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

Copter: add Drift throttle assist constraints

Browse Source
This commit is contained in:
Randy Mackay 2014-03-31 15:21:20 +09:00
parent 50dcbe6549
commit d9fd577fb0
1 changed files with 24 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
ArduCopter/control_drift.pde
View File

@ -8,12 +8,19 @@
# define DRIFT_SPEEDGAIN 14.0f
#endif
#ifndef DRIFT_THR_GAIN
# define DRIFT_THR_GAIN 1.8f
#ifndef DRIFT_THR_ASSIST_GAIN
# define DRIFT_THR_ASSIST_GAIN 1.8f // gain controlling amount of throttle assistance
#endif
#ifndef DRIFT_THR_MAX_ASSIST
# define DRIFT_THR_MAX_ASSIST 300.0f
#ifndef DRIFT_THR_ASSIST_MAX
# define DRIFT_THR_ASSIST_MAX 300.0f // maximum assistance throttle assist will provide
#endif
#ifndef DRIFT_THR_MIN
# define DRIFT_THR_MIN 213 // throttle assist will be active when pilot's throttle is above this value
#endif
#ifndef DRIFT_THR_MAX
# define DRIFT_THR_MAX 787 // throttle assist will be active when pilot's throttle is below this value
#endif
// drift_init - initialise drift controller
@ -79,9 +86,19 @@ static void drift_run()
// throttle assist - adjusts throttle to slow the vehicle's vertical velocity
// Only active when pilot's throttle is between 213 ~ 787
// Assistance is strongest when throttle is at mid, drops linearly to no assistance at 213 and 787
float thr_assist = 1.2 - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_GAIN * vel.z;
thr_assist = constrain_float(thr_assist, -DRIFT_THR_MAX_ASSIST, DRIFT_THR_MAX_ASSIST);
float thr_assist = 0.0f;
if (pilot_throttle_scaled > g.throttle_min && pilot_throttle_scaled < g.throttle_max &&
pilot_throttle_scaled > DRIFT_THR_MIN && pilot_throttle_scaled < DRIFT_THR_MAX) {
// calculate throttle assist gain
thr_assist = 1.2 - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_ASSIST_GAIN * vel.z;
// ensure throttle assist never adjusts the throttle by more than 300 pwm
thr_assist = constrain_float(thr_assist, -DRIFT_THR_ASSIST_MAX, DRIFT_THR_ASSIST_MAX);
// ensure throttle assist never pushes throttle below throttle_min or above throttle_max
thr_assist = constrain_float(thr_assist, g.throttle_min - pilot_throttle_scaled, g.throttle_max - pilot_throttle_scaled);
}
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());