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Motors_Multicopter: add MOT_THR_MIX_MAX parameter

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Allows controlling the prioritisation of throttle vs attitude control
during active flight
This commit is contained in:
Randy Mackay 2015-08-06 20:39:49 +09:00
parent 4aef64c153
commit f009c2ddb9
2 changed files with 12 additions and 4 deletions
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9
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -86,11 +86,18 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] PROGMEM = {
// @Param: THR_MIX_MIN
// @DisplayName: Throttle Mix Minimum
// @Description: Minimum ratio that the average throttle can increase above the desired throttle after roll, pitch and yaw are mixed
// @Description: Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
// @Range: 0.1 0.25
// @User: Advanced
AP_GROUPINFO("THR_MIX_MIN", 13, AP_MotorsMulticopter, _thr_mix_min, AP_MOTORS_THR_MIX_MIN_DEFAULT),
// @Param: THR_MIX_MAX
// @DisplayName: Throttle Mix Maximum
// @Description: Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
// @Range: 0.5 0.9
// @User: Advanced
AP_GROUPINFO("THR_MIX_MAX", 14, AP_MotorsMulticopter, _thr_mix_max, AP_MOTORS_THR_MIX_MAX_DEFAULT),
AP_GROUPEND
};

7
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -23,7 +23,7 @@
#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz
#define AP_MOTORS_THR_MIX_MIN_DEFAULT 0.1f // minimum throttle mix
#define AP_MOTORS_THR_MIX_MID_DEFAULT 0.5f // manual throttle mix
#define AP_MOTORS_THR_MIX_MAX_DEFAULT 0.9f // maximum throttle mix
#define AP_MOTORS_THR_MIX_MAX_DEFAULT 0.5f // maximum throttle mix default
// To-Do: replace this hard coded counter with a timer
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@ -54,7 +54,7 @@ public:
// has no effect when throttle is above hover throttle
void set_throttle_mix_min() { _throttle_thr_mix_desired = _thr_mix_min; }
void set_throttle_mix_mid() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MID_DEFAULT; }
void set_throttle_mix_max() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MAX_DEFAULT; }
void set_throttle_mix_max() { _throttle_thr_mix_desired = _thr_mix_max; }
// get_throttle_thr_mix - get low throttle compensation value
bool is_throttle_mix_min() const { return (_throttle_thr_mix < 1.25f*_thr_mix_min); }
@ -151,7 +151,8 @@ protected:
AP_Float _batt_voltage_max; // maximum voltage used to scale lift
AP_Float _batt_voltage_min; // minimum voltage used to scale lift
AP_Float _batt_current_max; // current over which maximum throttle is limited
AP_Float _thr_mix_min; // current over which maximum throttle is limited
AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
AP_Float _thr_mix_max; // throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
// internal variables
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled