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set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 

added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
This commit is contained in:
Jason Short 2012-01-20 10:06:46 -08:00
parent 6e94b21d67
commit db6db1ab91
1 changed files with 16 additions and 7 deletions
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23
ArduCopter/ArduCopter.pde
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@ -597,8 +597,7 @@ static int16_t manual_boost;
// An additional throttle added to keep the copter at the same altitude when banking // An additional throttle added to keep the copter at the same altitude when banking
static int16_t angle_boost; static int16_t angle_boost;
// Push copter down for clean landing // Push copter down for clean landing
static uint8_t landing_boost; static int16_t landing_boost;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Navigation general // Navigation general
@ -789,7 +788,7 @@ static float dTnav;
static int16_t superslow_loopCounter; static int16_t superslow_loopCounter;
// RTL Autoland Timer // RTL Autoland Timer
static uint32_t auto_land_timer; static uint32_t auto_land_timer;
// disarms the copter while in Acro or Stabilzie mode after 30 seconds of no flight // disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight
static uint8_t auto_disarming_counter; static uint8_t auto_disarming_counter;
@ -931,6 +930,10 @@ static void medium_loop()
case 0: case 0:
medium_loopCounter++; medium_loopCounter++;
//if(GPS_enabled){
// update_GPS();
//}
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode #if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled){ if(g.compass_enabled){
if (compass.read()) { if (compass.read()) {
@ -1520,8 +1523,9 @@ void update_throttle_mode(void)
takeoff_complete = true; takeoff_complete = true;
land_complete = false; land_complete = false;
}else{ }else{
// reset these I terms to prevent flips on takeoff // reset these I terms to prevent awkward tipping on takeoff
reset_rate_I(); reset_rate_I();
reset_stability_I();
} }
}else{ }else{
// we are on the ground // we are on the ground
@ -1537,6 +1541,7 @@ void update_throttle_mode(void)
// reset out i terms and takeoff timer // reset out i terms and takeoff timer
// ----------------------------------- // -----------------------------------
reset_rate_I(); reset_rate_I();
reset_stability_I();
// remember our time since takeoff // remember our time since takeoff
// ------------------------------- // -------------------------------
@ -1594,8 +1599,12 @@ void update_throttle_mode(void)
// how far off are we // how far off are we
altitude_error = get_altitude_error(); altitude_error = get_altitude_error();
// get the AP throttle // get the AP throttle, if landing boost > 0 we are actually Landing
nav_throttle = get_nav_throttle(altitude_error); // This allows us to grab just the compensation.
if(landing_boost > 0)
nav_throttle = get_nav_throttle(-100);
else
nav_throttle = get_nav_throttle(altitude_error);
// clear the new data flag // clear the new data flag
invalid_throttle = false; invalid_throttle = false;
@ -1892,7 +1901,7 @@ static void tuning(){
switch(g.radio_tuning){ switch(g.radio_tuning){
case CH6_DAMP: case CH6_DAMP:
g.rc_6.set_range(0,900); // 0 to 1 g.rc_6.set_range(0,80); // 0 to 1
g.stablize_d.set(tuning_value); g.stablize_d.set(tuning_value);
break; break;