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Plane: only run TECS when in an auto-throttle mode

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this prevents integrator buildup in user controlled modes
This commit is contained in:
Andrew Tridgell 2013-07-05 14:55:22 +10:00
parent dd330885b8
commit d30dd7c3f1
3 changed files with 12 additions and 11 deletions
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15
ArduPlane/ArduPlane.pde
View File

@ -471,6 +471,10 @@ static int32_t takeoff_altitude_cm;
// Minimum pitch to hold during takeoff command execution. Hundredths of a degree // Minimum pitch to hold during takeoff command execution. Hundredths of a degree
static int16_t takeoff_pitch_cd; static int16_t takeoff_pitch_cd;
// true if we are in an auto-throttle mode, which means
// we need to run the speed/height controller
static bool auto_throttle_mode;
// this controls throttle suppression in auto modes // this controls throttle suppression in auto modes
static bool throttle_suppressed; static bool throttle_suppressed;
@ -766,14 +770,7 @@ static void fast_loop()
if (g.log_bitmask & MASK_LOG_IMU) if (g.log_bitmask & MASK_LOG_IMU)
Log_Write_IMU(); Log_Write_IMU();
// inertial navigation if (g.alt_control_algorithm == ALT_CONTROL_TECS && auto_throttle_mode) {
// ------------------
#if INERTIAL_NAVIGATION == ENABLED
// TODO: implement inertial nav function
inertialNavigation();
#endif
if (g.alt_control_algorithm == ALT_CONTROL_TECS) {
// Call TECS 50Hz update // Call TECS 50Hz update
SpdHgt_Controller->update_50hz(); SpdHgt_Controller->update_50hz();
} }
@ -1252,7 +1249,7 @@ static void update_alt()
// add_altitude_data(millis() / 100, g_gps->altitude / 10); // add_altitude_data(millis() / 100, g_gps->altitude / 10);
// Update the speed & height controller states // Update the speed & height controller states
if (g.alt_control_algorithm == ALT_CONTROL_TECS) { if (g.alt_control_algorithm == ALT_CONTROL_TECS && auto_throttle_mode) {
SpdHgt_Controller->update_pitch_throttle(target_altitude_cm - home.alt, target_airspeed_cm, SpdHgt_Controller->update_pitch_throttle(target_altitude_cm - home.alt, target_airspeed_cm,
(control_mode==AUTO && takeoff_complete == false), (control_mode==AUTO && takeoff_complete == false),
takeoff_pitch_cd); takeoff_pitch_cd);

4
ArduPlane/Attitude.pde
View File

@ -38,7 +38,7 @@ static float get_speed_scaler(void)
*/ */
static bool stick_mixing_enabled(void) static bool stick_mixing_enabled(void)
{ {
if (control_mode == CIRCLE || control_mode > FLY_BY_WIRE_B) { if (auto_throttle_mode) {
// we're in an auto mode. Check the stick mixing flag // we're in an auto mode. Check the stick mixing flag
if (g.stick_mixing != STICK_MIXING_DISABLED && if (g.stick_mixing != STICK_MIXING_DISABLED &&
geofence_stickmixing() && geofence_stickmixing() &&
@ -490,7 +490,7 @@ static bool suppress_throttle(void)
// we've previously met a condition for unsupressing the throttle // we've previously met a condition for unsupressing the throttle
return false; return false;
} }
if (control_mode != CIRCLE && control_mode <= FLY_BY_WIRE_A) { if (!auto_throttle_mode) {
// the user controls the throttle // the user controls the throttle
throttle_suppressed = false; throttle_suppressed = false;
return false; return false;

4
ArduPlane/system.pde
View File

@ -379,7 +379,11 @@ static void set_mode(enum FlightMode mode)
// if in an auto-throttle mode, start with throttle suppressed for // if in an auto-throttle mode, start with throttle suppressed for
// safety. suppress_throttle() will unsupress it when appropriate // safety. suppress_throttle() will unsupress it when appropriate
if (control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) { if (control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) {
auto_throttle_mode = true;
throttle_suppressed = true; throttle_suppressed = true;
} else {
auto_throttle_mode = false;
throttle_suppressed = false;
} }
if (g.log_bitmask & MASK_LOG_MODE) if (g.log_bitmask & MASK_LOG_MODE)