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Copter: remove TRIM_THROTTLE

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throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
This commit is contained in:
Leonard Hall 2015-01-31 16:04:54 +09:00 committed by Randy Mackay
parent c78480e14f
commit d5bbe6de03
6 changed files with 13 additions and 29 deletions
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6
ArduCopter/ArduCopter.pde
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@ -519,7 +519,7 @@ static int32_t initial_armed_bearing;
////////////////////////////////////////////////////////////////////////////////
// Throttle variables
////////////////////////////////////////////////////////////////////////////////
static float throttle_avg; // g.throttle_cruise as a float
static float throttle_average; // estimated throttle required to hover
static int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
@ -758,7 +758,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ auto_trim, 40, 14 },
{ update_altitude, 40, 100 },
{ run_nav_updates, 8, 80 },
{ update_thr_cruise, 40, 10 },
{ update_thr_average, 40, 10 },
{ three_hz_loop, 133, 9 },
{ compass_accumulate, 8, 42 },
{ barometer_accumulate, 8, 25 },
@ -833,7 +833,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ auto_trim, 10, 140 },
{ update_altitude, 10, 1000 },
{ run_nav_updates, 4, 800 },
{ update_thr_cruise, 1, 50 },
{ update_thr_average, 1, 50 },
{ three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 },
{ barometer_accumulate, 2, 250 },

19
ArduCopter/Attitude.pde
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@ -82,15 +82,15 @@ static float get_look_ahead_yaw()
* throttle control
****************************************************************/
// update_thr_cruise - update throttle cruise if necessary
// update_thr_average - update estimated throttle required to hover (if necessary)
// should be called at 100hz
static void update_thr_cruise()
static void update_thr_average()
{
// ensure throttle_avg has been initialised
if( throttle_avg == 0 ) {
throttle_avg = g.throttle_cruise;
// ensure throttle_average has been initialised
if( throttle_average == 0 ) {
throttle_average = g.throttle_mid;
// update position controller
pos_control.set_throttle_hover(throttle_avg);
pos_control.set_throttle_hover(throttle_average);
}
// if not armed or landed exit
@ -103,10 +103,9 @@ static void update_thr_cruise()
// calc average throttle if we are in a level hover
if (throttle > g.throttle_min && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
throttle_avg = throttle_avg * 0.99f + (float)throttle * 0.01f;
g.throttle_cruise = throttle_avg;
throttle_average = throttle_average * 0.99f + (float)throttle * 0.01f;
// update position controller
pos_control.set_throttle_hover(throttle_avg);
pos_control.set_throttle_hover(throttle_average);
}
}
@ -272,5 +271,5 @@ static float get_throttle_surface_tracking(int16_t target_rate, float current_al
static void set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
{
// shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_accel_z.set_integrator(pilot_throttle-g.throttle_cruise);
g.pid_accel_z.set_integrator(pilot_throttle-throttle_average);
}

3
ArduCopter/Parameters.h
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@ -249,7 +249,7 @@ public:
k_param_failsafe_throttle,
k_param_throttle_fs_action, // remove
k_param_failsafe_throttle_value,
k_param_throttle_cruise,
k_param_throttle_trim, // remove
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_radio_tuning_high,
@ -367,7 +367,6 @@ public:
AP_Int16 throttle_max;
AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_cruise;
AP_Int16 throttle_mid;
AP_Int16 throttle_deadzone;

8
ArduCopter/Parameters.pde
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@ -242,14 +242,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
// @Param: TRIM_THROTTLE
// @DisplayName: Throttle Trim
// @Description: The autopilot's estimate of the throttle required to maintain a level hover. Calculated automatically from the pilot's throttle input while in stabilize mode
// @Range: 0 1000
// @Units: Percent*10
// @User: Advanced
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
// @Param: THR_MID
// @DisplayName: Throttle Mid Position
// @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover

4
ArduCopter/config.h
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@ -672,10 +672,6 @@
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 450 // default estimate of throttle required for vehicle to maintain a hover
#endif
#ifndef THR_MID_DEFAULT
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif

2
ArduCopter/motors.pde
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@ -696,8 +696,6 @@ static void init_disarm_motors()
compass.save_offsets();
}
g.throttle_cruise.save();
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
autotune_save_tuning_gains();