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TradHeli: remove use of throttle_mode

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Randy Mackay 2014-02-03 21:06:34 +09:00 committed by Andrew Tridgell
parent 082c5021ee
commit b37b0c5061
1 changed files with 25 additions and 14 deletions
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39
ArduCopter/heli.pde
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@ -16,16 +16,11 @@ static struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms) uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
} heli_flags; } heli_flags;
#if HELI_CC_COMP == ENABLED
static LowPassFilterFloat rate_dynamics_filter; // Rate Dynamics filter
#endif
// heli_init - perform any special initialisation required for the tradheli // heli_init - perform any special initialisation required for the tradheli
static void heli_init() static void heli_init()
{ {
#if HELI_CC_COMP == ENABLED
rate_dynamics_filter.set_cutoff_frequency(0.01f, 4.0f);
#endif
} }
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the g.rc_3.servo_out function // get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the g.rc_3.servo_out function
@ -47,7 +42,8 @@ static int16_t get_pilot_desired_collective(int16_t control_in)
// should be called at 50hz // should be called at 50hz
static void check_dynamic_flight(void) static void check_dynamic_flight(void)
{ {
if (!motors.armed() || throttle_mode == THROTTLE_LAND || !motors.motor_runup_complete()) { if (!motors.armed() || !motors.motor_runup_complete() ||
control_mode == LAND || (control_mode==RTL && rtl_state == Land) || (control_mode == AUTO && auto_mode == Auto_Land)) {
heli_dynamic_flight_counter = 0; heli_dynamic_flight_counter = 0;
heli_flags.dynamic_flight = false; heli_flags.dynamic_flight = false;
return; return;
@ -94,21 +90,36 @@ static void check_dynamic_flight(void)
// should be called soon after update_land_detector in main code // should be called soon after update_land_detector in main code
static void heli_update_landing_swash() static void heli_update_landing_swash()
{ {
switch(throttle_mode) { switch(control_mode) {
case THROTTLE_MANUAL: case ACRO:
case THROTTLE_MANUAL_TILT_COMPENSATED: case STABILIZE:
case THROTTLE_MANUAL_HELI: case DRIFT:
case SPORT:
// manual modes always uses full swash range // manual modes always uses full swash range
motors.set_collective_for_landing(false); motors.set_collective_for_landing(false);
break; break;
case THROTTLE_LAND: case LAND:
// landing always uses limit swash range // landing always uses limit swash range
motors.set_collective_for_landing(true); motors.set_collective_for_landing(true);
break; break;
case THROTTLE_HOLD: case RTL:
case THROTTLE_AUTO: if (rtl_state == Land) {
motors.set_collective_for_landing(true);
}else{
motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
}
break;
case AUTO:
if (auto_mode == Auto_Land) {
motors.set_collective_for_landing(true);
}else{
motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
}
break;
default: default:
// auto and hold use limited swash when landed // auto and hold use limited swash when landed
motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed); motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);