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Copter: spool fixes for acro stabilize and throw

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Leonard Hall 2019-04-05 21:08:17 +10:30 committed by Randy Mackay
parent d626ea66f1
commit df3e73f161
2 changed files with 6 additions and 3 deletions
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4
ArduCopter/mode_acro.cpp
View File

@ -26,11 +26,11 @@ void Copter::ModeAcro::run()
if (motors->get_spool_mode() == AP_Motors::SHUT_DOWN) { if (motors->get_spool_mode() == AP_Motors::SHUT_DOWN) {
// Motors Stopped // Motors Stopped
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
} else if (motors->get_spool_mode() == AP_Motors::GROUND_IDLE) { } else if (motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
// Landed // Landed
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
} else if (motors->get_spool_mode() == AP_Motors::THROTTLE_UNLIMITED) { } else if (motors->get_spool_mode() == AP_Motors::THROTTLE_UNLIMITED) {
// clear landing flag above zero throttle // clear landing flag above zero throttle

5
ArduCopter/mode_throw.cpp
View File

@ -34,7 +34,6 @@ void Copter::ModeThrow::run()
Throw_PosHold - the copter is kept at a constant position and height Throw_PosHold - the copter is kept at a constant position and height
*/ */
// Don't enter THROW mode if interlock will prevent motors running
if (!motors->armed()) { if (!motors->armed()) {
// state machine entry is always from a disarmed state // state machine entry is always from a disarmed state
stage = Throw_Disarmed; stage = Throw_Disarmed;
@ -116,6 +115,8 @@ void Copter::ModeThrow::run()
} }
// demand zero throttle (motors will be stopped anyway) and continually reset the attitude controller // demand zero throttle (motors will be stopped anyway) and continually reset the attitude controller
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_throttle_out(0,true,g.throttle_filt); attitude_control->set_throttle_out(0,true,g.throttle_filt);
break; break;
@ -129,6 +130,8 @@ void Copter::ModeThrow::run()
} }
// Hold throttle at zero during the throw and continually reset the attitude controller // Hold throttle at zero during the throw and continually reset the attitude controller
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_throttle_out(0,true,g.throttle_filt); attitude_control->set_throttle_out(0,true,g.throttle_filt);
// Play the waiting for throw tone sequence to alert the user // Play the waiting for throw tone sequence to alert the user