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altered the interactive throttle to be more aggressive and proportional. 

reworked baro reading strategy.
This commit is contained in:
Jason Short 2011-11-01 09:24:51 -07:00
parent 9c4ad5f7ff
commit ab1de277dc
1 changed files with 38 additions and 16 deletions
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54
ArduCopter/ArduCopter.pde
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@ -664,6 +664,7 @@ static void medium_loop()
}else{
g_gps->new_data = false;
}
break;
// command processing
@ -729,6 +730,9 @@ static void medium_loop()
// -----------------------
arm_motors();
// Do an extra baro read
// ---------------------
barometer.Read();
slow_loop();
break;
@ -1066,7 +1070,15 @@ void update_throttle_mode(void)
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle);
#else
angle_boost = get_angle_boost(g.throttle_cruise);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + manual_boost;
if(manual_boost != 0){
//remove alt_hold_velocity when implemented
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + alt_hold_velocity();
// reset next_WP.alt
next_WP.alt = max(current_loc.alt, 100);
}else{
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + alt_hold_velocity();
}
#endif
break;
}
@ -1204,7 +1216,7 @@ static void update_altitude()
float scale;
// read barometer
baro_alt = read_barometer();
baro_alt = (baro_alt + read_barometer()) >> 1;
if(baro_alt < 1000){
@ -1229,25 +1241,16 @@ static void update_altitude()
}
// calc the accel rate limit to 2m/s
altitude_rate = (current_loc.alt - old_altitude) * 10; // 10 hz timer
// rate limiter to reduce some of the motor pulsing
if (altitude_rate > 0){
// going up
altitude_rate = min(altitude_rate, old_rate + 20);
}else{
// going down
altitude_rate = max(altitude_rate, old_rate - 20);
}
old_rate = altitude_rate;
old_altitude = current_loc.alt;
int temp_rate = (barometer._offset_press - barometer.RawPress) << 1; // invert and scale
altitude_rate = (temp_rate - old_rate) * 10;
old_rate = temp_rate;
#endif
}
static void
adjust_altitude()
{
/*
if(g.rc_3.control_in <= 200){
next_WP.alt -= 1; // 1 meter per second
next_WP.alt = max(next_WP.alt, (current_loc.alt - 500)); // don't go less than 4 meters below current location
@ -1258,6 +1261,25 @@ adjust_altitude()
next_WP.alt += 1; // 1 meter per second
next_WP.alt = min(next_WP.alt, (current_loc.alt + 500)); // don't go more than 4 meters below current location
//manual_boost = (g.rc_3.control_in == 800) ? 20 : 0;
}*/
if(g.rc_3.control_in <= 180){
// we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost);
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}else if (g.rc_3.control_in >= 650){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}else {
manual_boost = 0;
}
}
@ -1339,7 +1361,7 @@ static void tuning(){
g.pi_nav_lat.kP(tuning_value);
g.pi_nav_lon.kP(tuning_value);
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
g.rc_6.set_range(1000,2000);