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Updated TradHeli swashplate behaviors while on ground; fixes issue #5396 #7136

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merged 2 commits into from Oct 28, 2017
Merged

Updated TradHeli swashplate behaviors while on ground; fixes issue #5396 #7136

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9b84bd3
AC_AttitudeControl: reset target attitude
bnsgeyer Apr 16, 2017
1e81325
Copter: heli: Update swashplate behavior
bnsgeyer Oct 26, 2017
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20 changes: 18 additions & 2 deletions ArduCopter/control_althold.cpp
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Expand Up @@ -74,18 +74,24 @@ void Copter::althold_run()

motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
#if FRAME_CONFIG == HELI_FRAME
// force descent rate and call position controller
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
heli_flags.init_targets_on_arming=true;
#else
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
#endif
pos_control->update_z_controller();
break;

case AltHold_Takeoff:
#if FRAME_CONFIG == HELI_FRAME
if (heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
}
#endif
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

Expand Down Expand Up @@ -121,8 +127,18 @@ void Copter::althold_run()
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}

#if FRAME_CONFIG == HELI_FRAME
if (heli_flags.init_targets_on_arming) {
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false;
}
}
#else
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
#endif
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller();
Expand Down
8 changes: 5 additions & 3 deletions ArduCopter/heli_control_acro.cpp
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Expand Up @@ -35,12 +35,14 @@ void Copter::heli_acro_run()

if(!motors->armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control->set_yaw_target_to_current_heading();
attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
}

if(motors->armed() && heli_flags.init_targets_on_arming) {
attitude_control->set_yaw_target_to_current_heading();
if (motors->rotor_speed_above_critical()) {
attitude_control->set_attitude_target_to_current_attitude();
attitude_control->reset_rate_controller_I_terms();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false;
}
}
Expand Down
4 changes: 3 additions & 1 deletion ArduCopter/heli_control_stabilize.cpp
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Expand Up @@ -35,11 +35,13 @@ void Copter::heli_stabilize_run()
if(!motors->armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
}

if(motors->armed() && heli_flags.init_targets_on_arming) {
attitude_control->set_yaw_target_to_current_heading();
if (motors->rotor_speed_above_critical()) {
attitude_control->reset_rate_controller_I_terms();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false;
}
}
Expand Down
3 changes: 3 additions & 0 deletions libraries/AC_AttitudeControl/AC_AttitudeControl.h
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Expand Up @@ -107,6 +107,9 @@ class AC_AttitudeControl {
// reset rate controller I terms
void reset_rate_controller_I_terms();

// Sets attitude target to vehicle attitude
void set_attitude_target_to_current_attitude() { _attitude_target_quat.from_rotation_matrix(_ahrs.get_rotation_body_to_ned()); }

// Sets yaw target to vehicle heading
void set_yaw_target_to_current_heading() { shift_ef_yaw_target(degrees(_ahrs.yaw - _attitude_target_euler_angle.z)*100.0f); }

Expand Down