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

Copter: allow throttle deadband to be redefined in APM_Config.h

Browse Source
This commit is contained in:
Randy Mackay 2013-10-13 20:41:11 +09:00
parent 8532e2bff8
commit d2bbc06502
5 changed files with 20 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopter/APM_Config.h
View File

@ -24,6 +24,9 @@
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
#define AUTOTUNE DISABLED // disable the auto tune functionality to save 7k of flash
// redefine size of throttle deadband in pwm (0 ~ 1000)
//#define THROTTLE_IN_DEADBAND 100
//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation
// User Hooks : For User Developed code that you wish to run

1
ArduCopter/Attitude.pde
View File

@ -1090,7 +1090,6 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
// get_pilot_desired_climb_rate - transform pilot's throttle input to
// climb rate in cm/s. we use radio_in instead of control_in to get the full range
// without any deadzone at the bottom
#define THROTTLE_IN_DEADBAND 100 // the throttle input channel's deadband in PWM
#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+THROTTLE_IN_DEADBAND) // top of the deadband
#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-THROTTLE_IN_DEADBAND) // bottom of the deadband
static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)

6
ArduCopter/Parameters.pde
View File

@ -245,7 +245,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 300
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE),
GSCALAR(throttle_min, "THR_MIN", THR_MIN_DEFAULT),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
@ -254,7 +254,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 1000
// @Increment: 1
// @User: Standard
GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE),
GSCALAR(throttle_max, "THR_MAX", THR_MAX_DEFAULT),
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
@ -286,7 +286,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
// @Range: 300 700
// @Increment: 1
GSCALAR(throttle_mid, "THR_MID", THR_MID),
GSCALAR(throttle_mid, "THR_MID", THR_MID_DEFAULT),
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1

23
ArduCopter/config.h
View File

@ -502,14 +502,6 @@
# define FS_THR_VALUE_DEFAULT 975
#endif
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130
#endif
#ifndef MAXIMUM_THROTTLE
# define MAXIMUM_THROTTLE 1000
#endif
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
@ -921,8 +913,19 @@
# define THROTTLE_CRUISE 450 // default estimate of throttle required for vehicle to maintain a hover
#endif
#ifndef THR_MID
# define THR_MID 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#ifndef THR_MID_DEFAULT
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif
#ifndef THR_MIN_DEFAULT
# define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero
#endif
#ifndef THR_MAX_DEFAULT
# define THR_MAX_DEFAULT 1000 // maximum throttle sent to the motors
#endif
#ifndef THROTTLE_IN_DEADBAND
# define THROTTLE_IN_DEADBAND 100 // the throttle input channel's deadband in PWM
#endif
#ifndef ALT_HOLD_TAKEOFF_JUMP

7
ArduCopter/radio.pde
View File

@ -67,7 +67,7 @@ static void init_rc_out()
g.rc_3.set_range_out(0,1000);
// full throttle means to enter ESC calibration
if(g.rc_3.control_in >= (MAXIMUM_THROTTLE - 50)) {
if(g.rc_3.control_in >= (g.throttle_max - 50)) {
if(g.esc_calibrate == 0) {
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(1);
@ -130,11 +130,6 @@ static void read_radio()
g.rc_6.set_pwm(periods[5]);
g.rc_7.set_pwm(periods[6]);
g.rc_8.set_pwm(periods[7]);
#if FRAME_CONFIG != HELI_FRAME
// limit our input to 800 so we can still pitch and roll
g.rc_3.control_in = min(g.rc_3.control_in, MAXIMUM_THROTTLE);
#endif
}else{
uint32_t elapsed = millis() - last_update;
// turn on throttle failsafe if no update from ppm encoder for 2 seconds