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Renamed variable and added new setting nav_fw_pitch2thr_threshold

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This commit is contained in:
Airwide 2020-09-06 10:10:06 +02:00
parent 9ef10703de
commit a1c7149414
5 changed files with 18 additions and 11 deletions
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1
src/main/cms/cms_menu_navigation.c
View file

@ -109,6 +109,7 @@ static const OSD_Entry cmsx_menuFixedWingEntries[] =
OSD_SETTING_ENTRY("PITCH TO THR RATIO", SETTING_NAV_FW_PITCH2THR),
OSD_SETTING_ENTRY("LOITER RADIUS", SETTING_NAV_FW_LOITER_RADIUS),
OSD_SETTING_ENTRY("CONTROL SMOOTHNESS", SETTING_NAV_FW_CONTROL_SMOOTHNESS),
OSD_SETTING_ENTRY("PITCH TO THR THRESHOLD", SETTING_NAV_FW_PITCH2THR_THRESHOLD),
OSD_BACK_AND_END_ENTRY,
};

6
src/main/fc/settings.yaml
View file

@ -2260,6 +2260,12 @@ groups:
field: fw.pitch_to_throttle
min: 0
max: 100
- name: nav_fw_pitch2thr_threshold
description: "Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]"
default_value: "0"
field: fw.pitch_to_throttle_thresh
min: 0
max: 100
- name: nav_fw_loiter_radius
description: "PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]"
default_value: "5000"

3
src/main/navigation/navigation.c
View file

@ -87,7 +87,7 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 7);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 8);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -152,6 +152,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.max_throttle = 1700,
.min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.pitch_to_throttle_thresh = 0, // Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]
.loiter_radius = 5000, // 50m
//Fixed wing landing

1
src/main/navigation/navigation.h
View file

@ -222,6 +222,7 @@ typedef struct navConfig_s {
uint16_t min_throttle; // Minimum allowed throttle in auto mode
uint16_t max_throttle; // Maximum allowed throttle in auto mode
uint8_t pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10)
uint8_t pitch_to_throttle_thresh; // Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]
uint16_t loiter_radius; // Loiter radius when executing PH on a fixed wing
int8_t land_dive_angle;
uint16_t launch_velocity_thresh; // Velocity threshold for swing launch detection

16
src/main/navigation/navigation_fixedwing.c
View file

@ -463,18 +463,16 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
int16_t fixedWingPitchToThrottleCorrection(int16_t pitch)
{
const int16_t pitch_to_throttle_deadband = 30;
if (pitch > pitch_to_throttle_deadband) {
// Above positive pitch deadband
return DECIDEGREES_TO_DEGREES(pitch - pitch_to_throttle_deadband) * navConfig()->fw.pitch_to_throttle;
if (pitch > navConfig()->fw.pitch_to_throttle_thresh) {
// Positive pitch above threshold
return DECIDEGREES_TO_DEGREES(pitch - navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
}
else if (pitch < -pitch_to_throttle_deadband) {
// Below negative pitch deadband
return DECIDEGREES_TO_DEGREES(pitch + pitch_to_throttle_deadband) * navConfig()->fw.pitch_to_throttle;
else if (pitch < -navConfig()->fw.pitch_to_throttle_thresh) {
// Negative pitch below threshold
return DECIDEGREES_TO_DEGREES(pitch + navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
}
else {
// Inside deadband
// Inside pitch_to_throttle_thresh deadband. Make no throttle correction.
return 0;
}
}