From f65390920ac776a31104223e18e73665251df523 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Thu, 22 Sep 2011 23:10:55 -0700
Subject: [PATCH] Added a default, but low throttle cruise value Added a clear
integrator for Rate I to prevent tip ups at launch.
---
ArduCopter/ArduCopter.pde | 3 ++-
ArduCopter/Attitude.pde | 1 -
ArduCopter/Parameters.h | 2 +-
ArduCopter/config.h | 6 ++++++
ArduCopter/motors_quad.pde | 1 -
5 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f5a955e3b1..d3b2dfc1ef 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -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
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 8200e98452..0a1268246d 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -25,7 +25,6 @@ get_stabilize_roll(long target_angle)
// output control:
return (int)constrain(rate, -2500, 2500);
-
}
static int
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index d9a5bca530..50de454176 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -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")),
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 041efcdb8d..fa608e81e4 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -509,6 +509,12 @@
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
+
+
+#ifndef THROTTLE_CRUISE
+# define THROTTLE_CRUISE 350 //
+#endif
+
#ifndef THROTTLE_P
# define THROTTLE_P 0.6 //
#endif
diff --git a/ArduCopter/motors_quad.pde b/ArduCopter/motors_quad.pde
index 5344a08f63..d5af159ad4 100644
--- a/ArduCopter/motors_quad.pde
+++ b/ArduCopter/motors_quad.pde
@@ -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;