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Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output

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This commit is contained in:
Peter Hall 2021-09-23 23:55:59 +01:00 committed by Andrew Tridgell
parent de753f386c
commit e83b598040
4 changed files with 11 additions and 34 deletions
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2
ArduPlane/mode_qacro.cpp
View File

@ -31,8 +31,6 @@ void ModeQAcro::run()
attitude_control->set_throttle_out(0, true, 0);
quadplane.relax_attitude_control();
} else {
quadplane.check_attitude_relax();
quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// convert the input to the desired body frame rate

2
ArduPlane/mode_qloiter.cpp
View File

@ -44,8 +44,6 @@ void ModeQLoiter::run()
plane.mode_qloiter._enter();
}
quadplane.check_attitude_relax();
if (quadplane.should_relax()) {
loiter_nav->soften_for_landing();
}

40
ArduPlane/quadplane.cpp
View File

@ -755,8 +755,6 @@ void QuadPlane::run_esc_calibration(void)
*/
void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
{
check_attitude_relax();
bool use_multicopter_control = in_vtol_mode() && !tailsitter.in_vtol_transition();
bool use_multicopter_eulers = false;
@ -889,19 +887,6 @@ void QuadPlane::relax_attitude_control()
attitude_control->relax_attitude_controllers(tailsitter._is_vectored);
}
/*
check if we should relax the attitude controllers
We relax them whenever we will be using them after a period of
inactivity
*/
void QuadPlane::check_attitude_relax(void)
{
if (AP_HAL::millis() - last_att_control_ms > 100) {
relax_attitude_control();
}
}
/*
check for an EKF yaw reset
*/
@ -1587,7 +1572,6 @@ void QuadPlane::update_transition(void)
// multiply by 0.1 to convert (degrees/second * milliseconds) to centi degrees
plane.nav_pitch_cd = constrain_float(transition_initial_pitch - (tailsitter.transition_rate_fw * dt) * 0.1f * (plane.fly_inverted()?-1.0f:1.0f), -8500, 8500);
plane.nav_roll_cd = 0;
check_attitude_relax();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
0);
@ -1859,12 +1843,6 @@ void QuadPlane::update_throttle_hover()
*/
void QuadPlane::motors_output(bool run_rate_controller)
{
const uint32_t now = AP_HAL::millis();
if (run_rate_controller) {
attitude_control->rate_controller_run();
last_att_control_ms = now;
}
/* Delay for ARMING_DELAY_MS after arming before allowing props to spin:
1) for safety (OPTION_DELAY_ARMING)
2) to allow motors to return to vertical (OPTION_DISARMED_TILT)
@ -1903,9 +1881,19 @@ void QuadPlane::motors_output(bool run_rate_controller)
return;
}
const uint32_t now = AP_HAL::millis();
if (run_rate_controller) {
if (now - last_att_control_ms > 100) {
// relax if have been inactive
relax_attitude_control();
}
attitude_control->rate_controller_run();
last_att_control_ms = now;
}
// see if motors should be shut down
update_throttle_suppression();
motors->output();
// remember when motors were last active for throttle suppression
@ -2151,8 +2139,6 @@ void QuadPlane::vtol_position_controller(void)
// target speed when we reach position2 threshold
const float position2_target_speed = 2.0;
check_attitude_relax();
// horizontal position control
switch (poscontrol.get_state()) {
@ -2634,8 +2620,6 @@ void QuadPlane::takeoff_controller(void)
/*
for takeoff we use the position controller
*/
check_attitude_relax();
setup_target_position();
// set position controller desired velocity and acceleration to zero
@ -2685,8 +2669,6 @@ void QuadPlane::waypoint_controller(void)
{
setup_target_position();
check_attitude_relax();
/*
this is full copter control of auto flight
*/

1
ArduPlane/quadplane.h
View File

@ -233,7 +233,6 @@ private:
// use multicopter rate controller
void multicopter_attitude_rate_update(float yaw_rate_cds);
void check_attitude_relax(void);
float get_pilot_throttle(void);
void control_hover(void);
void relax_attitude_control();