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Copter: Tradheli gets support for spool logic

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This commit is contained in:
bnsgeyer 2019-01-08 19:29:57 +09:00 committed by Randy Mackay
parent 12f4d8518e
commit ca565675f2
8 changed files with 35 additions and 10 deletions
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2
ArduCopter/mode.cpp
View File

@ -375,12 +375,12 @@ bool Copter::Mode::_TakeOff::triggered(const float target_climb_rate) const
void Copter::Mode::zero_throttle_and_relax_ac()
{
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
#if FRAME_CONFIG == HELI_FRAME
// Helicopters always stabilize roll/pitch/yaw
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
#else
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0.0f, true, copter.g.throttle_filt);
#endif

2
ArduCopter/mode_acro_heli.cpp
View File

@ -45,6 +45,8 @@ void Copter::ModeAcro_Heli::run()
set_land_complete(false);
}
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
if (!motors->has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);

17
ArduCopter/mode_althold.cpp
View File

@ -103,19 +103,22 @@ void Copter::ModeAltHold::run()
break;
case AltHold_Landed:
#if FRAME_CONFIG == HELI_FRAME
// helicopters do not spool down when landed. Only when commanded to go to ground idle by pilot.
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
if (motors->init_targets_on_arming()) {
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
}
#else
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#if FRAME_CONFIG == HELI_FRAME
if (motors->init_targets_on_arming()) {
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
}
#else
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
#endif

6
ArduCopter/mode_flowhold.cpp
View File

@ -334,13 +334,17 @@ void Copter::ModeFlowHold::run()
break;
case FlowHold_Landed:
#if FRAME_CONFIG == HELI_FRAME
// helicopters do not spool down when landed. Only when commanded to go to ground idle by pilot.
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#else
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
} else {
copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#endif
copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->set_yaw_target_to_current_heading();
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);

5
ArduCopter/mode_loiter.cpp
View File

@ -180,12 +180,17 @@ void Copter::ModeLoiter::run()
break;
case Loiter_Landed:
#if FRAME_CONFIG == HELI_FRAME
// helicopters do not spool down when landed. Only when commanded to go to ground idle by pilot.
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#else
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#endif
loiter_nav->init_target();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();

5
ArduCopter/mode_poshold.cpp
View File

@ -184,12 +184,17 @@ void Copter::ModePosHold::run()
// if landed initialise loiter targets, set throttle to zero and exit
if (ap.land_complete) {
#if FRAME_CONFIG == HELI_FRAME
// helicopters do not spool down when landed. Only when commanded to go to ground idle by pilot.
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#else
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#endif
loiter_nav->init_target();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();

6
ArduCopter/mode_sport.cpp
View File

@ -130,13 +130,17 @@ void Copter::ModeSport::run()
break;
case Sport_Landed:
#if FRAME_CONFIG == HELI_FRAME
// helicopters do not spool down when landed. Only when commanded to go to ground idle by pilot.
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#else
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#endif
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);

2
ArduCopter/mode_stabilize_heli.cpp
View File

@ -38,6 +38,8 @@ void Copter::ModeStabilize_Heli::run()
set_land_complete(false);
}
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();