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Sub: Some more tweaks for water pressure. Change throttle_zero to mid stick.

This commit is contained in:
jaxxzer 2016-01-20 22:29:51 -05:00 committed by Andrew Tridgell
parent 3f4a6101ad
commit a299528194
4 changed files with 23 additions and 18 deletions
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2
ArduSub/config.h
View File

@ -395,7 +395,7 @@
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
# define LAND_START_ALT -25 // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL

23
ArduSub/control_althold.cpp
View File

@ -17,6 +17,7 @@ bool Sub::althold_init(bool ignore_checks)
#endif
// initialize vertical speeds and leash lengths
// sets the maximum speed up and down returned by position controller
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
@ -62,18 +63,18 @@ void Sub::althold_run()
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()));
#endif
// Alt Hold State Machine Determination
if(!ap.auto_armed) {
althold_state = AltHold_Disarmed;
} else if (!motors.get_interlock()){
althold_state = AltHold_MotorStop;
} else if (takeoff_state.running || takeoff_triggered){
althold_state = AltHold_Takeoff;
} else if (ap.land_complete){
althold_state = AltHold_Landed;
} else {
// // Alt Hold State Machine Determination
// if(!ap.auto_armed) {
// althold_state = AltHold_Disarmed;
// } else if (!motors.get_interlock()){
// althold_state = AltHold_MotorStop;
// } else if (takeoff_state.running || takeoff_triggered){
// althold_state = AltHold_Takeoff;
// } else if (ap.land_complete){
// althold_state = AltHold_Landed;
// } else {
althold_state = AltHold_Flying;
}
// }
// Alt Hold State Machine
switch (althold_state) {

2
ArduSub/radio.cpp
View File

@ -238,7 +238,7 @@ void Sub::set_throttle_zero_flag(int16_t throttle_control)
// if not using throttle interlock and non-zero throttle and not E-stopped,
// or using motor interlock and it's enabled, then motors are running,
// and we are flying. Immediately set as non-zero
if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_emergency_stop) || (ap.using_interlock && motors.get_interlock())) {
if ((!ap.using_interlock && (throttle_control < 475 || throttle_control > 525)&& && !ap.motor_emergency_stop) || (ap.using_interlock && motors.get_interlock())) {
last_nonzero_throttle_ms = tnow_ms;
ap.throttle_zero = false;
} else if (tnow_ms - last_nonzero_throttle_ms > THROTTLE_ZERO_DEBOUNCE_TIME_MS) {

14
ArduSub/system.cpp
View File

@ -241,14 +241,18 @@ void Sub::init_ardupilot()
ins.set_hil_mode();
#endif
if(barometer.num_instances() > 1) {
//We have an external MS58XX pressure sensor connected
for(int i = 1; i < barometer.num_instances(); i++) {
barometer.set_type(i, BARO_TYPE_WATER); //Altitude (depth) is calculated differently underwater
barometer.set_precision_multiplier(i, 10); //The MS58XX values reported need to be multiplied by 10 to match units everywhere else
}
barometer.set_primary_baro(1); //Set the primary baro to external MS58XX
}
// read Baro pressure at ground
//-----------------------------
init_barometer(true);
if(barometer.num_instances() > 1) {
//We have an external MS58XX pressure sensor connected
barometer.set_type(1, BARO_TYPE_WATER); //Altitude (depth) is calculated differently underwater
barometer.set_precision_multiplier(1, 10); //The MS58XX values reported need to be multiplied by 10 to match units everywhere else
}
// initialise sonar
#if CONFIG_SONAR == ENABLED