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Added a default, but low throttle cruise value

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Added a clear integrator for Rate I to prevent tip ups at launch.
This commit is contained in:
Jason Short 2011-09-22 23:10:55 -07:00
parent 3c1ce315fe
commit f65390920a
5 changed files with 9 additions and 4 deletions
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3
ArduCopter/ArduCopter.pde
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@ -1080,7 +1080,6 @@ void update_roll_pitch_mode(void)
g.rc_2.servo_out = get_stabilize_pitch(control_pitch);
break;
}
}
@ -1093,6 +1092,8 @@ void update_throttle_mode(void)
if (g.rc_3.control_in > 0){
g.rc_3.servo_out = g.rc_3.control_in + get_angle_boost();
}else{
g.pi_rate_roll.reset_I();
g.pi_rate_pitch.reset_I();
g.rc_3.servo_out = 0;
}
// reset the timer to throttle so that we never get fast I term run-ups

1
ArduCopter/Attitude.pde
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@ -25,7 +25,6 @@ get_stabilize_roll(long target_angle)
// output control:
return (int)constrain(rate, -2500, 2500);
}
static int

2
ArduCopter/Parameters.h
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@ -317,7 +317,7 @@ public:
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (100, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")),
flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")),

6
ArduCopter/config.h
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@ -509,6 +509,12 @@
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 350 //
#endif
#ifndef THROTTLE_P
# define THROTTLE_P 0.6 //
#endif

1
ArduCopter/motors_quad.pde
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@ -4,7 +4,6 @@
static void output_motors_armed()
{
int roll_out, pitch_out;
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;