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AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save

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This commit is contained in:
Randy Mackay 2016-06-16 14:28:49 +09:00
parent 23f8227e36
commit e185bab775
2 changed files with 11 additions and 4 deletions
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8
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -134,9 +134,9 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Param: HOVER_LEARN // @Param: HOVER_LEARN
// @DisplayName: Hover Value Learning // @DisplayName: Hover Value Learning
// @Description: Enable/Disable automatic learning of hover throttle // @Description: Enable/Disable automatic learning of hover throttle
// @Values: 0:Disabled, 1:Enabled // @Values: 0:Disabled, 1:Learn, 2:LearnAndSave
// @User: Advanced // @User: Advanced
AP_GROUPINFO("HOVER_LEARN", 22, AP_MotorsMulticopter, _throttle_hover_learn, 1), AP_GROUPINFO("HOVER_LEARN", 22, AP_MotorsMulticopter, _throttle_hover_learn, HOVER_LEARN_AND_SAVE),
AP_GROUPEND AP_GROUPEND
}; };
@ -374,7 +374,7 @@ void AP_MotorsMulticopter::set_throttle_range(int16_t radio_min, int16_t radio_m
// update the throttle input filter. should be called at 100hz // update the throttle input filter. should be called at 100hz
void AP_MotorsMulticopter::update_throttle_hover(float dt) void AP_MotorsMulticopter::update_throttle_hover(float dt)
{ {
if (_throttle_hover_learn > 0) { if (_throttle_hover_learn != HOVER_LEARN_DISABLED) {
_throttle_hover = _throttle_hover + (dt/(dt+AP_MOTORS_THST_HOVER_TC))*(_throttle_in-_throttle_hover); _throttle_hover = _throttle_hover + (dt/(dt+AP_MOTORS_THST_HOVER_TC))*(_throttle_in-_throttle_hover);
} }
} }
@ -570,7 +570,7 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask)
void AP_MotorsMulticopter::save_params_on_disarm() void AP_MotorsMulticopter::save_params_on_disarm()
{ {
// save hover throttle // save hover throttle
if (_throttle_hover_learn > 0) { if (_throttle_hover_learn == HOVER_LEARN_AND_SAVE) {
_throttle_hover.save(); _throttle_hover.save();
} }
} }

7
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -140,6 +140,13 @@ protected:
// save parameters as part of disarming // save parameters as part of disarming
void save_params_on_disarm(); void save_params_on_disarm();
// enum values for HOVER_LEARN parameter
enum HoverLearn {
HOVER_LEARN_DISABLED = 0,
HOVER_LEARN_ONLY = 1,
HOVER_LEARN_AND_SAVE = 2
};
// parameters // parameters
AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation