mirror of https://github.com/ArduPilot/ardupilot
Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise
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@ -1145,9 +1145,9 @@ void update_throttle_mode(void)
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//remove alt_hold_velocity when implemented
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//remove alt_hold_velocity when implemented
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#if FRAME_CONFIG == HELI_FRAME
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#if FRAME_CONFIG == HELI_FRAME
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g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping());
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g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost);
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#else
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#else
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g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
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g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost;
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#endif
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#endif
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// reset next_WP.alt
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// reset next_WP.alt
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@ -1397,14 +1397,14 @@ adjust_altitude()
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// we remove 0 to 100 PWM from hover
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// we remove 0 to 100 PWM from hover
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manual_boost = g.rc_3.control_in - 180;
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manual_boost = g.rc_3.control_in - 180;
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manual_boost = max(-120, manual_boost);
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manual_boost = max(-120, manual_boost);
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g.throttle_cruise += (g.pi_alt_hold.get_integrator());
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g.throttle_cruise += g.pi_alt_hold.get_integrator();
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g.pi_alt_hold.reset_I();
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g.pi_alt_hold.reset_I();
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g.pi_throttle.reset_I();
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g.pi_throttle.reset_I();
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}else if (g.rc_3.control_in >= 650){
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}else if (g.rc_3.control_in >= 650){
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// we add 0 to 100 PWM to hover
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// we add 0 to 100 PWM to hover
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manual_boost = g.rc_3.control_in - 650;
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manual_boost = g.rc_3.control_in - 650;
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g.throttle_cruise += (g.pi_alt_hold.get_integrator());
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g.throttle_cruise += g.pi_alt_hold.get_integrator();
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g.pi_alt_hold.reset_I();
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g.pi_alt_hold.reset_I();
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g.pi_throttle.reset_I();
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g.pi_throttle.reset_I();
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