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ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter).

This commit is contained in:
AndersonRayner 2016-05-29 01:07:07 +10:00 committed by Tom Pittenger
parent 5439257236
commit da1b18d918
10 changed files with 22 additions and 43 deletions
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6
ArduPlane/ArduPlane.cpp
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@ -323,7 +323,7 @@ void Plane::one_second_loop()
// make it possible to change orientation at runtime
ahrs.set_orientation();
adsb.set_stall_speed_cm(aparm.airspeed_min);
adsb.set_stall_speed_cm(airspeed.get_airspeed_min());
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
@ -398,8 +398,8 @@ void Plane::airspeed_ratio_update(void)
// don't calibrate when not moving
return;
}
if (airspeed.get_airspeed() < aparm.airspeed_min &&
gps.ground_speed() < (uint32_t)aparm.airspeed_min) {
if (airspeed.get_airspeed() < airspeed.get_airspeed_min() &&
gps.ground_speed() < (uint32_t)airspeed.get_airspeed_min()) {
// don't calibrate when flying below the minimum airspeed. We
// check both airspeed and ground speed to catch cases where
// the airspeed ratio is way too low, which could lead to it

2
ArduPlane/Attitude.cpp
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@ -1388,7 +1388,7 @@ void Plane::update_load_factor(void)
return;
}
float max_load_factor = smoothed_airspeed / aparm.airspeed_min;
float max_load_factor = smoothed_airspeed / airspeed.get_airspeed_min();
if (max_load_factor <= 1) {
// our airspeed is below the minimum airspeed. Limit roll to
// 25 degrees

21
ArduPlane/Parameters.cpp
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@ -476,24 +476,6 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Standard
ASCALAR(stall_prevention, "STALL_PREVENTION", 1),
// @Param: ARSPD_FBW_MIN
// @DisplayName: Minimum Airspeed
// @Description: This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code.
// @Units: m/s
// @Range: 5 100
// @Increment: 1
// @User: Standard
ASCALAR(airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN),
// @Param: ARSPD_FBW_MAX
// @DisplayName: Maximum Airspeed
// @Description: This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended.
// @Units: m/s
// @Range: 5 100
// @Increment: 1
// @User: Standard
ASCALAR(airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX),
// @Param: FBWB_ELEV_REV
// @DisplayName: Fly By Wire elevator reverse
// @Description: Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
@ -1424,6 +1406,9 @@ const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
{ Parameters::k_param_airspeed_min, 0, AP_PARAM_INT16, "ARSPD_FBW_MIN" },
{ Parameters::k_param_airspeed_max, 0, AP_PARAM_INT16, "ARSPD_FBW_MAX" },
// these are needed to cope with the change to treat nested index 0 as index 63
{ Parameters::k_param_quadplane, 3, AP_PARAM_FLOAT, "Q_RT_RLL_P" },
{ Parameters::k_param_quadplane, 4, AP_PARAM_FLOAT, "Q_RT_PIT_P" },

4
ArduPlane/Parameters.h
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@ -172,8 +172,8 @@ public:
// 120: Fly-by-wire control
//
k_param_airspeed_min = 120,
k_param_airspeed_max,
k_param_airspeed_min = 120, // unused
k_param_airspeed_max, // unused
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
k_param_flybywire_elev_reverse,
k_param_alt_control_algorithm,

2
ArduPlane/Plane.h
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@ -394,7 +394,7 @@ private:
#endif
// Airspeed Sensors
AP_Airspeed airspeed {aparm};
AP_Airspeed airspeed;
// ACRO controller state
struct {

7
ArduPlane/config.h
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@ -275,13 +275,6 @@
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control
//
#ifndef AIRSPEED_FBW_MIN
# define AIRSPEED_FBW_MIN 9
#endif
#ifndef AIRSPEED_FBW_MAX
# define AIRSPEED_FBW_MAX 22
#endif
#ifndef ALT_HOLD_FBW
# define ALT_HOLD_FBW 0
#endif

2
ArduPlane/is_flying.cpp
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@ -24,7 +24,7 @@ void Plane::update_is_flying_5Hz(void)
(gps.ground_speed_cm() >= ground_speed_thresh_cm);
// airspeed at least 75% of stall speed?
bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f));
bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (airspeed.get_airspeed_min()*0.75f));
if (quadplane.is_flying()) {

11
ArduPlane/navigation.cpp
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@ -92,10 +92,10 @@ void Plane::calc_airspeed_errors()
// FBW_B airspeed target
if (control_mode == FLY_BY_WIRE_B ||
control_mode == CRUISE) {
target_airspeed_cm = ((int32_t)(aparm.airspeed_max -
aparm.airspeed_min) *
target_airspeed_cm = ((int32_t)(airspeed.get_airspeed_max() -
airspeed.get_airspeed_min()) *
channel_throttle->get_control_in()) +
((int32_t)aparm.airspeed_min * 100);
((int32_t)airspeed.get_airspeed_min() * 100);
}
// Landing airspeed target
@ -138,8 +138,9 @@ void Plane::calc_airspeed_errors()
}
// Apply airspeed limit
if (target_airspeed_cm > (aparm.airspeed_max * 100))
target_airspeed_cm = (aparm.airspeed_max * 100);
if (target_airspeed_cm > ((int32_t)airspeed.get_airspeed_max() * 100)) {
target_airspeed_cm = ((int32_t)airspeed.get_airspeed_max() * 100);
}
// use the TECS view of the target airspeed for reporting, to take
// account of the landing speed

8
ArduPlane/quadplane.cpp
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@ -856,8 +856,8 @@ float QuadPlane::assist_climb_rate_cms(void)
float QuadPlane::desired_auto_yaw_rate_cds(void)
{
float aspeed;
if (!ahrs.airspeed_estimate(&aspeed) || aspeed < plane.aparm.airspeed_min) {
aspeed = plane.aparm.airspeed_min;
if (!ahrs.airspeed_estimate(&aspeed) || aspeed < plane.airspeed.get_airspeed_min()) {
aspeed = plane.airspeed.get_airspeed_min();
}
if (aspeed < 1) {
aspeed = 1;
@ -925,7 +925,7 @@ void QuadPlane::update_transition(void)
transition_start_ms = millis();
}
if (have_airspeed && aspeed > plane.aparm.airspeed_min && !assisted_flight) {
if (have_airspeed && aspeed > plane.airspeed.get_airspeed_min() && !assisted_flight) {
transition_start_ms = millis();
transition_state = TRANSITION_TIMER;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", (double)aspeed);
@ -1825,7 +1825,7 @@ int8_t QuadPlane::forward_throttle_pct(void)
float fwd_vel_error = vel_error_body * Vector3f(1,0,0);
// scale forward velocity error by maximum airspeed
fwd_vel_error /= MAX(plane.aparm.airspeed_max, 5);
fwd_vel_error /= MAX(plane.airspeed.get_airspeed_max(), 5.0f);
// add in a component from our current pitch demand. This tends to
// move us to zero pitch. Assume that LIM_PITCH would give us the

2
ArduPlane/radio.cpp
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@ -216,7 +216,7 @@ void Plane::read_radio()
if (g.throttle_nudge && channel_throttle->get_servo_out() > 50 && geofence_stickmixing()) {
float nudge = (channel_throttle->get_servo_out() - 50) * 0.02f;
if (ahrs.airspeed_sensor_enabled()) {
airspeed_nudge_cm = (aparm.airspeed_max * 100 - g.airspeed_cruise_cm) * nudge;
airspeed_nudge_cm = ((int16_t)airspeed.get_airspeed_max()*100 - g.airspeed_cruise_cm) * nudge;
} else {
throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
}