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Copter: loiter uses 0 to 1 throttle and sets motor spool state

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Leonard Hall 2016-01-18 12:53:08 +09:00 committed by Randy Mackay
parent 42f5de44d4
commit f8d03b58d1
1 changed files with 19 additions and 3 deletions
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22
ArduCopter/control_loiter.cpp
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@ -95,7 +95,9 @@ void Copter::loiter_run()
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
@ -115,6 +117,7 @@ void Copter::loiter_run()
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller();
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SHUT_DOWN);
wp_nav.init_loiter_target();
// multicopters do not stabilize roll/pitch/yaw when motors are stopped
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -135,6 +138,9 @@ void Copter::loiter_run()
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
@ -154,15 +160,25 @@ void Copter::loiter_run()
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
#else
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
}else{
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
}
// multicopters do not stabilize roll/pitch/yaw when disarmed
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case Loiter_Flying:
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);