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Based on Jani's latest logs I've made two tweaks to alt hold.

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The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
This commit is contained in:
Jason Short 2012-02-25 13:21:48 -08:00
parent d0a6359b37
commit a924c3685e
1 changed files with 6 additions and 3 deletions
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9
ArduCopter/ArduCopter.pde
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@ -1515,7 +1515,7 @@ void update_simple_mode(void)
g.rc_2.control_in = control_pitch; g.rc_2.control_in = control_pitch;
} }
#define THROTTLE_FILTER_SIZE 4 #define THROTTLE_FILTER_SIZE 2
// 50 hz update rate, not 250 // 50 hz update rate, not 250
// controls all throttle behavior // controls all throttle behavior
@ -1652,7 +1652,10 @@ void update_throttle_mode(void)
} }
// light filter of output // light filter of output
g.rc_3.servo_out = (g.rc_3.servo_out * (THROTTLE_FILTER_SIZE - 1) + throttle_out) / THROTTLE_FILTER_SIZE; //g.rc_3.servo_out = (g.rc_3.servo_out * (THROTTLE_FILTER_SIZE - 1) + throttle_out) / THROTTLE_FILTER_SIZE;
// no filter
g.rc_3.servo_out = throttle_out;
break; break;
} }
} }
@ -1918,7 +1921,7 @@ static void update_altitude()
climb_rate = (climb_rate + old_climb_rate)>>1; climb_rate = (climb_rate + old_climb_rate)>>1;
// manage bad data // manage bad data
climb_rate = constrain(climb_rate, -300, 300); climb_rate = constrain(climb_rate, -800, 800);
// save for filtering // save for filtering
old_climb_rate = climb_rate; old_climb_rate = climb_rate;