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Copter: smooth throttle transition between flight modes

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Randy Mackay 2014-02-11 22:32:44 +09:00 committed by Andrew Tridgell
parent 0df1dc267b
commit 10a0303706
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/flight_mode.pde
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@ -95,7 +95,7 @@ static bool set_mode(uint8_t mode)
// update flight mode // update flight mode
if (success) { if (success) {
// perform any cleanup required by previous flight mode // perform any cleanup required by previous flight mode
exit_mode(control_mode); exit_mode(control_mode, mode);
control_mode = mode; control_mode = mode;
Log_Write_Mode(control_mode); Log_Write_Mode(control_mode);
}else{ }else{
@ -181,13 +181,19 @@ static void update_flight_mode()
} }
// exit_mode - high level call to organise cleanup as a flight mode is exited // exit_mode - high level call to organise cleanup as a flight mode is exited
static void exit_mode(uint8_t old_control_mode) static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
{ {
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED
if (old_control_mode == AUTOTUNE) { if (old_control_mode == AUTOTUNE) {
autotune_stop(); autotune_stop();
} }
#endif #endif
// smooth throttle transition when switching from manual to automatic flight modes
if (manual_flight_mode(old_control_mode) && !manual_flight_mode(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(g.rc_3.control_in));
}
} }
// returns true or false whether mode requires GPS // returns true or false whether mode requires GPS
@ -207,7 +213,7 @@ static bool mode_requires_GPS(uint8_t mode) {
return false; return false;
} }
// manual_flight_mode - returns true if flight mode is completely manual (i.e. roll, pitch and yaw controlled by pilot) // manual_flight_mode - returns true if flight mode is completely manual (i.e. roll, pitch, yaw and throttle are controlled by pilot)
static bool manual_flight_mode(uint8_t mode) { static bool manual_flight_mode(uint8_t mode) {
switch(mode) { switch(mode) {
case ACRO: case ACRO: