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Code Issues Releases Activity

When enabling position hold altitude mode take the throttle from before as the

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"hover" throttle
This commit is contained in:
James Cotton 2012-05-08 03:12:14 -05:00
parent 2857b58f8e
commit 4ec4edd15c
1 changed files with 8 additions and 2 deletions

10
flight/Modules/VtolPathFollower/vtolpathfollower.c

@ -125,6 +125,7 @@ static float northPosIntegral = 0;
static float eastPosIntegral = 0;
static float downPosIntegral = 0;
static float throttleOffset = 0;
/**
* Module thread, should not return.
*/
@ -206,7 +207,12 @@ static void vtolPathFollowerTask(void *parameters)
northPosIntegral = 0;
eastPosIntegral = 0;
downPosIntegral = 0;
// Track throttle before engaging this mode. Cheap system ident
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
throttleOffset = stabDesired.Throttle;
break;
}
}
@ -453,7 +459,7 @@ static void updateVtolDesiredAttitude()
downVelIntegral -
nedAccel.Down * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KD]);
stabDesired.Throttle = bound(downCommand, 0, 1);
stabDesired.Throttle = bound(downCommand + throttleOffset, 0, 1);
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
// craft should move similarly for 5 deg roll versus 5 deg pitch