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Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control

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This commit is contained in:
Randy Mackay 2015-02-21 15:06:56 +09:00
parent 83e3e2fec2
commit f6523c0997
3 changed files with 10 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -237,7 +237,7 @@ void AP_MotorsMatrix::output_armed()
// We will choose #1 (the best throttle for yaw control) if that means reducing throttle to the motors (i.e. we favour reducing throttle *because* it provides better yaw control)
// We will choose #2 (a mix of pilot and hover throttle) only when the throttle is quite low. We favour reducing throttle instead of better yaw control because the pilot has commanded it
int16_t motor_mid = (rpy_low+rpy_high)/2;
out_best_thr_pwm = min(out_mid_pwm - motor_mid, max(_rc_throttle.radio_out, (_rc_throttle.radio_out+_hover_out)/2));
out_best_thr_pwm = min(out_mid_pwm - motor_mid, max(_rc_throttle.radio_out, _rc_throttle.radio_out*max(0,1.0f-_throttle_low_comp)+_hover_out*_throttle_low_comp));
// calculate amount of yaw we can fit into the throttle range
// this is always equal to or less than the requested yaw from the pilot or rate controller

7
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -77,6 +77,13 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("YAW_HEADROOM", 6, AP_Motors, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
// @Param: THR_LOW_CMP
// @DisplayName: Motor low throttle compensation
// @Description: Ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control
// @Values: 0.2:Favour Throttle Control, 0.5:Equal Weighting, 1:Favour Attitude Control
// @User: Advanced
AP_GROUPINFO("THR_LOW_CMP", 7, AP_Motors, _throttle_low_comp, AP_MOTORS_THR_LOW_CMP_DEFAULT),
// @Param: THST_EXPO
// @DisplayName: Thrust Curve Expo
// @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)

2
libraries/AP_Motors/AP_Motors_Class.h
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@ -56,6 +56,7 @@
#define AP_MOTORS_YAW_HEADROOM_DEFAULT 200
#define AP_MOTORS_THR_LOW_CMP_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input
#define AP_MOTORS_THST_EXPO_DEFAULT 0.5f // set to 0 for linear and 1 for second order approximation
#define AP_MOTORS_THST_MAX_DEFAULT 0.95f // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_THST_BAT_MAX_DEFAULT 0.0f
@ -197,6 +198,7 @@ protected:
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
AP_Float _throttle_low_comp; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation
AP_Float _thrust_curve_max; // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
AP_Float _batt_voltage_max; // maximum voltage used to scale lift