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Copter: add update_throttle_low_comp

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sets the priority of throttle vs attiude control so that attitude is
favoured (i.e. high throttle-low-comp) during dynamic flight while
throttle is favoured when vehicle may be landing.
This commit is contained in:
Leonard Hall 2015-03-09 21:16:08 +09:00 committed by Randy Mackay
parent 007c96a3d8
commit c537c38646
2 changed files with 27 additions and 0 deletions
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3
ArduCopter/ArduCopter.pde
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@ -1012,6 +1012,9 @@ static void throttle_loop()
// check if we've landed
update_land_detector();
// update throttle_low_comp value (controls priority of throttle vs attitude control)
update_throttle_low_comp();
// check auto_armed status
update_auto_armed();

24
ArduCopter/land_detector.pde
View File

@ -41,3 +41,27 @@ static void update_land_detector()
// set land maybe flag
set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
}
// update_throttle_low_comp - sets motors throttle_low_comp value depending upon vehicle state
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
static void update_throttle_low_comp()
{
// manual throttle
if (mode_has_manual_throttle(control_mode)) {
if(!motors.armed() || g.rc_3.control_in <= 0) {
motors.set_throttle_low_comp(0.1f);
} else {
motors.set_throttle_low_comp(0.5f);
}
} else {
// autopilot controlled throttle
const Vector3f angle_target = attitude_control.angle_ef_targets();
if (pythagorous2(angle_target.x, angle_target.y) > 1500.0f) {
// if target lean angle is over 15 degrees set high
motors.set_throttle_low_comp(0.9f);
} else {
motors.set_throttle_low_comp(0.1f);
}
}
}