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AP_Motors: added H_GYR_GAIN_ACRO

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This commit is contained in:
Andrew Tridgell 2015-08-09 21:02:54 +10:00
parent ac363c5447
commit 9da2b2b430
2 changed files with 27 additions and 6 deletions
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23
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -71,7 +71,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("GYR_GAIN", 6, AP_MotorsHeli_Single, _ext_gyro_gain, AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN),
AP_GROUPINFO("GYR_GAIN", 6, AP_MotorsHeli_Single, _ext_gyro_gain_std, AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN),
// @Param: PHANG
// @DisplayName: Swashplate Phase Angle Compensation
@ -105,6 +105,15 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT),
// @Param: GYR_GAIN_ACRO
// @DisplayName: External Gyro Gain for ACRO
// @Description: PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN
// @Range: 0 1000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single, _ext_gyro_gain_acro, 0),
AP_GROUPEND
};
@ -181,7 +190,11 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
case 4:
// external gyro & tail servo
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
write_aux(_ext_gyro_gain);
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro);
} else {
write_aux(_ext_gyro_gain_std);
}
}
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
break;
@ -456,7 +469,11 @@ void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
write_aux(_ext_gyro_gain);
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro);
} else {
write_aux(_ext_gyro_gain_std);
}
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
// output yaw servo to tail rsc
write_aux(_yaw_servo.servo_out);

10
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -106,8 +106,8 @@ public:
int16_t tail_type() const { return _tail_type; }
// ext_gyro_gain - gets and sets external gyro gain as a pwm (1000~2000)
int16_t ext_gyro_gain() const { return _ext_gyro_gain; }
void ext_gyro_gain(int16_t pwm) { _ext_gyro_gain = pwm; }
int16_t ext_gyro_gain() const { return _ext_gyro_gain_std; }
void ext_gyro_gain(int16_t pwm) { _ext_gyro_gain_std = pwm; }
// has_flybar - returns true if we have a mechical flybar
bool has_flybar() const { return _flybar_mode; }
@ -121,6 +121,8 @@ public:
// set_delta_phase_angle for setting variable phase angle compensation and force
// recalculation of collective factors
void set_delta_phase_angle(int16_t angle);
void set_acro_tail(bool set) { _acro_tail = set; }
// var_info
static const struct AP_Param::GroupInfo var_info[];
@ -161,12 +163,14 @@ protected:
AP_Int16 _servo3_pos; // Angular location of swash servo #3
AP_Int16 _tail_type; // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
AP_Int8 _swash_type; // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
AP_Int16 _ext_gyro_gain; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
AP_Int16 _ext_gyro_gain_std; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
AP_Int16 _ext_gyro_gain_acro; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro in ACRO
AP_Int16 _phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
bool _acro_tail = false;
};
#endif // __AP_MOTORS_HELI_SINGLE_H__