mirror of https://github.com/ArduPilot/ardupilot
Copter: rtl uses throttle in 0 to 1 range and sets motor spool state
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@ -114,12 +114,14 @@ void Copter::rtl_return_start()
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void Copter::rtl_climb_return_run()
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{
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if(!ap.auto_armed || !motors.get_interlock()) {
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else // multicopters do not stabilize roll/pitch/yaw when disarmed
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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// reset attitude control targets
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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@ -137,6 +139,9 @@ void Copter::rtl_climb_return_run()
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}
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// run waypoint controller
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wp_nav.update_wpnav();
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@ -176,12 +181,14 @@ void Copter::rtl_loiterathome_start()
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void Copter::rtl_loiterathome_run()
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{
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if(!ap.auto_armed || !motors.get_interlock()) {
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else // multicopters do not stabilize roll/pitch/yaw when disarmed
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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// reset attitude control targets
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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@ -199,6 +206,9 @@ void Copter::rtl_loiterathome_run()
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}
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// run waypoint controller
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wp_nav.update_wpnav();
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@ -252,12 +262,14 @@ void Copter::rtl_descent_run()
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float target_yaw_rate = 0;
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if(!ap.auto_armed || !motors.get_interlock()) {
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else // multicopters do not stabilize roll/pitch/yaw when disarmed
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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// set target to current position
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@ -288,6 +300,9 @@ void Copter::rtl_descent_run()
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// process roll, pitch inputs
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wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
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@ -328,12 +343,14 @@ void Copter::rtl_land_run()
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int16_t roll_control = 0, pitch_control = 0;
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float target_yaw_rate = 0;
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// if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
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if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
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if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else // multicopters do not stabilize roll/pitch/yaw when disarmed
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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// set target to current position
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@ -384,6 +401,9 @@ void Copter::rtl_land_run()
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// process pilot's roll and pitch input
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wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
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