TradHeli: move STAB_COL_MIN to main parameter list

ArduCopter/ArduCopter.pde

@@ -2027,7 +2027,7 @@ void update_throttle_mode(void)
     case THROTTLE_MANUAL_HELI:
         // trad heli manual throttle controller
         // send pilot's output directly to swash plate
-        pilot_throttle_scaled = motors.get_pilot_desired_collective(g.rc_3.control_in);
+        pilot_throttle_scaled = get_pilot_desired_collective(g.rc_3.control_in);
         set_throttle_out(pilot_throttle_scaled, false);
 
         // update estimate of throttle cruise

ArduCopter/Parameters.h

@@ -114,9 +114,11 @@ public:
         k_param_heli_servo_2,
         k_param_heli_servo_3,
         k_param_heli_servo_4,
-		k_param_heli_pitch_ff,
-		k_param_heli_roll_ff,
-		k_param_heli_yaw_ff,
+        k_param_heli_pitch_ff,
+        k_param_heli_roll_ff,
+        k_param_heli_yaw_ff,
+        k_param_heli_stab_col_min,
+        k_param_heli_stab_col_max,  // 88
 
         //
         // 90: Motors
@@ -357,6 +359,8 @@ public:
     AP_Float        heli_pitch_ff;												// pitch rate feed-forward
     AP_Float        heli_roll_ff;												// roll rate feed-forward
     AP_Float        heli_yaw_ff;												// yaw rate feed-forward
+    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/Parameters.pde

@@ -453,7 +453,26 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Increment: 0.01
     // @User: Standard
 	GSCALAR(heli_yaw_ff, "RATE_YAW_FF",            HELI_YAW_FF),
+
+    // @Param: 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: pwm
+    // @Increment: 1
+    // @User: Standard
+    GSCALAR(heli_stab_col_min, "STAB_COL_MIN", HELI_STAB_COLLECTIVE_MIN_DEFAULT),
+
+    // @Param: 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: pwm
+    // @Increment: 1
+    // @User: Standard
+    GSCALAR(heli_stab_col_max, "STAB_COL_MAX", HELI_STAB_COLLECTIVE_MAX_DEFAULT),
 #endif
+
 #if FRAME_CONFIG ==     SINGLE_FRAME
     // @Group: SS1_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp

ArduCopter/config.h

@@ -113,6 +113,8 @@
   # define HELI_YAW_FF                  0  
   # define STABILIZE_THR                THROTTLE_MANUAL_HELI
   # define MPU6K_FILTER                 10
+  # define HELI_STAB_COLLECTIVE_MIN_DEFAULT   0
+  # define HELI_STAB_COLLECTIVE_MAX_DEFAULT   1000
 #endif
 
 /////////////////////////////////////////////////////////////////////////////////

ArduCopter/heli.pde

@@ -16,6 +16,21 @@ static struct {
     uint8_t dynamic_flight  : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
 } heli_flags;
 
+// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the g.rc_3.servo_out function
+static int16_t 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;
+}
+
 // heli_check_dynamic_flight - updates the dynamic_flight flag based on our horizontal velocity
 // should be called at 50hz
 static void check_dynamic_flight(void)

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -170,23 +170,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
     // @User: Standard
     AP_GROUPINFO("FLYBAR_MODE", 18, AP_MotorsHeli,  _flybar_mode, AP_MOTORS_HELI_NOFLYBAR),
 
-    // @Param: STAB_COL_MIN
-    // @DisplayName: Stabilize Throttle Minimum
-    // @Description: Minimum collective position while pilot directly controls collective
-    // @Range: 0 50
-    // @Units: Percent
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("STAB_COL_MIN", 19, AP_MotorsHeli, _manual_collective_min, AP_MOTORS_HELI_MANUAL_COLLECTIVE_MIN),
-	
-    // @Param: STAB_COL_MAX
-    // @DisplayName: Stabilize Throttle Maximum
-    // @Description: Maximum collective position while pilot directly controls collective
-    // @Range: 50 100
-    // @Units: Percent
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("STAB_COL_MAX", 20, AP_MotorsHeli, _manual_collective_max, AP_MOTORS_HELI_MANUAL_COLLECTIVE_MAX),
+    // 19,20 - was STAB_COL_MIN, STAB_COL_MAX now moved to main code's parameter list
 
     // @Param: LAND_COL_MIN
     // @DisplayName: Landing Collective Minimum
@@ -354,21 +338,6 @@ bool AP_MotorsHeli::allow_arming()
     return true;
 }
 
-// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
-int16_t AP_MotorsHeli::get_pilot_desired_collective(int16_t control_in)
-{
-    // return immediately if reduce collective range for manual flight has not been configured
-    if (_manual_collective_min == 0 && _manual_collective_max == 100) {
-        return control_in;
-    }
-
-    // scale 
-    int16_t collective_out;
-    collective_out = _manual_collective_min*10 + control_in * _collective_scalar_manual;
-    collective_out = constrain_int16(collective_out, 0, 1000);
-    return collective_out;
-}
-
 // set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
 void AP_MotorsHeli::set_desired_rotor_speed(int16_t desired_speed)
 {
@@ -490,7 +459,6 @@ void AP_MotorsHeli::init_swash()
     _roll_scaler = (float)_roll_max/4500.0f;
     _pitch_scaler = (float)_pitch_max/4500.0f;
     _collective_scalar = ((float)(_collective_max-_collective_min))/1000.0f;
-    _collective_scalar_manual = ((float)(_manual_collective_max - _manual_collective_min))/100.0f;
 
     // calculate factors based on swash type and servo position
     calculate_roll_pitch_collective_factors();

libraries/AP_Motors/AP_MotorsHeli.h

@@ -112,7 +112,6 @@ public:
         _roll_scaler(1),
         _pitch_scaler(1),
         _collective_scalar(1),
-        _collective_scalar_manual(1),
         _collective_out(0),
         _collective_mid_pwm(0),
         _rotor_desired(0),
@@ -163,19 +162,12 @@ public:
     // has_flybar - returns true if we have a mechical flybar
     bool has_flybar() { return _flybar_mode; }
 
-    // get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
-    int16_t get_pilot_desired_collective(int16_t control_in);
-
     // get_collective_mid - returns collective mid position as a number from 0 ~ 1000
     int16_t get_collective_mid() { return  _collective_mid; }
 
     // get_collective_out - returns collective position from last output as a number from 0 ~ 1000
     int16_t get_collective_out() { return _collective_out; }
 
-    // get min/max collective when controlled manually as a number from 0 ~ 1000 (note that parameter is stored as percentage)
-    int16_t get_manual_collective_min() { return _manual_collective_min*10; }
-    int16_t get_manual_collective_max() { return _manual_collective_max*10; }
-
     // set_collective_for_landing - limits collective from going too low if we know we are landed
     void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; }
 
@@ -271,8 +263,6 @@ private:
     AP_Int8         _rsc_ramp_time;             // Time in seconds for the output to the main rotor's ESC to reach full speed
     AP_Int8         _rsc_runup_time;            // Time in seconds for the main rotor to reach full speed.  Must be longer than _rsc_ramp_time
     AP_Int8         _flybar_mode;               // Flybar present or not.  Affects attitude controller used during ACRO flight mode
-    AP_Int8         _manual_collective_min;     // Minimum collective position while pilot directly controls the collective
-    AP_Int8         _manual_collective_max;     // Maximum collective position while pilot directly controls the collective
     AP_Int16        _land_collective_min;       // Minimum collective when landed or landing
     AP_Int16        _direct_drive_tailspeed;    // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)