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alt_hold respect zero deadband, hold when throttle is zero

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This commit is contained in:
ctzsnooze 2024-11-16 11:37:03 +11:00
parent 4bc8998433
commit 2ba392e787
2 changed files with 18 additions and 15 deletions
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2
src/main/cli/settings.c
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@ -1110,7 +1110,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_ALT_HOLD_MODE
{ PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
{ PARAM_NAME_ALT_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
{ PARAM_NAME_ALT_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
#endif
#ifdef USE_POS_HOLD_MODE

31
src/main/flight/alt_hold.c
View file

@ -43,6 +43,7 @@ typedef struct {
float maxRequestedVerticalVelocity;
float targetAltitudeAdjustRate;
float deadband;
bool allowStickAdjustment;
} altHoldState_t;
altHoldState_t altHoldState;
@ -58,6 +59,7 @@ void altHoldInit(void)
{
altHoldState.isAltHoldActive = false;
altHoldState.deadband = altHoldConfig()->alt_hold_deadband / 100.0f;
altHoldState.allowStickAdjustment = altHoldConfig()->alt_hold_deadband;
altHoldState.maxRequestedVerticalVelocity = altHoldConfig()->alt_hold_adjust_rate * 10.0f; // 50 in CLI means 500cm/s
altHoldReset();
}
@ -86,9 +88,8 @@ void altHoldProcessTransitions(void) {
void altHoldUpdateTargetAltitude(void)
{
// The user can raise or lower the target altitude with throttle up; there is a big deadband.
// Max rate for climb/descend is 1m/s by default (up to 2.5 is allowed but overshoots a fair bit)
// If set to zero, the throttle has no effect.
// The user can raise or lower the target altitude with throttle outside deadband.
// Adjustment is blocked by throttle low (zero), or inside deadband, or deadband configured to zero
// Some people may not like throttle being able to change the target altitude, because:
// - with throttle adjustment, hitting the switch won't always hold altitude if throttle is bumped
@ -97,20 +98,21 @@ void altHoldUpdateTargetAltitude(void)
// - the pilot has control nice control over altitude, and the deadband is wide
// - Slow controlled descents are possible, eg for landing
// - fine-tuning height is possible, eg if there is slow sensor drift
// - to keep the craft stable, throttle must be in the deadband, making exits smoother
const float rcThrottle = rcCommand[THROTTLE];
const float lowThreshold = autopilotConfig()->hover_throttle - altHoldState.deadband * (autopilotConfig()->hover_throttle - PWM_RANGE_MIN);
const float highThreshold = autopilotConfig()->hover_throttle + altHoldState.deadband * (PWM_RANGE_MAX - autopilotConfig()->hover_throttle);
float throttleAdjustmentFactor = 0.0f;
if (rcThrottle < lowThreshold) {
throttleAdjustmentFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f);
} else if (rcThrottle > highThreshold) {
throttleAdjustmentFactor = scaleRangef(rcThrottle, highThreshold, PWM_RANGE_MAX, 0.0f, 1.0f);
if (altHoldState.allowStickAdjustment && calculateThrottleStatus() != THROTTLE_LOW) {
const float rcThrottle = rcCommand[THROTTLE];
const float lowThreshold = autopilotConfig()->hover_throttle - altHoldState.deadband * (autopilotConfig()->hover_throttle - PWM_RANGE_MIN);
const float highThreshold = autopilotConfig()->hover_throttle + altHoldState.deadband * (PWM_RANGE_MAX - autopilotConfig()->hover_throttle);
if (rcThrottle < lowThreshold) {
throttleAdjustmentFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f);
} else if (rcThrottle > highThreshold) {
throttleAdjustmentFactor = scaleRangef(rcThrottle, highThreshold, PWM_RANGE_MAX, 0.0f, 1.0f);
}
}
// if failsafe is active, and we get here, we are in failsafe landing mode
// if failsafe is active, and we get here, we are in failsafe landing mode, it controls throttle
if (failsafeIsActive()) {
// descend at up to 10 times faster when high
// default landing time is now 60s; need to get the quad down in this time from reasonable height
@ -125,6 +127,7 @@ void altHoldUpdateTargetAltitude(void)
// if taskRate is 100Hz, default adjustRate of 100 adds/subtracts 1m every second, or 1cm per task run, at full stick position
altHoldState.targetAltitudeCm += altHoldState.targetAltitudeAdjustRate * taskIntervalSeconds;
altHoldState.targetAltitudeCm = fmaxf(-200.0f, altHoldState.targetAltitudeCm); // not less than 2m below takeoff point
}
void altHoldUpdate(void)