Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduCopter/ArduCopter.pde
View File

@ -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;