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Copter: add ANGLE_RATE_MAX param

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Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
This commit is contained in:
Randy Mackay 2013-10-27 22:34:42 +09:00
parent 9176bf2e97
commit 8386b658e9
4 changed files with 15 additions and 7 deletions
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4
ArduCopter/Attitude.pde
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@ -36,7 +36,7 @@ get_stabilize_roll(int32_t target_angle)
// constrain the target rate // constrain the target rate
if (!ap.disable_stab_rate_limit) { if (!ap.disable_stab_rate_limit) {
target_rate = constrain_int32(target_rate, -STABILIZE_RATE_LIMIT, STABILIZE_RATE_LIMIT); target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
} }
// set targets for rate controller // set targets for rate controller
@ -54,7 +54,7 @@ get_stabilize_pitch(int32_t target_angle)
// constrain the target rate // constrain the target rate
if (!ap.disable_stab_rate_limit) { if (!ap.disable_stab_rate_limit) {
target_rate = constrain_int32(target_rate, -STABILIZE_RATE_LIMIT, STABILIZE_RATE_LIMIT); target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
} }
// set targets for rate controller // set targets for rate controller

4
ArduCopter/Parameters.h
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@ -92,7 +92,8 @@ public:
k_param_angle_max, k_param_angle_max,
k_param_gps_hdop_good, k_param_gps_hdop_good,
k_param_battery, k_param_battery,
k_param_fs_batt_mah, // 37 k_param_fs_batt_mah,
k_param_angle_rate_max, // 38
// 65: AP_Limits Library // 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove k_param_limits = 65, // deprecated - remove
@ -302,6 +303,7 @@ public:
AP_Int8 rssi_pin; AP_Int8 rssi_pin;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int16 angle_max; // maximum lean angle of the copter in centi-degrees AP_Int16 angle_max; // maximum lean angle of the copter in centi-degrees
AP_Int32 angle_rate_max; // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// Waypoints // Waypoints
// //

7
ArduCopter/Parameters.pde
View File

@ -416,6 +416,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX), GSCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
// @Param: ANGLE_RATE_MAX
// @DisplayName: Angle Rate max
// @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// @Range 90000 250000
// @User: Advanced
GSCALAR(angle_rate_max, "ANGLE_RATE_MAX", ANGLE_RATE_MAX),
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_ // @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp

7
ArduCopter/config.h
View File

@ -756,10 +756,6 @@
# define STABILIZE_PITCH_IMAX 0 # define STABILIZE_PITCH_IMAX 0
#endif #endif
#ifndef STABILIZE_RATE_LIMIT
# define STABILIZE_RATE_LIMIT 18000
#endif
#ifndef STABILIZE_YAW_P #ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5f // increase for more aggressive Yaw Hold, decrease if it's bouncy # define STABILIZE_YAW_P 4.5f // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
@ -784,6 +780,9 @@
#ifndef DEFAULT_ANGLE_MAX #ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value # define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
#endif #endif
#ifndef ANGLE_RATE_MAX
# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#endif
#ifndef RATE_ROLL_P #ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.150f # define RATE_ROLL_P 0.150f
#endif #endif