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AC_AttitudeControl: fixed limiting of throttle mix values 

use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
This commit is contained in:
Andrew Tridgell 2021-11-23 15:51:01 +11:00
parent f3d4380874
commit 9defb72733
3 changed files with 12 additions and 10 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -39,6 +39,8 @@
#define AC_ATTITUDE_CONTROL_MIN_DEFAULT 0.1f // minimum throttle mix default #define AC_ATTITUDE_CONTROL_MIN_DEFAULT 0.1f // minimum throttle mix default
#define AC_ATTITUDE_CONTROL_MAN_DEFAULT 0.1f // manual throttle mix default #define AC_ATTITUDE_CONTROL_MAN_DEFAULT 0.1f // manual throttle mix default
#define AC_ATTITUDE_CONTROL_MAX_DEFAULT 0.5f // maximum throttle mix default #define AC_ATTITUDE_CONTROL_MAX_DEFAULT 0.5f // maximum throttle mix default
#define AC_ATTITUDE_CONTROL_MIN_LIMIT 0.5f // min throttle mix upper limit
#define AC_ATTITUDE_CONTROL_MAN_LIMIT 4.0f // man throttle mix upper limit
#define AC_ATTITUDE_CONTROL_MAX 5.0f // maximum throttle mix default #define AC_ATTITUDE_CONTROL_MAX 5.0f // maximum throttle mix default
#define AC_ATTITUDE_CONTROL_THR_MIX_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input #define AC_ATTITUDE_CONTROL_THR_MIX_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input

10
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
View File

@ -354,18 +354,18 @@ void AC_AttitudeControl_Multi::rate_controller_run()
void AC_AttitudeControl_Multi::parameter_sanity_check() void AC_AttitudeControl_Multi::parameter_sanity_check()
{ {
// sanity check throttle mix parameters // sanity check throttle mix parameters
if (_thr_mix_man < 0.1f || _thr_mix_man > 4.0f) { if (_thr_mix_man < 0.1f || _thr_mix_man > AC_ATTITUDE_CONTROL_MAN_LIMIT) {
// parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0 // parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0
// which can be useful for very high powered copters with very low hover throttle // which can be useful for very high powered copters with very low hover throttle
_thr_mix_man.set_and_save(AC_ATTITUDE_CONTROL_MAN_DEFAULT); _thr_mix_man.set_and_save(constrain_float(_thr_mix_man, 0.1, AC_ATTITUDE_CONTROL_MAN_LIMIT));
} }
if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) { if (_thr_mix_min < 0.1f || _thr_mix_min > AC_ATTITUDE_CONTROL_MIN_LIMIT) {
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); _thr_mix_min.set_and_save(constrain_float(_thr_mix_min, 0.1, AC_ATTITUDE_CONTROL_MIN_LIMIT));
} }
if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) { if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) {
// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0 // parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0
// which can be useful for very high powered copters with very low hover throttle // which can be useful for very high powered copters with very low hover throttle
_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT); _thr_mix_max.set_and_save(constrain_float(_thr_mix_max, 0.5, AC_ATTITUDE_CONTROL_MAX));
} }
if (_thr_mix_min > _thr_mix_max) { if (_thr_mix_min > _thr_mix_max) {
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); _thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);

10
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
View File

@ -367,18 +367,18 @@ void AC_AttitudeControl_Sub::rate_controller_run()
void AC_AttitudeControl_Sub::parameter_sanity_check() void AC_AttitudeControl_Sub::parameter_sanity_check()
{ {
// sanity check throttle mix parameters // sanity check throttle mix parameters
if (_thr_mix_man < 0.1f || _thr_mix_man > 4.0f) { if (_thr_mix_man < 0.1f || _thr_mix_man > AC_ATTITUDE_CONTROL_MAN_LIMIT) {
// parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0 // parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0
// which can be useful for very high powered copters with very low hover throttle // which can be useful for very high powered copters with very low hover throttle
_thr_mix_man.set_and_save(AC_ATTITUDE_CONTROL_MAN_DEFAULT); _thr_mix_man.set_and_save(constrain_float(_thr_mix_man, 0.1, AC_ATTITUDE_CONTROL_MAN_LIMIT));
} }
if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) { if (_thr_mix_min < 0.1f || _thr_mix_min > AC_ATTITUDE_CONTROL_MIN_LIMIT) {
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); _thr_mix_min.set_and_save(constrain_float(_thr_mix_min, 0.1, AC_ATTITUDE_CONTROL_MIN_LIMIT));
} }
if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) { if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) {
// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0 // parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0
// which can be useful for very high powered copters with very low hover throttle // which can be useful for very high powered copters with very low hover throttle
_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT); _thr_mix_max.set_and_save(constrain_float(_thr_mix_max, 0.5, AC_ATTITUDE_CONTROL_MAX));
} }
if (_thr_mix_min > _thr_mix_max) { if (_thr_mix_min > _thr_mix_max) {
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); _thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);