aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: althold uses AP_Motors set_desired_spool_state

Browse Source
This commit is contained in:
Leonard Hall 2016-02-02 21:15:49 +09:00 committed by Randy Mackay
parent 668561ff0e
commit d2642065dd
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/control_althold.cpp
View File

@ -86,7 +86,7 @@ void Copter::althold_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt); attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else #else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// Multicopter do not stabilize roll/pitch/yaw when disarmed // Multicopter do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME #endif // HELI_FRAME
@ -104,7 +104,7 @@ void Copter::althold_run()
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false); pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller(); pos_control.update_z_controller();
#else // Multicopter do not stabilize roll/pitch/yaw when motor are stopped #else // Multicopter do not stabilize roll/pitch/yaw when motor are stopped
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SHUT_DOWN); motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
#endif // HELI_FRAME #endif // HELI_FRAME
@ -127,7 +127,7 @@ void Copter::althold_run()
// if throttle zero reset attitude and exit immediately // if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) { if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
// slow start if landed // slow start if landed
@ -138,7 +138,7 @@ void Copter::althold_run()
} }
// set motors to full range // set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller // call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
@ -160,16 +160,16 @@ void Copter::althold_run()
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt); attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
// if throttle zero reset attitude and exit immediately // if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) { if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
}else{ }else{
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
} }
#endif #endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break; break;
case AltHold_Flying: case AltHold_Flying:
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller // call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());