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Copter: AP_Motor's throttle_hover replaces throttle_average

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This commit is contained in:
Leonard Hall 2016-06-09 21:42:15 +09:00 committed by Randy Mackay
parent dec9323127
commit e9d8a28ec0
11 changed files with 35 additions and 36 deletions
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4
ArduCopter/ArduCopter.cpp
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@ -97,7 +97,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100),
SCHED_TASK(update_thr_average, 100, 90),
SCHED_TASK(update_throttle_hover,100, 90),
SCHED_TASK(three_hz_loop, 3, 75),
SCHED_TASK(compass_accumulate, 100, 100),
SCHED_TASK(barometer_accumulate, 50, 90),
@ -476,8 +476,6 @@ void Copter::one_hz_loop()
motors.set_frame_orientation(g.frame_orientation);
// set all throttle channel settings
// set hover throttle
motors.set_hover_throttle(g.throttle_mid);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
}

36
ArduCopter/Attitude.cpp
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@ -94,31 +94,35 @@ float Copter::get_look_ahead_yaw()
* throttle control
****************************************************************/
// update_thr_average - update estimated throttle required to hover (if necessary)
// should be called at 100hz
void Copter::update_thr_average()
// update estimated throttle required to hover (if necessary)
// called at 100hz
void Copter::update_throttle_hover()
{
// ensure throttle_average has been initialised
if( is_zero(throttle_average) ) {
throttle_average = 0.5f;
// update position controller
pos_control.set_throttle_hover(throttle_average);
}
#if FRAME_CONFIG != HELI_FRAME
// if not armed or landed exit
if (!motors.armed() || ap.land_complete) {
return;
}
// do not update in manual throttle modes or Drift
if (mode_has_manual_throttle(control_mode) || (control_mode == DRIFT)) {
return;
}
// do not update while climbing or descending
if (!is_zero(pos_control.get_desired_velocity().z)) {
return;
}
// get throttle output
float throttle = motors.get_throttle();
// calc average throttle if we are in a level hover
if (throttle > 0.0f && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
throttle_average = throttle_average * 0.99f + throttle * 0.01f;
// update position controller
pos_control.set_throttle_hover(throttle_average);
// Can we set the time constant automatically
motors.update_throttle_hover(0.01f);
}
#endif
}
// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
@ -141,7 +145,7 @@ float Copter::get_pilot_desired_throttle(int16_t throttle_control)
throttle_control = constrain_int16(throttle_control,0,1000);
// ensure mid throttle is set within a reasonable range
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
float thr_mid = MAX(0,g.throttle_mid-g.throttle_min) / (float)(1000-g.throttle_min);
float thr_mid = constrain_float(motors.get_throttle_hover(), 0.1f, 0.9f);
// check throttle is above, below or in the deadband
if (throttle_control < mid_stick) {
@ -201,7 +205,7 @@ float Copter::get_non_takeoff_throttle()
{
// ensure mid throttle is set within a reasonable range
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
return MAX(0,g.throttle_mid-g.throttle_min) / ((float)(1000-g.throttle_min) * 2.0f);
return MAX(0,motors.get_throttle_hover()/2.0f);
}
float Copter::get_takeoff_trigger_throttle()
@ -285,7 +289,7 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
void Copter::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle)
{
// shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_accel_z.set_integrator((pilot_throttle-throttle_average) * 1000.0f);
g.pid_accel_z.set_integrator((pilot_throttle-motors.get_throttle_hover()) * 1000.0f);
}
// updates position controller's maximum altitude using fence and EKF limits

1
ArduCopter/Copter.cpp
View File

@ -51,7 +51,6 @@ Copter::Copter(void) :
super_simple_cos_yaw(1.0),
super_simple_sin_yaw(0.0f),
initial_armed_bearing(0),
throttle_average(0.0f),
desired_climb_rate(0),
loiter_time_max(0),
loiter_time(0),

3
ArduCopter/Copter.h
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@ -373,7 +373,6 @@ private:
int32_t initial_armed_bearing;
// Throttle variables
float throttle_average; // estimated throttle required to hover
int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
// Loiter control
@ -620,7 +619,7 @@ private:
void check_ekf_yaw_reset();
float get_roi_yaw();
float get_look_ahead_yaw();
void update_thr_average();
void update_throttle_hover();
void set_throttle_takeoff();
float get_pilot_desired_throttle(int16_t throttle_control);
float get_pilot_desired_climb_rate(float throttle_control);

6
ArduCopter/control_althold.cpp
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@ -92,7 +92,7 @@ void Copter::althold_run()
#else
// Multicopters do not stabilize roll/pitch/yaw when motor are stopped
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
#endif
break;
@ -108,7 +108,7 @@ void Copter::althold_run()
// Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
break;
case AltHold_Takeoff:
@ -151,7 +151,7 @@ void Copter::althold_run()
} else {
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
break;
case AltHold_Flying:

4
ArduCopter/control_autotune.cpp
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@ -271,7 +271,7 @@ void Copter::autotune_run()
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
return;
}
@ -304,7 +304,7 @@ void Copter::autotune_run()
}
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
}else{
// check if pilot is overriding the controls
if (!is_zero(target_roll) || !is_zero(target_pitch) || !is_zero(target_yaw_rate) || target_climb_rate != 0) {

2
ArduCopter/control_brake.cpp
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@ -49,7 +49,7 @@ void Copter::brake_run()
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-motors.get_throttle_hover());
return;
}

6
ArduCopter/control_loiter.cpp
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@ -106,7 +106,7 @@ void Copter::loiter_run()
wp_nav.init_loiter_target();
// multicopters do not stabilize roll/pitch/yaw when motors are stopped
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
#endif
break;
@ -122,7 +122,7 @@ void Copter::loiter_run()
// Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
break;
case Loiter_Takeoff:
@ -166,7 +166,7 @@ void Copter::loiter_run()
} else {
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
break;
case Loiter_Flying:

4
ArduCopter/control_poshold.cpp
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@ -145,7 +145,7 @@ void Copter::poshold_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
wp_nav.init_loiter_target();
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
return;
}
@ -193,7 +193,7 @@ void Copter::poshold_run()
wp_nav.init_loiter_target();
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
return;
}else{
// convert pilot input to lean angles

4
ArduCopter/control_sport.cpp
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@ -36,7 +36,7 @@ void Copter::sport_run()
if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
return;
}
@ -99,7 +99,7 @@ void Copter::sport_run()
}
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
}else{
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

1
ArduCopter/radio.cpp
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@ -59,7 +59,6 @@ void Copter::init_rc_out()
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.Init(); // motor initialisation
#if FRAME_CONFIG != HELI_FRAME
motors.set_hover_throttle(g.throttle_mid);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif