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Copter: add Hybrid parameters

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Randy Mackay 2014-04-11 17:15:09 +09:00
parent 754bae5748
commit f467d7bc20
3 changed files with 31 additions and 1 deletions
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7
ArduCopter/Parameters.h
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@ -108,7 +108,9 @@ public:
k_param_mission, // mission library k_param_mission, // mission library
k_param_rc_13, k_param_rc_13,
k_param_rc_14, k_param_rc_14,
k_param_rally, // 45 k_param_rally,
k_param_hybrid_brake_rate,
k_param_hybrid_brake_angle_max, // 47
// 65: AP_Limits Library // 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove k_param_limits = 65, // deprecated - remove
@ -335,6 +337,9 @@ public:
AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc. AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
AP_Int16 hybrid_brake_rate; // hybrid flight mode's rotation rate during braking in deg/sec
AP_Int16 hybrid_brake_angle_max; // hybrid flight mode's max lean angle during braking in centi-degrees
// Waypoints // Waypoints
// //

15
ArduCopter/Parameters.pde
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@ -407,6 +407,21 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
GSCALAR(rc_feel_rp, "RC_FEEL_RP", RC_FEEL_RP_VERY_CRISP), GSCALAR(rc_feel_rp, "RC_FEEL_RP", RC_FEEL_RP_VERY_CRISP),
// @Param: HYBR_BRAKE_RATE
// @DisplayName: Hybrid braking rate
// @Description: hybrid flight mode's rotation rate during braking in deg/sec
// @Range: 5 8
// @User: Advanced
GSCALAR(hybrid_brake_rate, "HYBR_BRAKE_RATE", HYBRID_BRAKE_RATE_DEFAULT),
// @Param: HYBR_BRAKE_ANGLE
// @DisplayName: Hybrid braking angle max
// @Description: hybrid flight mode's max lean angle during braking in centi-degrees
// @Units: Centi-degrees
// @Range: 500 2000
// @User: Advanced
GSCALAR(hybrid_brake_angle_max, "HYBR_BRAKE_ANGLE", HYBRID_BRAKE_ANGLE_DEFAULT),
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_ // @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp

10
ArduCopter/config.h
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@ -632,6 +632,16 @@
# define LOITER_RATE_IMAX 400 // maximum acceleration from I term build-up in cm/s/s # define LOITER_RATE_IMAX 400 // maximum acceleration from I term build-up in cm/s/s
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Hybrid parameter defaults
//
#ifndef HYBRID_BRAKE_RATE_DEFAULT
# define HYBRID_BRAKE_RATE_DEFAULT 8 // default HYBRID_BRAKE_RATE param value. Rotation rate during braking in deg/sec
#endif
#ifndef HYBRID_BRAKE_ANGLE_DEFAULT
# define HYBRID_BRAKE_ANGLE_DEFAULT 2000 // default HYBRID_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Throttle control gains // Throttle control gains
// //