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AC_AttitudeControl: add rpy mix manual

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This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
This commit is contained in:
Leonard Hall 2017-01-04 15:49:00 +10:30 committed by Randy Mackay
parent becc56da0b
commit c6d2fc3d5d
3 changed files with 30 additions and 7 deletions
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7
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -35,9 +35,10 @@
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_TC_DEFAULT 1.0f // Time constant used to limit lean angle so that vehicle does not lose altitude
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX 0.8f // Max throttle used to limit lean angle so that vehicle does not lose altitude
#define AC_ATTITUDE_CONTROL_MIN_DEFAULT 0.1f // minimum throttle mix
#define AC_ATTITUDE_CONTROL_MID_DEFAULT 0.5f // manual throttle mix
#define AC_ATTITUDE_CONTROL_MIN_DEFAULT 0.1f // minimum throttle mix default
#define AC_ATTITUDE_CONTROL_MAN_DEFAULT 0.5f // manual throttle mix default
#define AC_ATTITUDE_CONTROL_MAX_DEFAULT 0.5f // maximum throttle mix default
#define AC_ATTITUDE_CONTROL_MAX 5.0f // maximum throttle mix default
#define AC_ATTITUDE_CONTROL_THR_MIX_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input
@ -243,7 +244,7 @@ public:
// control rpy throttle mix
virtual void set_throttle_mix_min() {}
virtual void set_throttle_mix_mid() {}
virtual void set_throttle_mix_man() {}
virtual void set_throttle_mix_max() {}
// enable use of flybass passthrough on heli

27
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -135,6 +135,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @User: Advanced
AP_GROUPINFO("THR_MIX_MAX", 5, AC_AttitudeControl_Multi, _thr_mix_max, AC_ATTITUDE_CONTROL_MAX_DEFAULT),
// @Param: THR_MIX_MAN
// @DisplayName: Throttle Mix Manual
// @Description: Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
// @Range: 0.5 0.9
// @User: Advanced
AP_GROUPINFO("THR_MIX_MAN", 6, AC_AttitudeControl_Multi, _thr_mix_man, AC_ATTITUDE_CONTROL_MAN_DEFAULT),
AP_GROUPEND
};
@ -219,7 +226,7 @@ void AC_AttitudeControl_Multi::update_throttle_rpy_mix()
// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
_throttle_rpy_mix -= MIN(0.5f*_dt, _throttle_rpy_mix-_throttle_rpy_mix_desired);
}
_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, 1.0f);
_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX);
}
void AC_AttitudeControl_Multi::rate_controller_run()
@ -238,12 +245,26 @@ void AC_AttitudeControl_Multi::rate_controller_run()
void AC_AttitudeControl_Multi::parameter_sanity_check()
{
// sanity check throttle mix parameters
if (_thr_mix_man < 0.1f || _thr_mix_man > 4.0f) {
// parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0
// which can be useful for very high powered copters with very low hover throttle
_thr_mix_man = AC_ATTITUDE_CONTROL_MAN_DEFAULT;
_thr_mix_man.set_and_save(AC_ATTITUDE_CONTROL_MAN_DEFAULT);
}
if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) {
_thr_mix_min = AC_ATTITUDE_CONTROL_MIN_DEFAULT;
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);
}
if (_thr_mix_max < 0.5f || _thr_mix_max > 2.0f) {
// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 2.0
if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) {
// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0
// which can be useful for very high powered copters with very low hover throttle
_thr_mix_max = AC_ATTITUDE_CONTROL_MAX_DEFAULT;
_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT);
}
if (_thr_mix_min > _thr_mix_max) {
_thr_mix_min = AC_ATTITUDE_CONTROL_MIN_DEFAULT;
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);
_thr_mix_max = AC_ATTITUDE_CONTROL_MAX_DEFAULT;
_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT);
}
}

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
View File

@ -64,7 +64,7 @@ public:
// 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
void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; }
void set_throttle_mix_mid() override { _throttle_rpy_mix_desired = AC_ATTITUDE_CONTROL_MID_DEFAULT; }
void set_throttle_mix_man() override { _throttle_rpy_mix_desired = _thr_mix_man; }
void set_throttle_mix_max() override { _throttle_rpy_mix_desired = _thr_mix_max; }
// are we producing min throttle?
@ -92,6 +92,7 @@ protected:
AC_PID _pid_rate_pitch;
AC_PID _pid_rate_yaw;
AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle)
AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
AP_Float _thr_mix_max; // throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
};