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ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting

This commit is contained in:
Jason Short 2012-11-11 18:17:33 -08:00
parent a7d8ca8f52
commit e32491d749
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/ArduCopter.pde
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@ -1723,7 +1723,7 @@ void update_throttle_mode(void)
throttle_avg = g.throttle_cruise; throttle_avg = g.throttle_cruise;
} }
// calc average throttle // calc average throttle
if ((g.rc_3.control_in > g.throttle_min) && abs(climb_rate) < 60) { if ((g.rc_3.control_in > g.throttle_min) && (abs(climb_rate) < 60) && (g_gps->ground_speed < 200)) {
throttle_avg = throttle_avg * .99 + (float)g.rc_3.control_in * .01; throttle_avg = throttle_avg * .99 + (float)g.rc_3.control_in * .01;
g.throttle_cruise = throttle_avg; g.throttle_cruise = throttle_avg;
} }
@ -1748,13 +1748,13 @@ void update_throttle_mode(void)
case THROTTLE_HOLD: case THROTTLE_HOLD:
// allow interactive changing of atitude // allow interactive changing of atitude
if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){ if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){
int16_t _rate = 120 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20); int16_t _rate = 180 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20);
reset_throttle_counter = 150; reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(-_rate); nav_throttle = get_throttle_rate(-_rate);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost; g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break; break;
}else if(g.rc_3.radio_in > (g.rc_3.radio_max - 200)){ }else if(g.rc_3.radio_in > (g.rc_3.radio_max - 200)){
int16_t _rate = 180 - ((g.rc_3.radio_max - g.rc_3.radio_in) * 18) / 20; int16_t _rate = 300 - ((g.rc_3.radio_max - g.rc_3.radio_in) * 18) / 20;
reset_throttle_counter = 150; reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(_rate); nav_throttle = get_throttle_rate(_rate);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost; g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
@ -1885,7 +1885,7 @@ static void update_altitude()
// 2.6 way // 2.6 way
int16_t temp = (baro_alt - old_baro_alt) * 10; int16_t temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1; baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300); baro_rate = constrain(baro_rate, -500, 500);
old_baro_alt = baro_alt; old_baro_alt = baro_alt;
// Using Tridge's new clamb rate calc // Using Tridge's new clamb rate calc