Copter: Helicopter: to use new Stab_Col and Acro_Col functions.

ArduCopter/Copter.h

@@ -828,7 +828,6 @@ private:
     bool mode_allows_arming(uint8_t mode, bool arming_from_gcs);
     void notify_flight_mode(uint8_t mode);
     void heli_init();
-    int16_t get_pilot_desired_collective(int16_t control_in);
     void check_dynamic_flight(void);
     void update_heli_control_dynamics(void);
     void heli_update_landing_swash();

ArduCopter/Parameters.cpp

@@ -519,24 +519,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Group: H_RSC_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp
     GGROUP(heli_servo_rsc,    "H_RSC_", RC_Channel),
-
-    // @Param: H_STAB_COL_MIN
-    // @DisplayName: Heli Stabilize Throttle Collective Minimum
-    // @Description: Helicopter's minimum collective position while pilot directly controls collective in stabilize mode
-    // @Range: 0 500
-    // @Units: Percent*10
-    // @Increment: 1
-    // @User: Standard
-    GSCALAR(heli_stab_col_min, "H_STAB_COL_MIN", HELI_STAB_COLLECTIVE_MIN_DEFAULT),
-
-    // @Param: H_STAB_COL_MAX
-    // @DisplayName: Stabilize Throttle Maximum
-    // @Description: Helicopter's maximum collective position while pilot directly controls collective in stabilize mode
-    // @Range: 500 1000
-    // @Units: Percent*10
-    // @Increment: 1
-    // @User: Standard
-    GSCALAR(heli_stab_col_max, "H_STAB_COL_MAX", HELI_STAB_COLLECTIVE_MAX_DEFAULT),
 #endif
 
     // RC channel

ArduCopter/Parameters.h

@@ -166,8 +166,8 @@ public:
         k_param_heli_pitch_ff,      // remove
         k_param_heli_roll_ff,       // remove
         k_param_heli_yaw_ff,        // remove
-        k_param_heli_stab_col_min,
-        k_param_heli_stab_col_max,  // 88
+        k_param_heli_stab_col_min,  // remove
+        k_param_heli_stab_col_max,  // remove
         k_param_heli_servo_rsc,     // 89 = full!
 
         //
@@ -447,8 +447,6 @@ public:
     // Heli
     RC_Channel      heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;     // servos for swash plate and tail
     RC_Channel      heli_servo_rsc;                                             // servo for rotor speed control output
-    AP_Int16        heli_stab_col_min;                                          // min collective while pilot directly controls collective in stabilize mode
-    AP_Int16        heli_stab_col_max;                                          // min collective while pilot directly controls collective in stabilize mode
 #endif
 #if FRAME_CONFIG ==     SINGLE_FRAME
     // Single

ArduCopter/config.h

@@ -117,8 +117,6 @@
   # define RATE_YAW_IMAX                        4500
   # define RATE_YAW_FF                          0.02
   # define RATE_YAW_FILT_HZ                     20.0f
-  # define HELI_STAB_COLLECTIVE_MIN_DEFAULT     0
-  # define HELI_STAB_COLLECTIVE_MAX_DEFAULT     1000
   # define THR_MIN_DEFAULT                      0
   # define AUTOTUNE_ENABLED                     DISABLED
 #endif

ArduCopter/flight_mode.cpp

@@ -244,6 +244,17 @@ void Copter::exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
         motors.set_acro_tail(false);
     }
 
+    // if we are changing from a mode that did not use manual throttle,
+    // stab col ramp value should be pre-loaded to the correct value to avoid a twitch
+    // heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
+    if (!mode_has_manual_throttle(old_control_mode)){
+        if (new_control_mode == STABILIZE){
+            input_manager.set_stab_col_ramp(1.0);
+        } else if (new_control_mode == ACRO){
+            input_manager.set_stab_col_ramp(0.0);
+        }
+    }
+
     // reset RC Passthrough to motors
     motors.reset_radio_passthrough();
 #endif //HELI_FRAME

ArduCopter/heli.cpp

@@ -31,21 +31,10 @@ void Copter::heli_init()
     if (!g.heli_servo_rsc.radio_max.configured()) {
         g.heli_servo_rsc.radio_max.set_and_save(g.rc_8.radio_max.get());
     }
-}
-
-// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the channel_throttle->servo_out function
-int16_t Copter::get_pilot_desired_collective(int16_t control_in)
-{
-    // return immediately if reduce collective range for manual flight has not been configured
-    if (g.heli_stab_col_min == 0 && g.heli_stab_col_max == 1000) {
-        return control_in;
-    }
 
-    // scale pilot input to reduced collective range
-    float scalar = ((float)(g.heli_stab_col_max - g.heli_stab_col_min))/1000.0f;
-    int16_t collective_out = g.heli_stab_col_min + control_in * scalar;
-    collective_out = constrain_int16(collective_out, 0, 1000);
-    return collective_out;
+    // pre-load stab col values as mode is initialized as Stabilize, but stabilize_init() function is not run on start-up.
+    input_manager.set_use_stab_col(true);
+    input_manager.set_stab_col_ramp(1.0);
 }
 
 // heli_check_dynamic_flight - updates the dynamic_flight flag based on our horizontal velocity

ArduCopter/heli_control_acro.cpp

@@ -15,6 +15,9 @@ bool Copter::heli_acro_init(bool ignore_checks)
 
     motors.set_acro_tail(true);
     
+    // set stab collective false to use full collective pitch range
+    input_manager.set_use_stab_col(false);
+
     // always successfully enter acro
     return true;
 }
@@ -24,6 +27,7 @@ bool Copter::heli_acro_init(bool ignore_checks)
 void Copter::heli_acro_run()
 {
     float target_roll, target_pitch, target_yaw;
+    int16_t pilot_throttle_scaled;
     
     // Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
     // we may be in autorotation flight.  These should be reset only when transitioning from disarmed
@@ -76,8 +80,11 @@ void Copter::heli_acro_run()
         attitude_control.passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in);
     }
 
+    // get pilot's desired throttle
+    pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->control_in);
+
     // output pilot's throttle without angle boost
-    attitude_control.set_throttle_out(channel_throttle->control_in, false, g.throttle_filt);
+    attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
 }
 
 #endif  //HELI_FRAME

ArduCopter/heli_control_stabilize.cpp

@@ -13,6 +13,10 @@ bool Copter::heli_stabilize_init(bool ignore_checks)
     // set target altitude to zero for reporting
     // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
     pos_control.set_alt_target(0);
+
+    // set stab collective true to use stabilize scaled collective pitch range
+    input_manager.set_use_stab_col(true);
+
     return true;
 }
 
@@ -56,7 +60,7 @@ void Copter::heli_stabilize_run()
     target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
 
     // get pilot's desired throttle
-    pilot_throttle_scaled = get_pilot_desired_collective(channel_throttle->control_in);
+    pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->control_in);
 
     // call attitude controller
     attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());