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Copter: Delay release of I term until take off

zr-v5.1
Leonard Hall 5 years ago committed by Randy Mackay
parent
d0e62b0e0b
commit
ffd838d908
10 changed files with 18 additions and 24 deletions
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  1. 3
      ArduCopter/mode_acro.cpp
  2. 6
      ArduCopter/mode_althold.cpp
  3. 3
      ArduCopter/mode_drift.cpp
  4. 1
      ArduCopter/mode_flip.cpp
  5. 4
      ArduCopter/mode_flowhold.cpp
  6. 7
      ArduCopter/mode_loiter.cpp
  7. 7
      ArduCopter/mode_poshold.cpp
  8. 5
      ArduCopter/mode_sport.cpp
  9. 3
      ArduCopter/mode_stabilize.cpp
  10. 3
      ArduCopter/mode_systemid.cpp

3
ArduCopter/mode_acro.cpp
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@ -30,17 +30,20 @@ void ModeAcro::run() @@ -30,17 +30,20 @@ void ModeAcro::run()
attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing

6
ArduCopter/mode_althold.cpp
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@ -48,25 +48,21 @@ void ModeAltHold::run() @@ -48,25 +48,21 @@ void ModeAltHold::run()
switch (althold_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
// FALLTHROUGH
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));

3
ArduCopter/mode_drift.cpp
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@ -94,17 +94,20 @@ void ModeDrift::run() @@ -94,17 +94,20 @@ void ModeDrift::run()
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing

1
ArduCopter/mode_flip.cpp
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@ -200,6 +200,7 @@ void ModeFlip::run() @@ -200,6 +200,7 @@ void ModeFlip::run()
AP::logger().Write_Event(LogEvent::FLIP_END);
}
break;
}
case FlipState::Abandon:
// restore original flight mode

4
ArduCopter/mode_flowhold.cpp
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@ -254,7 +254,6 @@ void ModeFlowHold::run() @@ -254,7 +254,6 @@ void ModeFlowHold::run()
switch (flowhold_state) {
case AltHold_MotorStopped:
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->set_yaw_target_to_current_heading();
@ -283,12 +282,11 @@ void ModeFlowHold::run() @@ -283,12 +282,11 @@ void ModeFlowHold::run()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
// FALLTHROUGH
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;

7
ArduCopter/mode_loiter.cpp
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@ -117,7 +117,6 @@ void ModeLoiter::run() @@ -117,7 +117,6 @@ void ModeLoiter::run()
switch (loiter_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
@ -127,7 +126,6 @@ void ModeLoiter::run() @@ -127,7 +126,6 @@ void ModeLoiter::run()
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -152,13 +150,11 @@ void ModeLoiter::run() @@ -152,13 +150,11 @@ void ModeLoiter::run()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
// FALLTHROUGH
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
loiter_nav->init_target();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
@ -166,7 +162,6 @@ void ModeLoiter::run() @@ -166,7 +162,6 @@ void ModeLoiter::run()
break;
case AltHold_Flying:
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

7
ArduCopter/mode_poshold.cpp
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@ -107,7 +107,6 @@ void ModePosHold::run() @@ -107,7 +107,6 @@ void ModePosHold::run()
switch (poshold_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
@ -121,7 +120,6 @@ void ModePosHold::run() @@ -121,7 +120,6 @@ void ModePosHold::run()
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -148,16 +146,14 @@ void ModePosHold::run() @@ -148,16 +146,14 @@ void ModePosHold::run()
break;
case AltHold_Landed_Ground_Idle:
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
loiter_nav->update();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
// FALLTHROUGH
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
// set poshold state to pilot override
@ -166,7 +162,6 @@ void ModePosHold::run() @@ -166,7 +162,6 @@ void ModePosHold::run()
break;
case AltHold_Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if AC_AVOID_ENABLED == ENABLED

5
ArduCopter/mode_sport.cpp
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@ -79,14 +79,12 @@ void ModeSport::run() @@ -79,14 +79,12 @@ void ModeSport::run()
switch (sport_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -104,12 +102,11 @@ void ModeSport::run() @@ -104,12 +102,11 @@ void ModeSport::run()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
// FALLTHROUGH
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
break;

3
ArduCopter/mode_stabilize.cpp
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@ -34,17 +34,20 @@ void ModeStabilize::run() @@ -34,17 +34,20 @@ void ModeStabilize::run()
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing

3
ArduCopter/mode_systemid.cpp
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@ -128,6 +128,7 @@ void ModeSystemId::run() @@ -128,6 +128,7 @@ void ModeSystemId::run()
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
// Tradheli initializes targets when going from disarmed to armed state.
@ -137,12 +138,14 @@ void ModeSystemId::run() @@ -137,12 +138,14 @@ void ModeSystemId::run()
attitude_control->reset_rate_controller_I_terms();
}
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing

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