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ACM: TradHeli

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Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
This commit is contained in:
Robert Lefebvre 2012-11-26 19:37:20 -05:00
parent b29e85dc0a
commit ca23a7ba76
3 changed files with 42 additions and 5 deletions
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8
ArduCopter/ArduCopter.pde
View File

@ -1671,6 +1671,14 @@ void update_throttle_mode(void)
}
#endif
#if FRAME_CONFIG == HELI_FRAME
if (roll_pitch_mode == ROLL_PITCH_STABLE){
motors.stab_throttle = true;
} else {
motors.stab_throttle = false;
}
#endif // HELI_FRAME
switch(throttle_mode) {
case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0) {

25
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -159,6 +159,24 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Range: 0 1
// @User: Standard
AP_GROUPINFO("FLYBAR_MODE", 18, AP_MotorsHeli, flybar_mode, 0),
// @Param: STAB_COL_MIN
// @DisplayName: Stabilize Throttle Minimum
// @Description: This is the minimum collective setpoint in Stabilize Mode
// @Range: 0 50
// @Units: 1%
// @Increment: 1
// @User: Standard
AP_GROUPINFO("STAB_COL_MIN", 19, AP_MotorsHeli, stab_col_min, 0),
// @Param: STAB_COL_MAX
// @DisplayName: Stabilize Throttle Maximum
// @Description: This is the maximum collective setpoint in Stabilize Mode
// @Range: 50 100
// @Units: 1%
// @Increment: 1
// @User: Standard
AP_GROUPINFO("STAB_COL_MAX", 20, AP_MotorsHeli, stab_col_max, 100),
AP_GROUPEND
};
@ -340,6 +358,7 @@ void AP_MotorsHeli::reset_swash()
_roll_scaler = 1.0;
_pitch_scaler = 1.0;
_collective_scalar = ((float)(_rc_throttle->radio_max - _rc_throttle->radio_min))/1000.0;
_stab_throttle_scalar = 1.0;
// we must be in set-up mode so mark swash as uninitialised
_swash_initialised = false;
@ -369,6 +388,7 @@ void AP_MotorsHeli::init_swash()
_roll_scaler = (float)roll_max/4500.0;
_pitch_scaler = (float)pitch_max/4500.0;
_collective_scalar = ((float)(collective_max-collective_min))/1000.0;
_stab_throttle_scalar = ((float)(stab_col_max - stab_col_min))/100.0;
if( swash_type == AP_MOTORS_HELI_SWASH_CCPM ) { //CCPM Swashplate, perform control mixing
@ -456,8 +476,11 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
// scale collective pitch
coll_out = constrain(coll_out, 0, 1000);
if (stab_throttle){
coll_out = coll_out * _stab_throttle_scalar + stab_col_min*10;
}
coll_out_scaled = coll_out * _collective_scalar + collective_min - 1000;
// rudder feed forward based on collective
if( !ext_gyro_enabled ) {
yaw_offset = collective_yaw_effect * abs(coll_out_scaled - throttle_mid);

14
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -74,7 +74,9 @@ public:
_roll_scaler = 1;
_pitch_scaler = 1;
_collective_scalar = 1;
_stab_throttle_scalar = 1;
_swash_initialised = false;
stab_throttle = false;
};
RC_Channel *_servo_1;
@ -97,10 +99,13 @@ public:
AP_Int16 collective_yaw_effect;
AP_Int8 servo_manual; // used to trigger swash reset from mission planner
AP_Int16 ext_gov_setpoint; // maximum output to the motor governor
AP_Int8 rsc_mode; // sets the mode for rotor speed controller
AP_Int8 rsc_mode; // sets the mode for rotor speed controller
AP_Int16 rsc_ramp_up_rate; // sets the time in 100th seconds the RSC takes to ramp up to speed
AP_Int8 flybar_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode
AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode
bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
// init
@ -153,12 +158,13 @@ protected:
// internally used variables
float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
float _stab_throttle_scalar; // throttle scalar to reduce the range of the collective movement in stabilize mode
bool _swash_initialised; // true if swash has been initialised
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
};