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Merge remote-tracking branch 'origin/Depth-Control'

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This commit is contained in:
Rustom Jehangir 2016-03-15 16:57:09 -07:00
commit 59e6f6f83b
4 changed files with 5 additions and 5 deletions
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4
ArduSub/Parameters.cpp
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@ -32,8 +32,8 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: SURFACE_DEPTH // @Param: SURFACE_DEPTH
// @DisplayName: Depth reading at surface // @DisplayName: Depth reading at surface
// @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in meters) // @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)
// @Range: -0.05 -1.0 // @Range: -5.0 -100.0
// @User: Standard // @User: Standard
GSCALAR(surface_depth, "SURFACE_DEPTH", SURFACE_DEPTH_DEFAULT), GSCALAR(surface_depth, "SURFACE_DEPTH", SURFACE_DEPTH_DEFAULT),

2
ArduSub/config.h
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@ -77,7 +77,7 @@
#endif #endif
#ifndef SURFACE_DEPTH_DEFAULT #ifndef SURFACE_DEPTH_DEFAULT
# define SURFACE_DEPTH_DEFAULT -0.10 // pressure sensor reading 10cm depth means craft is considered surfaced # define SURFACE_DEPTH_DEFAULT -10.0 // pressure sensor reading 10cm depth means craft is considered surfaced
#endif #endif

2
ArduSub/control_althold.cpp
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@ -129,7 +129,7 @@ void Sub::althold_run()
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
} else if(pos_control.get_vel_target_z() > 0.0) { } else if(pos_control.get_vel_target_z() > 0.0) {
pos_control.relax_alt_hold_controllers(0.0); // clear velocity and position targets, and integrator pos_control.relax_alt_hold_controllers(0.0); // clear velocity and position targets, and integrator
pos_control.set_alt_target(g.surface_depth*100); // set alt target to the same depth that triggers the surface detector. pos_control.set_alt_target(g.surface_depth); // set alt target to the same depth that triggers the surface detector.
} }
} else { } else {
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);

2
ArduSub/surface_bottom_detector.cpp
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@ -21,7 +21,7 @@ void Sub::update_surface_and_bottom_detector()
if (ap.depth_sensor_present) { // we can use the external pressure sensor for a very accurate and current measure of our z axis position if (ap.depth_sensor_present) { // we can use the external pressure sensor for a very accurate and current measure of our z axis position
current_depth = barometer.get_altitude(); current_depth = barometer.get_altitude();
set_surfaced(current_depth > g.surface_depth); // If we are above surface depth, we are surfaced set_surfaced(current_depth > g.surface_depth/100.0); // If we are above surface depth, we are surfaced
if(motors.limit.throttle_lower && vel_stationary) { if(motors.limit.throttle_lower && vel_stationary) {
// bottom criteria met - increment the counter and check if we've triggered // bottom criteria met - increment the counter and check if we've triggered