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

Copter: improve the reliability of ESC calibration with OneShot ESCs 

run at higher rate and make sure we're always giving output
This commit is contained in:
Andrew Tridgell 2016-08-29 15:38:14 +10:00
parent e9e3a3f491
commit d186e1c648
1 changed files with 34 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
ArduCopter/esc_calibration.cpp
View File

@ -81,23 +81,31 @@ void Copter::esc_calibration_passthrough()
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
if (motors.get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
// run at full speed for oneshot ESCs (actually done on push)
motors.set_update_rate(g.rc_speed);
} else {
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
}
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
// arm motors
motors.armed(true);
motors.enable();
while(1) {
// arm motors
motors.armed(true);
motors.enable();
// flash LEDS
AP_Notify::flags.esc_calibration = true;
// read pilot input
read_radio();
delay(10);
// we run at high rate do make oneshot ESCs happy. Normal ESCs
// will only see pulses at the RC_SPEED
delay(3);
// pass through to motors
motors.set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
@ -111,8 +119,13 @@ void Copter::esc_calibration_auto()
#if FRAME_CONFIG != HELI_FRAME
bool printed_msg = false;
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
if (motors.get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
// run at full speed for oneshot ESCs (actually done on push)
motors.set_update_rate(g.rc_speed);
} else {
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
}
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
@ -126,7 +139,6 @@ void Copter::esc_calibration_auto()
// raise throttle to maximum
delay(10);
motors.set_throttle_passthrough_for_esc_calibration(1.0f);
// wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
@ -134,11 +146,16 @@ void Copter::esc_calibration_auto()
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true;
}
delay(10);
motors.set_throttle_passthrough_for_esc_calibration(1.0f);
delay(3);
}
// delay for 5 seconds
delay(5000);
// delay for 5 seconds while outputting pulses
uint32_t tstart = millis();
while (millis() - tstart < 5000) {
motors.set_throttle_passthrough_for_esc_calibration(1.0f);
delay(3);
}
// reduce throttle to minimum
motors.set_throttle_passthrough_for_esc_calibration(0.0f);
@ -147,6 +164,9 @@ void Copter::esc_calibration_auto()
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// block until we restart
while(1) { delay(5); }
while(1) {
delay(3);
motors.set_throttle_passthrough_for_esc_calibration(0.0f);
}
#endif // FRAME_CONFIG != HELI_FRAME
}