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Sub: replace set_throttle_out_unstabilized

This commit is contained in:
Leonard Hall 2018-12-28 17:04:55 +10:30 committed by Randy Mackay
parent c4e3c4142e
commit d8d3522cba
9 changed files with 30 additions and 22 deletions
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3
ArduSub/control_acro.cpp
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@ -27,7 +27,8 @@ void Sub::acro_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}

3
ArduSub/control_althold.cpp
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@ -39,7 +39,8 @@ void Sub::althold_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
last_pilot_heading = ahrs.yaw_sensor;
return;

14
ArduSub/control_auto.cpp
View File

@ -118,8 +118,8 @@ void Sub::auto_wp_run()
// call attitude controller
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
@ -203,9 +203,9 @@ void Sub::auto_spline_run()
// To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
@ -391,7 +391,8 @@ void Sub::auto_loiter_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
@ -675,7 +676,8 @@ void Sub::auto_terrain_recover_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}

4
ArduSub/control_circle.cpp
View File

@ -43,8 +43,8 @@ void Sub::circle_run()
// To-Do: add some initialisation of position controllers
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.set_alt_target_to_current_alt();
return;
}

16
ArduSub/control_guided.cpp
View File

@ -293,8 +293,8 @@ void Sub::guided_pos_control_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
@ -344,8 +344,8 @@ void Sub::guided_vel_control_run()
pos_control.init_vel_controller_xyz();
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
@ -399,8 +399,8 @@ void Sub::guided_posvel_control_run()
pos_control.set_desired_velocity(Vector3f(0,0,0));
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
@ -469,8 +469,8 @@ void Sub::guided_angle_control_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);
attitude_control.set_throttle_out(0.0f,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
return;
}

3
ArduSub/control_manual.cpp
View File

@ -20,7 +20,8 @@ void Sub::manual_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}

3
ArduSub/control_poshold.cpp
View File

@ -43,7 +43,8 @@ void Sub::poshold_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
loiter_nav.clear_pilot_desired_acceleration();
loiter_nav.init_target();
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
return;
}

3
ArduSub/control_stabilize.cpp
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@ -21,7 +21,8 @@ void Sub::stabilize_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
last_pilot_heading = ahrs.yaw_sensor;
return;
}

3
ArduSub/control_surface.cpp
View File

@ -28,7 +28,8 @@ void Sub::surface_run()
if (!motors.armed()) {
motors.output_min();
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}