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TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still.

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Robert Lefebvre 2013-07-18 16:02:54 -04:00 committed by Randy Mackay
parent 8f2c9591ff
commit ffb605d06d
1 changed files with 10 additions and 2 deletions
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12
ArduCopter/Attitude.pde
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@ -894,9 +894,17 @@ get_throttle_accel(int16_t z_target_accel)
d = g.pid_throttle_accel.get_d(z_accel_error, .01f);
//
// limit the rate
#if FRAME_CONFIG == HELI_FRAME
if (ap.takeoff_complete == true){
output = constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
} else {
// Avoid harshing the mechanics pushing into the ground
// stab_col_min should gently push down on the ground
output = constrain_float(p+i+d+g.throttle_cruise, motors.stab_col_min*10, motors.stab_col_max*10);
}
#else
output = constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
#endif // HELI_FRAME
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw