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TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly.

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Robert Lefebvre 2013-07-18 17:01:10 -04:00 committed by Randy Mackay
parent ffb605d06d
commit f67d95ac75
1 changed files with 5 additions and 0 deletions
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ArduCopter/ArduCopter.pde
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@ -1995,8 +1995,13 @@ void update_throttle_mode(void)
get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity()); get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
}else{ }else{
#if FRAME_CONFIG == HELI_FRAME
// collective pitch should not be full negative to avoid harshing the mechanics. Use Stab Coll Min.
set_throttle_out(motors.stab_col_min*10, false);
#else
// pilot's throttle must be at zero so keep motors off // pilot's throttle must be at zero so keep motors off
set_throttle_out(0, false); set_throttle_out(0, false);
#endif // HELI_FRAME
// deactivate accel based throttle controller // deactivate accel based throttle controller
throttle_accel_deactivate(); throttle_accel_deactivate();
set_target_alt_for_reporting(0); set_target_alt_for_reporting(0);