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AP_Motors: Tradheli - fixes slew speed of swashplate during collective servo test

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This commit is contained in:
bnsgeyer 2018-09-23 16:12:09 -04:00 committed by Francisco Ferreira
parent 434afa268e
commit 833bc4e77d
2 changed files with 11 additions and 11 deletions
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10
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -547,10 +547,10 @@ void AP_MotorsHeli_Dual::servo_test()
_pitch_test -= (1.0f / (_loop_rate/2));
_oscillate_angle += 8 * M_PI / _loop_rate;
} else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top
_collective_test = 1.0f;
_collective_test += (1.0f / _loop_rate);
_oscillate_angle += 2 * M_PI / _loop_rate;
} else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom
_collective_test = 0.0f;
_collective_test -= (1.0f / _loop_rate);
_oscillate_angle += 2 * M_PI / _loop_rate;
} else { // reset cycle
_servo_test_cycle_time = 0.0f;
@ -566,7 +566,7 @@ void AP_MotorsHeli_Dual::servo_test()
// over-ride servo commands to move servos through defined ranges
_throttle_filter.reset(_collective_test);
_roll_in = _roll_test;
_pitch_in = _pitch_test;
_throttle_filter.reset(constrain_float(_collective_test, 0.0f, 1.0f));
_roll_in = constrain_float(_roll_test, -1.0f, 1.0f);
_pitch_in = constrain_float(_pitch_test, -1.0f, 1.0f);
}

12
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -541,11 +541,11 @@ void AP_MotorsHeli_Single::servo_test()
_oscillate_angle += 8 * M_PI / _loop_rate;
_yaw_test = 0.5f * sinf(_oscillate_angle);
} else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top
_collective_test = 1.0f;
_collective_test += (1.0f / _loop_rate);
_oscillate_angle += 2 * M_PI / _loop_rate;
_yaw_test = sinf(_oscillate_angle);
} else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom
_collective_test = 0.0f;
_collective_test -= (1.0f / _loop_rate);
_oscillate_angle += 2 * M_PI / _loop_rate;
_yaw_test = sinf(_oscillate_angle);
} else { // reset cycle
@ -562,10 +562,10 @@ void AP_MotorsHeli_Single::servo_test()
}
// over-ride servo commands to move servos through defined ranges
_throttle_filter.reset(_collective_test);
_roll_in = _roll_test;
_pitch_in = _pitch_test;
_yaw_in = _yaw_test;
_throttle_filter.reset(constrain_float(_collective_test, 0.0f, 1.0f));
_roll_in = constrain_float(_roll_test, -1.0f, 1.0f);
_pitch_in = constrain_float(_pitch_test, -1.0f, 1.0f);
_yaw_in = constrain_float(_yaw_test, -1.0f, 1.0f);
}
// parameter_check - check if helicopter specific parameters are sensible