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Blimp: Fix inverted throttle

This commit is contained in:
Michelle Rossouw 2023-07-27 15:05:11 +10:00 committed by Andrew Tridgell
parent 81650d34a3
commit de0dcdd9e4
7 changed files with 15 additions and 15 deletions
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2
Blimp/AP_Arming.cpp
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@ -107,7 +107,7 @@ bool AP_Arming_Blimp::parameter_checks(bool display_failure)
// failsafe parameter checks // failsafe parameter checks
if (blimp.g.failsafe_throttle) { if (blimp.g.failsafe_throttle) {
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900 // check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (blimp.channel_down->get_radio_min() <= blimp.g.failsafe_throttle_value+10 || blimp.g.failsafe_throttle_value < 910) { if (blimp.channel_up->get_radio_min() <= blimp.g.failsafe_throttle_value+10 || blimp.g.failsafe_throttle_value < 910) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE"); check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE");
return false; return false;
} }

2
Blimp/Blimp.h
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@ -111,7 +111,7 @@ private:
// primary input control channels // primary input control channels
RC_Channel *channel_right; RC_Channel *channel_right;
RC_Channel *channel_front; RC_Channel *channel_front;
RC_Channel *channel_down; RC_Channel *channel_up;
RC_Channel *channel_yaw; RC_Channel *channel_yaw;
AP_Logger logger; AP_Logger logger;

2
Blimp/RC_Channel.cpp
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@ -106,7 +106,7 @@ bool RC_Channel_Blimp::do_aux_function(const aux_func_t ch_option, const AuxSwit
case AUX_FUNC::SAVE_TRIM: case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == AuxSwitchPos::HIGH) && if ((ch_flag == AuxSwitchPos::HIGH) &&
(blimp.control_mode <= Mode::Number::MANUAL) && (blimp.control_mode <= Mode::Number::MANUAL) &&
(blimp.channel_down->get_control_in() == 0)) { (blimp.channel_up->get_control_in() == 0)) {
blimp.save_trim(); blimp.save_trim();
} }
break; break;

2
Blimp/mode.cpp
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@ -19,7 +19,7 @@ Mode::Mode(void) :
loiter(blimp.loiter), loiter(blimp.loiter),
channel_right(blimp.channel_right), channel_right(blimp.channel_right),
channel_front(blimp.channel_front), channel_front(blimp.channel_front),
channel_down(blimp.channel_down), channel_up(blimp.channel_up),
channel_yaw(blimp.channel_yaw), channel_yaw(blimp.channel_yaw),
G_Dt(blimp.G_Dt) G_Dt(blimp.G_Dt)
{ }; { };

2
Blimp/mode.h
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@ -108,7 +108,7 @@ protected:
Loiter *&loiter; Loiter *&loiter;
RC_Channel *&channel_right; RC_Channel *&channel_right;
RC_Channel *&channel_front; RC_Channel *&channel_front;
RC_Channel *&channel_down; RC_Channel *&channel_up;
RC_Channel *&channel_yaw; RC_Channel *&channel_yaw;
float &G_Dt; float &G_Dt;

2
Blimp/motors.cpp
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@ -18,7 +18,7 @@ void Blimp::arm_motors_check()
} }
// ensure throttle is down // ensure throttle is down
if (channel_down->get_control_in() > 0) { //MIR what dow we do with this? if (channel_up->get_control_in() > 0) { //MIR what dow we do with this?
arming_counter = 0; arming_counter = 0;
return; return;
} }

18
Blimp/radio.cpp
View File

@ -8,23 +8,23 @@ void Blimp::default_dead_zones()
{ {
channel_right->set_default_dead_zone(20); channel_right->set_default_dead_zone(20);
channel_front->set_default_dead_zone(20); channel_front->set_default_dead_zone(20);
channel_down->set_default_dead_zone(30); channel_up->set_default_dead_zone(30);
channel_yaw->set_default_dead_zone(20); channel_yaw->set_default_dead_zone(20);
rc().channel(CH_6)->set_default_dead_zone(0); rc().channel(CH_6)->set_default_dead_zone(0);
} }
void Blimp::init_rc_in() void Blimp::init_rc_in()
{ {
channel_right = rc().channel(rcmap.roll()-1); channel_right = rc().channel(rcmap.roll()-1);
channel_front = rc().channel(rcmap.pitch()-1); channel_front = rc().channel(rcmap.pitch()-1);
channel_down = rc().channel(rcmap.throttle()-1); channel_up = rc().channel(rcmap.throttle()-1);
channel_yaw = rc().channel(rcmap.yaw()-1); channel_yaw = rc().channel(rcmap.yaw()-1);
// set rc channel ranges // set rc channel ranges
channel_right->set_angle(RC_SCALE); channel_right->set_angle(RC_SCALE);
channel_front->set_angle(RC_SCALE); channel_front->set_angle(RC_SCALE);
channel_yaw->set_angle(RC_SCALE); channel_yaw->set_angle(RC_SCALE);
channel_down->set_angle(RC_SCALE); channel_up->set_angle(RC_SCALE);
// set default dead zones // set default dead zones
default_dead_zones(); default_dead_zones();
@ -58,14 +58,14 @@ void Blimp::read_radio()
if (rc().read_input()) { if (rc().read_input()) {
ap.new_radio_frame = true; ap.new_radio_frame = true;
set_throttle_and_failsafe(channel_down->get_radio_in()); set_throttle_and_failsafe(channel_up->get_radio_in());
set_throttle_zero_flag(channel_down->get_control_in()); set_throttle_zero_flag(channel_up->get_control_in());
// RC receiver must be attached if we've just got input // RC receiver must be attached if we've just got input
ap.rc_receiver_present = true; ap.rc_receiver_present = true;
const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f; const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(channel_down->get_control_in(), dt); rc_throttle_control_in_filter.apply(channel_up->get_control_in(), dt);
last_radio_update_ms = tnow_ms; last_radio_update_ms = tnow_ms;
return; return;
} }