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Code Issues Releases Activity

OP-1216 clamping of throttle to -1 in actuators (optional)

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This commit is contained in:
Corvus Corax 2014-02-16 11:30:28 +01:00
parent 5f2ce2e0a1
commit 37ef381f8d
2 changed files with 25 additions and 3 deletions
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6
flight/modules/Actuator/actuator.c
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@ -167,6 +167,7 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
MixerStatusData mixerStatus;
FlightStatusData flightStatus;
SystemSettingsThrustControlOptions thrustType;
SystemSettingsAllowReverseThrottleOptions noClamping;
float throttleDesired;
float collectiveDesired;
@ -224,6 +225,7 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
ActuatorDesiredGet(&desired);
ActuatorCommandGet(&command);
SystemSettingsThrustControlGet(&thrustType);
SystemSettingsAllowReverseThrottleGet(&noClamping);
// read in throttle and collective -demultiplex thrust
switch (thrustType) {
@ -240,6 +242,10 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
ManualControlCommandCollectiveGet(&collectiveDesired);
}
if (noClamping == SYSTEMSETTINGS_ALLOWREVERSETHROTTLE_FALSE) {
throttleDesired = (throttleDesired < 0) ? -1 : throttleDesired;
}
#ifdef DIAG_MIXERSTATUS
MixerStatusGet(&mixerStatus);
#endif

22
shared/uavobjectdefinition/systemsettings.xml
View File

@ -4,9 +4,25 @@
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
<!-- Which way the vehicle controls its thrust. Can be through
"Throttle" (quadcopter, simple brushless planes, car-type ground vehicles)
"Collective" (collective pitch as in most helicopters, 3d quads, constant RPM variable pitch airplanes, and ground vehicles with diesel-electric locomotion)
"None" (craft has neither engines nor dynamic brakes. Note that a glider with breaking flaps should likely use "collective" and use the collective channel to control the brakes for optimum autopilot performance) -->
"Throttle" (quadcopter, simple brushless planes,
car-type ground vehicles)
"Collective" (collective pitch as in most
helicopters, 3d quads, constant RPM variable pitch
airplanes, and ground vehicles with diesel-electric
locomotion)
"None" (craft has neither engines nor dynamic brakes.
Note that a glider with breaking flaps should likely
use "collective" and use the collective channel to
control the brakes for optimum autopilot performance)
-->
<field name="AllowReverseThrottle" units="bool" type="enum" elements="1" options="false,true" defaultvalue="false" />
<!-- on quadcopters and most other craft, throttle can only be
positive. Negative throttles are treated as an emergency
cutoff and will set the actuator to the minimum configured
value. On a ground vehicle or other craft that can spin
propellers 'both ways' however this minimum value would be
'full reverese' and it's 'save' value is at neutral.
Therefore no "throttle clamping" takes place! -->
<field name="GUIConfigData" units="bits" type="uint32" elements="4" defaultvalue="0"/>
<field name="AirSpeedMax" units="m/s" type="float" elements="1" defaultvalue="30"/>
<!-- Vne, i.e. maximum airspeed the airframe can handle - used by autopilot, actuator compensation. as well as possibly by INS for plausibility checks -->