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Copter: load accel throttle I term from attitude controller input

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Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller.  In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
This commit is contained in:
Leonard Hall 2016-10-14 15:34:24 +09:00 committed by Randy Mackay
parent a124001b8b
commit fec24437f2
3 changed files with 5 additions and 3 deletions
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4
ArduCopter/Attitude.cpp
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@ -243,8 +243,10 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
}
// set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
void Copter::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle)
void Copter::set_accel_throttle_I_from_pilot_throttle()
{
// get last throttle input sent to attitude controller
float pilot_throttle = constrain_float(attitude_control.get_throttle_in(), 0.0f, 1.0f);
// shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_accel_z.set_integrator((pilot_throttle-motors.get_throttle_hover()) * 1000.0f);
}

2
ArduCopter/Copter.h
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@ -691,7 +691,7 @@ private:
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void auto_takeoff_set_start_alt(void);
void auto_takeoff_attitude_run(float target_yaw_rate);
void set_accel_throttle_I_from_pilot_throttle(float pilot_throttle);
void set_accel_throttle_I_from_pilot_throttle();
void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void);

2
ArduCopter/flight_mode.cpp
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@ -274,7 +274,7 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
// smooth throttle transition when switching from manual to automatic flight modes
if (mode_has_manual_throttle(old_control_mode) && !mode_has_manual_throttle(new_control_mode) && motors.armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(channel_throttle->get_control_in()));
set_accel_throttle_I_from_pilot_throttle();
}
// cancel any takeoffs in progress