_mode(void)
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "QuadPlane mode refused");
return false;
}
AP_Notify::flags.esc_calibration = false;
switch (plane.control_mode) {
case QSTABILIZE:
init_stabilize();

4
ArduPlane/quadplane.h
View File

@ -219,6 +219,10 @@ private:
// control if a VTOL GUIDED will be used
AP_Int8 guided_mode;
// control ESC throttle calibration
AP_Int8 esc_calibration;
void run_esc_calibration(void);
struct {
AP_Float gain;