Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

TradHeli: move STAB_COL_MIN to main parameter list

This commit is contained in:
Randy Mackay 2013-11-09 14:25:06 +09:00
parent b71c6bfd76
commit c9c803ffd4
7 changed files with 45 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/ArduCopter.pde
View File

@ -2027,7 +2027,7 @@ void update_throttle_mode(void)
case THROTTLE_MANUAL_HELI:
// trad heli manual throttle controller
// send pilot's output directly to swash plate
pilot_throttle_scaled = motors.get_pilot_desired_collective(g.rc_3.control_in);
pilot_throttle_scaled = get_pilot_desired_collective(g.rc_3.control_in);
set_throttle_out(pilot_throttle_scaled, false);
// update estimate of throttle cruise

4
ArduCopter/Parameters.h
View File

@ -117,6 +117,8 @@ public:
k_param_heli_pitch_ff,
k_param_heli_roll_ff,
k_param_heli_yaw_ff,
k_param_heli_stab_col_min,
k_param_heli_stab_col_max, // 88
//
// 90: Motors
@ -357,6 +359,8 @@ public:
AP_Float heli_pitch_ff; // pitch rate feed-forward
AP_Float heli_roll_ff; // roll rate feed-forward
AP_Float heli_yaw_ff; // yaw rate feed-forward
AP_Int16 heli_stab_col_min; // min collective while pilot directly controls collective in stabilize mode
AP_Int16 heli_stab_col_max; // min collective while pilot directly controls collective in stabilize mode
#endif
#if FRAME_CONFIG == SINGLE_FRAME
// Single

19
ArduCopter/Parameters.pde
View File

@ -453,7 +453,26 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_yaw_ff, "RATE_YAW_FF", HELI_YAW_FF),
// @Param: STAB_COL_MIN
// @DisplayName: Heli Stabilize Throttle Collective Minimum
// @Description: Helicopter's minimum collective position while pilot directly controls collective in stabilize mode
// @Range: 0 500
// @Units: pwm
// @Increment: 1
// @User: Standard
GSCALAR(heli_stab_col_min, "STAB_COL_MIN", HELI_STAB_COLLECTIVE_MIN_DEFAULT),
// @Param: STAB_COL_MAX
// @DisplayName: Stabilize Throttle Maximum
// @Description: Helicopter's maximum collective position while pilot directly controls collective in stabilize mode
// @Range: 500 1000
// @Units: pwm
// @Increment: 1
// @User: Standard
GSCALAR(heli_stab_col_max, "STAB_COL_MAX", HELI_STAB_COLLECTIVE_MAX_DEFAULT),
#endif
#if FRAME_CONFIG == SINGLE_FRAME
// @Group: SS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp

2
ArduCopter/config.h
View File

@ -113,6 +113,8 @@
# define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
#endif
/////////////////////////////////////////////////////////////////////////////////

15
ArduCopter/heli.pde
View File

@ -16,6 +16,21 @@ 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)
} heli_flags;
// 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
static int16_t get_pilot_desired_collective(int16_t control_in)
{
// return immediately if reduce collective range for manual flight has not been configured
if (g.heli_stab_col_min == 0 && g.heli_stab_col_max == 1000) {
return control_in;
}
// scale pilot input to reduced collective range
float scalar = ((float)(g.heli_stab_col_max - g.heli_stab_col_min))/1000.0f;
int16_t collective_out = g.heli_stab_col_min + control_in * scalar;
collective_out = constrain_int16(collective_out, 0, 1000);
return collective_out;
}
// heli_check_dynamic_flight - updates the dynamic_flight flag based on our horizontal velocity
// should be called at 50hz
static void check_dynamic_flight(void)

34
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -170,23 +170,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("FLYBAR_MODE", 18, AP_MotorsHeli, _flybar_mode, AP_MOTORS_HELI_NOFLYBAR),
// @Param: STAB_COL_MIN
// @DisplayName: Stabilize Throttle Minimum
// @Description: Minimum collective position while pilot directly controls collective
// @Range: 0 50
// @Units: Percent
// @Increment: 1
// @User: Standard
AP_GROUPINFO("STAB_COL_MIN", 19, AP_MotorsHeli, _manual_collective_min, AP_MOTORS_HELI_MANUAL_COLLECTIVE_MIN),
// @Param: STAB_COL_MAX
// @DisplayName: Stabilize Throttle Maximum
// @Description: Maximum collective position while pilot directly controls collective
// @Range: 50 100
// @Units: Percent
// @Increment: 1
// @User: Standard
AP_GROUPINFO("STAB_COL_MAX", 20, AP_MotorsHeli, _manual_collective_max, AP_MOTORS_HELI_MANUAL_COLLECTIVE_MAX),
// 19,20 - was STAB_COL_MIN, STAB_COL_MAX now moved to main code's parameter list
// @Param: LAND_COL_MIN
// @DisplayName: Landing Collective Minimum
@ -354,21 +338,6 @@ bool AP_MotorsHeli::allow_arming()
return true;
}
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
int16_t AP_MotorsHeli::get_pilot_desired_collective(int16_t control_in)
{
// return immediately if reduce collective range for manual flight has not been configured
if (_manual_collective_min == 0 && _manual_collective_max == 100) {
return control_in;
}
// scale
int16_t collective_out;
collective_out = _manual_collective_min*10 + control_in * _collective_scalar_manual;
collective_out = constrain_int16(collective_out, 0, 1000);
return collective_out;
}
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void AP_MotorsHeli::set_desired_rotor_speed(int16_t desired_speed)
{
@ -490,7 +459,6 @@ void AP_MotorsHeli::init_swash()
_roll_scaler = (float)_roll_max/4500.0f;
_pitch_scaler = (float)_pitch_max/4500.0f;
_collective_scalar = ((float)(_collective_max-_collective_min))/1000.0f;
_collective_scalar_manual = ((float)(_manual_collective_max - _manual_collective_min))/100.0f;
// calculate factors based on swash type and servo position
calculate_roll_pitch_collective_factors();

10
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -112,7 +112,6 @@ public:
_roll_scaler(1),
_pitch_scaler(1),
_collective_scalar(1),
_collective_scalar_manual(1),
_collective_out(0),
_collective_mid_pwm(0),
_rotor_desired(0),
@ -163,19 +162,12 @@ public:
// has_flybar - returns true if we have a mechical flybar
bool has_flybar() { return _flybar_mode; }
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
int16_t get_pilot_desired_collective(int16_t control_in);
// get_collective_mid - returns collective mid position as a number from 0 ~ 1000
int16_t get_collective_mid() { return _collective_mid; }
// get_collective_out - returns collective position from last output as a number from 0 ~ 1000
int16_t get_collective_out() { return _collective_out; }
// get min/max collective when controlled manually as a number from 0 ~ 1000 (note that parameter is stored as percentage)
int16_t get_manual_collective_min() { return _manual_collective_min*10; }
int16_t get_manual_collective_max() { return _manual_collective_max*10; }
// set_collective_for_landing - limits collective from going too low if we know we are landed
void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; }
@ -271,8 +263,6 @@ private:
AP_Int8 _rsc_ramp_time; // Time in seconds for the output to the main rotor's ESC to reach full speed
AP_Int8 _rsc_runup_time; // Time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time
AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int8 _manual_collective_min; // Minimum collective position while pilot directly controls the collective
AP_Int8 _manual_collective_max; // Maximum collective position while pilot directly controls the collective
AP_Int16 _land_collective_min; // Minimum collective when landed or landing
AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)