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Copter: integrate smoothing gain into flight modes

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This commit is contained in:
Randy Mackay 2014-02-19 20:52:00 +09:00
parent 3910ab807f
commit e89600afe3
7 changed files with 7 additions and 26 deletions
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5
ArduCopter/control_althold.pde
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@ -7,9 +7,6 @@
// althold_init - initialise althold controller // althold_init - initialise althold controller
static bool althold_init(bool ignore_checks) static bool althold_init(bool ignore_checks)
{ {
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
// initialise altitude target to stopping point // initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z(); pos_control.set_target_to_stopping_point_z();
return true; return true;
@ -59,7 +56,7 @@ static void althold_run()
attitude_control.set_throttle_out(0, false); attitude_control.set_throttle_out(0, false);
}else{ }else{
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop // body-frame rate controller is run directly from 100hz loop
// call throttle controller // call throttle controller

5
ArduCopter/control_autotune.pde
View File

@ -192,9 +192,6 @@ static bool autotune_init(bool ignore_checks)
return false; return false;
} }
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
// initialise altitude target to stopping point // initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z(); pos_control.set_target_to_stopping_point_z();
return true; return true;
@ -264,7 +261,7 @@ static void autotune_run()
// if pilot override call attitude controller // if pilot override call attitude controller
if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) { if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) {
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
}else{ }else{
// somehow get attitude requests from autotuning // somehow get attitude requests from autotuning
autotune_attitude_control(); autotune_attitude_control();

4
ArduCopter/control_drift.pde
View File

@ -12,8 +12,6 @@
static bool drift_init(bool ignore_checks) static bool drift_init(bool ignore_checks)
{ {
if (GPS_ok() || ignore_checks) { if (GPS_ok() || ignore_checks) {
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
return true; return true;
}else{ }else{
return false; return false;
@ -71,7 +69,7 @@ static void drift_run()
} }
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// output pilot's throttle with angle boost // output pilot's throttle with angle boost
attitude_control.set_throttle_out(pilot_throttle_scaled, true); attitude_control.set_throttle_out(pilot_throttle_scaled, true);

5
ArduCopter/control_land.pde
View File

@ -16,9 +16,6 @@ static bool land_init(bool ignore_checks)
wp_nav.set_loiter_target(stopping_point); wp_nav.set_loiter_target(stopping_point);
} }
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
// initialise altitude target to stopping point // initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z(); pos_control.set_target_to_stopping_point_z();
return true; return true;
@ -129,7 +126,7 @@ static void land_nogps_run()
} }
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// call position controller // call position controller
pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt); pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);

4
ArduCopter/control_ofloiter.pde
View File

@ -9,8 +9,6 @@ static bool ofloiter_init(bool ignore_checks)
{ {
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
if (g.optflow_enabled || ignore_checks) { if (g.optflow_enabled || ignore_checks) {
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
return true; return true;
}else{ }else{
return false; return false;
@ -70,7 +68,7 @@ static void ofloiter_run()
target_pitch = get_of_pitch(target_pitch); target_pitch = get_of_pitch(target_pitch);
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// run altitude controller // run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) { if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {

5
ArduCopter/control_stabilize.pde
View File

@ -7,9 +7,6 @@
// stabilize_init - initialise stabilize controller // stabilize_init - initialise stabilize controller
static bool stabilize_init(bool ignore_checks) static bool stabilize_init(bool ignore_checks)
{ {
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
// set target altitude to zero for reporting // set target altitude to zero for reporting
// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error? // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
pos_control.set_alt_target(0); pos_control.set_alt_target(0);
@ -51,7 +48,7 @@ static void stabilize_run()
attitude_control.init_targets(); attitude_control.init_targets();
}else{ }else{
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, g.rc_feel_rp); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop // body-frame rate controller is run directly from 100hz loop
} }

5
ArduCopter/heli_control_stabilize.pde
View File

@ -7,9 +7,6 @@
// stabilize_init - initialise stabilize controller // stabilize_init - initialise stabilize controller
static bool heli_stabilize_init(bool ignore_checks) static bool heli_stabilize_init(bool ignore_checks)
{ {
// initialise filters on roll/pitch input
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
// set target altitude to zero for reporting // set target altitude to zero for reporting
// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error? // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
pos_control.set_alt_target(0); pos_control.set_alt_target(0);
@ -40,7 +37,7 @@ static void heli_stabilize_run()
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in); pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// output pilot's throttle - note that TradHeli does not used angle-boost // output pilot's throttle - note that TradHeli does not used angle-boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false); attitude_control.set_throttle_out(pilot_throttle_scaled, false);