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Code Issues Releases Activity

REVONANO Improve GPSAssist

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I decided to not check throttle when re-enabling stabii control. It can feel as though the mode is defective.  I would rather someone have immediate always-there ability to overridwe gps hold.
This commit is contained in:
abeck70 2015-05-24 20:34:28 +10:00
parent b3817007c4
commit ba903614c6
1 changed files with 7 additions and 6 deletions
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13
flight/modules/ManualControl/manualcontrol.c
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@ -280,7 +280,6 @@ static void manualControlTask(void)
// assess throttle state // assess throttle state
bool throttleNeutral = false; bool throttleNeutral = false;
bool throttleNeutralOrLow = false;
float neutralThrustOffset = 0.0f; float neutralThrustOffset = 0.0f;
VtolSelfTuningStatsNeutralThrustOffsetGet(&neutralThrustOffset); VtolSelfTuningStatsNeutralThrustOffsetGet(&neutralThrustOffset);
@ -291,9 +290,6 @@ static void manualControlTask(void)
if (cmd.Thrust > throttleNeutralLow && cmd.Thrust < throttleNeutralHi) { if (cmd.Thrust > throttleNeutralLow && cmd.Thrust < throttleNeutralHi) {
throttleNeutral = true; throttleNeutral = true;
} }
if (cmd.Thrust < throttleNeutralHi) {
throttleNeutralOrLow = true;
}
// determine default thrust mode for hold/brake states // determine default thrust mode for hold/brake states
uint8_t pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; uint8_t pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
@ -371,7 +367,7 @@ static void manualControlTask(void)
newAssistedThrottleState != FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL) { newAssistedThrottleState != FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL) {
// ok auto thrust mode applies in hold unless overridden // ok auto thrust mode applies in hold unless overridden
if (throttleNeutralOrLow && flagRollPitchHasInput) { if (flagRollPitchHasInput) {
// throttle is neutral approximately and stick input present so revert to primary mode control // throttle is neutral approximately and stick input present so revert to primary mode control
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY; newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
@ -410,8 +406,13 @@ static void manualControlTask(void)
// During development the assistedcontrol implementation is optional and set // During development the assistedcontrol implementation is optional and set
// set in stabi settings. Once if we decide to always have this on, it can // set in stabi settings. Once if we decide to always have this on, it can
// can be directly set here...i.e. set the flight mode assist as required. // can be directly set here...i.e. set the flight mode assist as required.
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM: case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
newFlightModeAssist = FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST;
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
handler = &handler_PATHFOLLOWER;
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_LAND: case FLIGHTSTATUS_FLIGHTMODE_LAND:
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF: case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings); newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);