rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

Manual control: Added some extra room at throttle zero when detecting a faulty signal

Browse Source 
Before, moving your throttle trim slightly could cause ManualControl to think the receiver was not connected

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1885 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les 2010-10-05 14:50:03 +00:00 committed by les
parent b2c81aceee
commit 1e26ca11ee
1 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
View File

@ -1,12 +1,12 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @{
* @addtogroup ManualControlModule Manual Control Module
* @brief Provide manual control or allow it alter flight mode.
* @{
*
* Reads in the ManualControlCommand FlightMode setting from receiver then either
* Reads in the ManualControlCommand FlightMode setting from receiver then either
* pass the settings straght to ActuatorDesired object (manual mode) or to
* AttitudeDesired object (stabilized mode)
*
@ -48,6 +48,8 @@
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0
//safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 150
// Private types
@ -181,7 +183,7 @@ static void manualControlTask(void *parameters)
else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
} else if (flightMode > FLIGHT_MODE_LIMIT) { // Position 3
for(int i = 0; i < 3; i++) {
if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE)
@ -196,7 +198,7 @@ static void manualControlTask(void *parameters)
else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
} else { // Position 2
for(int i = 0; i < 3; i++) {
if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE)
@ -211,11 +213,11 @@ static void manualControlTask(void *parameters)
else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
}
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// This seems silly to set then get, but the reason is if the GCS is
// This seems silly to set then get, but the reason is if the GCS is
// the control input, the set command will be blocked by the read only
// setting and the get command will pull the right values from telemetry
} else
@ -224,8 +226,8 @@ static void manualControlTask(void *parameters)
// Implement hysteresis loop on connection status
// Must check both Max and Min in case they reversed
if (!ManualControlCommandReadOnly(&cmd) &&
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle]) {
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
if (disconnected_count++ > 10) {
connection_state = DISCONNECTED;
connected_count = 0;