rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

LP-549 Make ASWA throttle threshold configurable. Add FlightModeSettings.AlwaysStabilizeWhenArmedThrottleThreshold with default value of 0.2

Browse Source
This commit is contained in:
Vladimir Zidar 2017-09-08 13:22:42 +02:00
parent 28ad66502a
commit 885d46c8df
2 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flight/modules/ManualControl/manualcontrol.c
View File

@ -66,7 +66,6 @@
#define ASSISTEDCONTROL_BRAKETHRUST_DEADBAND_FACTOR_HI 1.04f
#define ALWAYSTABILIZEACCESSORY_THRESHOLD 0.05f
#define ALWAYSTABILIZETHROTTLE_THRESHOLD 0.2f
// defined handlers
@ -500,7 +499,8 @@ static void manualControlTask(void)
if (alwaysStabilizedSwitch) {
if (acc.AccessoryVal <= -ALWAYSTABILIZEACCESSORY_THRESHOLD) {
newAlwaysStabilized = FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_FALSE;
} else if ((acc.AccessoryVal >= ALWAYSTABILIZEACCESSORY_THRESHOLD) && (cmd.Thrust >= ALWAYSTABILIZETHROTTLE_THRESHOLD)) { // && Thrust (or Throttle?) above threshold
} else if ((acc.AccessoryVal >= ALWAYSTABILIZEACCESSORY_THRESHOLD) &&
(cmd.Throttle >= modeSettings.AlwaysStabilizeWhenArmedThrottleThreshold)) {
newAlwaysStabilized = FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_TRUE;
}
} else {

3
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -82,7 +82,8 @@
options="Disabled,Accessory 0,Accessory 1,Accessory 2,Accessory 3"
defaultvalue="Disabled"
description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
<field name="AlwaysStabilizeWhenArmedThrottleThreshold" units="%" type="float" elements="1" defaultvalue="0.2"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>