Copter: AP_Motor's throttle_hover replaces throttle_average

ArduCopter/ArduCopter.cpp

@@ -97,7 +97,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(read_rangefinder,      20,    100),
     SCHED_TASK(update_altitude,       10,    100),
     SCHED_TASK(run_nav_updates,       50,    100),
-    SCHED_TASK(update_thr_average,   100,     90),
+    SCHED_TASK(update_throttle_hover,100,     90),
     SCHED_TASK(three_hz_loop,          3,     75),
     SCHED_TASK(compass_accumulate,   100,    100),
     SCHED_TASK(barometer_accumulate,  50,     90),
@@ -476,8 +476,6 @@ void Copter::one_hz_loop()
         motors.set_frame_orientation(g.frame_orientation);
 
         // set all throttle channel settings
-        // set hover throttle
-        motors.set_hover_throttle(g.throttle_mid);
         motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 #endif
     }

ArduCopter/Attitude.cpp

@@ -94,31 +94,35 @@ float Copter::get_look_ahead_yaw()
  *  throttle control
  ****************************************************************/
 
-// update_thr_average - update estimated throttle required to hover (if necessary)
+// update estimated throttle required to hover (if necessary)
-//  should be called at 100hz
+//  called at 100hz
-void Copter::update_thr_average()
+void Copter::update_throttle_hover()
 {
-    // ensure throttle_average has been initialised
+#if FRAME_CONFIG != HELI_FRAME
-    if( is_zero(throttle_average) ) {
-        throttle_average = 0.5f;
-        // update position controller
-        pos_control.set_throttle_hover(throttle_average);
-    }
-
     // if not armed or landed exit
     if (!motors.armed() || ap.land_complete) {
         return;
     }
 
+    // do not update in manual throttle modes or Drift
+    if (mode_has_manual_throttle(control_mode) || (control_mode == DRIFT)) {
+        return;
+    }
+
+    // do not update while climbing or descending
+    if (!is_zero(pos_control.get_desired_velocity().z)) {
+        return;
+    }
+
     // get throttle output
     float throttle = motors.get_throttle();
 
     // calc average throttle if we are in a level hover
     if (throttle > 0.0f && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
-        throttle_average = throttle_average * 0.99f + throttle * 0.01f;
+        // Can we set the time constant automatically
-        // update position controller
+        motors.update_throttle_hover(0.01f);
-        pos_control.set_throttle_hover(throttle_average);
     }
+#endif
 }
 
 // set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
@@ -141,7 +145,7 @@ float Copter::get_pilot_desired_throttle(int16_t throttle_control)
     throttle_control = constrain_int16(throttle_control,0,1000);
     // ensure mid throttle is set within a reasonable range
     g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
-    float thr_mid = MAX(0,g.throttle_mid-g.throttle_min) / (float)(1000-g.throttle_min);
+    float thr_mid = constrain_float(motors.get_throttle_hover(), 0.1f, 0.9f);
 
     // check throttle is above, below or in the deadband
     if (throttle_control < mid_stick) {
@@ -201,7 +205,7 @@ float Copter::get_non_takeoff_throttle()
 {
     // ensure mid throttle is set within a reasonable range
     g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
-    return MAX(0,g.throttle_mid-g.throttle_min) / ((float)(1000-g.throttle_min) * 2.0f);
+    return MAX(0,motors.get_throttle_hover()/2.0f);
 }
 
 float Copter::get_takeoff_trigger_throttle()
@@ -285,7 +289,7 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
 void Copter::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle)
 {
     // shift difference between pilot's throttle and hover throttle into accelerometer I
-    g.pid_accel_z.set_integrator((pilot_throttle-throttle_average) * 1000.0f);
+    g.pid_accel_z.set_integrator((pilot_throttle-motors.get_throttle_hover()) * 1000.0f);
 }
 
 // updates position controller's maximum altitude using fence and EKF limits

ArduCopter/Copter.cpp

@@ -51,7 +51,6 @@ Copter::Copter(void) :
     super_simple_cos_yaw(1.0),
     super_simple_sin_yaw(0.0f),
     initial_armed_bearing(0),
-    throttle_average(0.0f),
     desired_climb_rate(0),
     loiter_time_max(0),
     loiter_time(0),

ArduCopter/Copter.h

@@ -373,7 +373,6 @@ private:
     int32_t initial_armed_bearing;
 
     // Throttle variables
-    float throttle_average;              // estimated throttle required to hover
     int16_t desired_climb_rate;          // pilot desired climb rate - for logging purposes only
 
     // Loiter control
@@ -620,7 +619,7 @@ private:
     void check_ekf_yaw_reset();
     float get_roi_yaw();
     float get_look_ahead_yaw();
-    void update_thr_average();
+    void update_throttle_hover();
     void set_throttle_takeoff();
     float get_pilot_desired_throttle(int16_t throttle_control);
     float get_pilot_desired_climb_rate(float throttle_control);

ArduCopter/control_althold.cpp

@@ -92,7 +92,7 @@ void Copter::althold_run()
 #else
         // Multicopters do not stabilize roll/pitch/yaw when motor are stopped
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
 #endif
         break;
 
@@ -108,7 +108,7 @@ void Copter::althold_run()
         // Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         break;
 
     case AltHold_Takeoff:
@@ -151,7 +151,7 @@ void Copter::althold_run()
         } else {
             motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         break;
 
     case AltHold_Flying:

ArduCopter/control_autotune.cpp

@@ -271,7 +271,7 @@ void Copter::autotune_run()
     if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         return;
     }
 
@@ -304,7 +304,7 @@ void Copter::autotune_run()
         }
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
     }else{
         // check if pilot is overriding the controls
         if (!is_zero(target_roll) || !is_zero(target_pitch) || !is_zero(target_yaw_rate) || target_climb_rate != 0) {

ArduCopter/control_brake.cpp

@@ -49,7 +49,7 @@ void Copter::brake_run()
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-motors.get_throttle_hover());
         return;
     }
 

ArduCopter/control_loiter.cpp

@@ -106,7 +106,7 @@ void Copter::loiter_run()
         wp_nav.init_loiter_target();
         // multicopters do not stabilize roll/pitch/yaw when motors are stopped
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
 #endif
         break;
 
@@ -122,7 +122,7 @@ void Copter::loiter_run()
         // Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         break;
 
     case Loiter_Takeoff:
@@ -166,7 +166,7 @@ void Copter::loiter_run()
         } else {
             motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         break;
 
     case Loiter_Flying:

ArduCopter/control_poshold.cpp

@@ -145,7 +145,7 @@ void Copter::poshold_run()
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         wp_nav.init_loiter_target();
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         return;
     }
 
@@ -193,7 +193,7 @@ void Copter::poshold_run()
         wp_nav.init_loiter_target();
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         return;
     }else{
         // convert pilot input to lean angles

ArduCopter/control_sport.cpp

@@ -36,7 +36,7 @@ void Copter::sport_run()
     if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
         return;
     }
 
@@ -99,7 +99,7 @@ void Copter::sport_run()
         }
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
     }else{
         // set motors to full range
         motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

ArduCopter/radio.cpp

@@ -59,7 +59,6 @@ void Copter::init_rc_out()
     motors.set_loop_rate(scheduler.get_loop_rate_hz());
     motors.Init();                                              // motor initialisation
 #if FRAME_CONFIG != HELI_FRAME
-    motors.set_hover_throttle(g.throttle_mid);
     motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 #endif