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Copter: loiter uses AP_Motors set_desired_spool_state

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Leonard Hall 2016-02-02 21:21:44 +09:00 committed by Randy Mackay
parent 02ac2d0e4e
commit be7ad2d83a
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/control_loiter.cpp
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@ -96,7 +96,7 @@ void Copter::loiter_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt); attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else #else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed // multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME #endif // HELI_FRAME
@ -117,7 +117,7 @@ void Copter::loiter_run()
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false); pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller(); pos_control.update_z_controller();
#else #else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SHUT_DOWN); motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
// multicopters do not stabilize roll/pitch/yaw when motors are stopped // multicopters do not stabilize roll/pitch/yaw when motors are stopped
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -139,7 +139,7 @@ void Copter::loiter_run()
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate); takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// set motors to full range // set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run loiter controller // run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
@ -163,9 +163,9 @@ void Copter::loiter_run()
#else #else
// if throttle zero reset attitude and exit immediately // if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) { if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
}else{ }else{
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
} }
// multicopters do not stabilize roll/pitch/yaw when disarmed // multicopters do not stabilize roll/pitch/yaw when disarmed
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
@ -177,7 +177,7 @@ void Copter::loiter_run()
case Loiter_Flying: case Loiter_Flying:
// set motors to full range // set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run loiter controller // run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);