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AP_MotorsMulticopter: limit hover throttle

This commit is contained in:
Leonard Hall 2016-06-25 14:04:26 +09:30 committed by Randy Mackay
parent 5c47f3f9e5
commit bead957a78
2 changed files with 4 additions and 1 deletions
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3
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -378,7 +378,8 @@ void AP_MotorsMulticopter::set_throttle_range(int16_t radio_min, int16_t radio_m
void AP_MotorsMulticopter::update_throttle_hover(float dt)
{
if (_throttle_hover_learn != HOVER_LEARN_DISABLED) {
_throttle_hover = _throttle_hover + (dt/(dt+AP_MOTORS_THST_HOVER_TC))*(get_throttle()-_throttle_hover);
// we have chosen to constrain the hover throttle to be within the range reachable by the third order expo polynomial.
_throttle_hover = constrain_float(_throttle_hover + (dt/(dt+AP_MOTORS_THST_HOVER_TC))*(get_throttle()-_throttle_hover), AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX);
}
}

2
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -17,6 +17,8 @@
#define AP_MOTORS_THST_EXPO_DEFAULT 0.65f // set to 0 for linear and 1 for second order approximation
#define AP_MOTORS_THST_HOVER_DEFAULT 0.5f // the estimated hover throttle, 0 ~ 1
#define AP_MOTORS_THST_HOVER_TC 10.0f // time constant used to update estimated hover throttle, 0 ~ 1
#define AP_MOTORS_THST_HOVER_MIN 0.125f // minimum possible hover throttle
#define AP_MOTORS_THST_HOVER_MAX 0.6875f // maximum possible hover throttle
#define AP_MOTORS_SPIN_MIN_DEFAULT 0.15f // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_SPIN_ARM_DEFAULT 0.10f // throttle out ratio which produces the armed spin rate. (i.e. 0 ~ 1 ) of the full throttle range