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Copter: remove param to disable accel based throttle controller

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This commit is contained in:
Randy Mackay 2013-07-12 22:57:30 +09:00
parent d5b4c44926
commit aefb38e486
3 changed files with 6 additions and 24 deletions
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20
ArduCopter/Attitude.pde
View File

@ -404,7 +404,7 @@ run_rate_controllers()
#endif #endif
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target) // run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
if( g.throttle_accel_enabled && throttle_accel_controller_active ) { if( throttle_accel_controller_active ) {
set_throttle_out(get_throttle_accel(throttle_accel_target_ef), true); set_throttle_out(get_throttle_accel(throttle_accel_target_ef), true);
} }
} }
@ -938,13 +938,8 @@ void set_throttle_out( int16_t throttle_out, bool apply_angle_boost )
// set_throttle_accel_target - to be called by upper throttle controllers to set desired vertical acceleration in earth frame // set_throttle_accel_target - to be called by upper throttle controllers to set desired vertical acceleration in earth frame
void set_throttle_accel_target( int16_t desired_acceleration ) void set_throttle_accel_target( int16_t desired_acceleration )
{ {
if( g.throttle_accel_enabled ) { throttle_accel_target_ef = desired_acceleration;
throttle_accel_target_ef = desired_acceleration; throttle_accel_controller_active = true;
throttle_accel_controller_active = true;
}else{
// To-Do log dataflash or tlog error
cliSerial->print_P(PSTR("Err: target sent to inactive acc thr controller!\n"));
}
} }
// disable_throttle_accel - disables the accel based throttle controller // disable_throttle_accel - disables the accel based throttle controller
@ -1154,13 +1149,8 @@ get_throttle_rate(float z_target_speed)
} }
#endif #endif
// send output to accelerometer based throttle controller if enabled otherwise send directly to motors // set target for accel based throttle controller
if( g.throttle_accel_enabled ) { set_throttle_accel_target(output);
// set target for accel based throttle controller
set_throttle_accel_target(output);
}else{
set_throttle_out(g.throttle_cruise+output, true);
}
// update throttle cruise // update throttle cruise
// TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration // TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration

3
ArduCopter/Parameters.h
View File

@ -80,7 +80,7 @@ public:
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin, k_param_rssi_pin,
k_param_throttle_accel_enabled, k_param_throttle_accel_enabled, // deprecated - remove
k_param_wp_yaw_behavior, k_param_wp_yaw_behavior,
k_param_acro_trainer_enabled, k_param_acro_trainer_enabled,
k_param_pilot_velocity_z_max, k_param_pilot_velocity_z_max,
@ -295,7 +295,6 @@ public:
AP_Int8 battery_volt_pin; AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin; AP_Int8 battery_curr_pin;
AP_Int8 rssi_pin; AP_Int8 rssi_pin;
AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller
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
// Waypoints // Waypoints

7
ArduCopter/Parameters.pde
View File

@ -191,13 +191,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1), GSCALAR(rssi_pin, "RSSI_PIN", -1),
// @Param: THR_ACC_ENABLE
// @DisplayName: Enable Accel based throttle controller
// @Description: This allows enabling and disabling the accelerometer based throttle controller. If disabled a velocity based controller is used.
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
GSCALAR(throttle_accel_enabled, "THR_ACC_ENABLE", 1),
// @Param: WP_YAW_BEHAVIOR // @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions // @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL // @Description: Determines how the autopilot controls the yaw during missions and RTL