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Plane: prevent jitter on surfaces due to speed scaling

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when disarmed the k_throttle output can oscillate due to stage in the
loop we are at, even though actual output is zero. This can cause
jitter in the speed scaling, which causes surface movement

To fix, don't use k_throttle value when disarmed
This commit is contained in:
Andrew Tridgell 2018-12-06 15:29:08 +11:00
parent 1f55fd9f0d
commit fa04c2d094
1 changed files with 7 additions and 7 deletions
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14
ArduPlane/Attitude.cpp
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@ -30,15 +30,15 @@ float Plane::get_speed_scaler(void)
speed_scaler = MIN(speed_scaler, new_scaler); speed_scaler = MIN(speed_scaler, new_scaler);
} }
} }
} else { } else if (hal.util->get_soft_armed()) {
if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 0) { // scale assumed surface movement using throttle output
speed_scaler = 0.5f + ((float)THROTTLE_CRUISE / SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 2.0f); // First order taylor expansion of square root float throttle_out = MAX(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), 1);
// Should maybe be to the 2/7 power, but we aren't going to implement that... speed_scaler = sqrtf(THROTTLE_CRUISE / throttle_out);
}else{
speed_scaler = 1.67f;
}
// This case is constrained tighter as we don't have real speed info // This case is constrained tighter as we don't have real speed info
speed_scaler = constrain_float(speed_scaler, 0.6f, 1.67f); speed_scaler = constrain_float(speed_scaler, 0.6f, 1.67f);
} else {
// no speed estimate and not armed, use a unit scaling
speed_scaler = 1;
} }
return speed_scaler; return speed_scaler;
} }