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

ArduCopter/APM_Config.h

@@ -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

ArduCopter/Attitude.pde

@@ -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)

ArduCopter/Parameters.pde

@@ -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

ArduCopter/config.h

@@ -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

ArduCopter/radio.pde

@@ -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