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Plane: added throttle limiting via max power (current*voltage)

This commit is contained in:
Tom Pittenger 2016-01-05 15:34:21 -08:00
parent 035f3b16a1
commit ed6aa4ed17
2 changed files with 48 additions and 0 deletions
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43
ArduPlane/Attitude.cpp
View File

@ -917,6 +917,49 @@ void Plane::set_servos(void)
}
}
}
uint32_t now = millis();
if (battery.overpower_detected()) {
// overpower detected, cut back on the throttle if we're maxing it out by calculating a limiter value
// throttle limit will attack by 10% per second
if (channel_throttle->servo_out > 0 && // demanding too much positive thrust
throttle_watt_limit_max < max_throttle - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max++;
} else if (channel_throttle->servo_out < 0 &&
min_throttle < 0 && // reverse thrust is available
throttle_watt_limit_min < -(min_throttle) - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min++;
}
} else if (now - throttle_watt_limit_timer_ms >= 1000) {
// it has been 1 second since last over-current, check if we can resume higher throttle.
// this throttle release is needed to allow raising the max_throttle as the battery voltage drains down
// throttle limit will release by 1% per second
if (channel_throttle->servo_out > throttle_watt_limit_max && // demanding max forward thrust
throttle_watt_limit_max > 0) { // and we're currently limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max--;
} else if (channel_throttle->servo_out < throttle_watt_limit_min && // demanding max negative thrust
throttle_watt_limit_min > 0) { // and we're limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min--;
}
}
max_throttle = constrain_int16(max_throttle, 0, max_throttle - throttle_watt_limit_max);
if (min_throttle < 0) {
min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
}
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
min_throttle,
max_throttle);

5
ArduPlane/Plane.h
View File

@ -527,6 +527,11 @@ private:
// this controls throttle suppression in auto modes
bool throttle_suppressed;
// reduce throttle to eliminate battery over-current
int8_t throttle_watt_limit_max;
int8_t throttle_watt_limit_min; // for reverse thrust
uint32_t throttle_watt_limit_timer_ms;
AP_SpdHgtControl::FlightStage flight_stage = AP_SpdHgtControl::FLIGHT_NORMAL;
// probability of aircraft is currently in flight. range from 0 to