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Copter: GND_EFFECT_COMP parameter to enable ground effect compensation

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This commit is contained in:
Randy Mackay 2016-08-08 17:16:36 +09:00
parent 68630a86fe
commit 9842840346
7 changed files with 13 additions and 14 deletions
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1
ArduCopter/APM_Config.h
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@ -39,7 +39,6 @@
// features below are disabled by default on all boards
//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
//#define GNDEFFECT_COMPENSATION ENABLED // enable ground effect compensation for barometer (if propwash interferes with the barometer on the ground)
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link

3
ArduCopter/ArduCopter.cpp
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@ -315,9 +315,8 @@ void Copter::throttle_loop()
heli_update_landing_swash();
#endif
#if GNDEFFECT_COMPENSATION == ENABLED
// compensate for ground effect (if enabled)
update_ground_effect_detector();
#endif // GNDEFFECT_COMPENSATION == ENABLED
}
// update_mount - update camera mount position

4
ArduCopter/Copter.h
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@ -592,7 +592,6 @@ private:
int16_t hover_roll_trim_scalar_slew;
#endif
#if GNDEFFECT_COMPENSATION == ENABLED
// ground effect detector
struct {
bool takeoff_expected;
@ -600,7 +599,6 @@ private:
uint32_t takeoff_time_ms;
float takeoff_alt_cm;
} gndeffect_state;
#endif // GNDEFFECT_COMPENSATION == ENABLED
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
@ -927,9 +925,7 @@ private:
void update_land_and_crash_detectors();
void update_land_detector();
void update_throttle_thr_mix();
#if GNDEFFECT_COMPENSATION == ENABLED
void update_ground_effect_detector(void);
#endif // GNDEFFECT_COMPENSATION == ENABLED
void landinggear_update();
void update_notify();
void motor_test_output();

7
ArduCopter/Parameters.cpp
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@ -988,6 +988,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard
AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ThrowType_Upward),
// @Param: GND_EFFECT_COMP
// @DisplayName: Ground Effect Compensation Enable/Disable
// @Description: Ground Effect Compensation Enable/Disable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 0),
AP_GROUPEND
};

3
ArduCopter/Parameters.h
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@ -554,6 +554,9 @@ public:
// Throw mode parameters
AP_Int8 throw_nextmode;
AP_Int8 throw_type;
// ground effect compensation enable/disable
AP_Int8 gndeffect_comp_enabled;
};
extern const AP_Param::Info var_info[];

5
ArduCopter/baro_ground_effect.cpp
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@ -1,10 +1,10 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
#if GNDEFFECT_COMPENSATION == ENABLED
void Copter::update_ground_effect_detector(void)
{
if(!motors.armed()) {
if(!g2.gndeffect_comp_enabled || !motors.armed()) {
// disarmed - disable ground effect and return
gndeffect_state.takeoff_expected = false;
gndeffect_state.touchdown_expected = false;
@ -69,4 +69,3 @@ void Copter::update_ground_effect_detector(void)
ahrs.setTakeoffExpected(gndeffect_state.takeoff_expected);
ahrs.setTouchdownExpected(gndeffect_state.touchdown_expected);
}
#endif // GNDEFFECT_COMPENSATION == ENABLED

4
ArduCopter/config.h
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@ -190,10 +190,6 @@
# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
#ifndef GNDEFFECT_COMPENSATION
# define GNDEFFECT_COMPENSATION DISABLED
#endif
// Radio failsafe while using RC_override
#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station