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Merge pull request #6104 from Airwide/aw-fw-nav-smooth-throttle

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Smooth throttle in navigation modes on FW
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Konstantin Sharlaimov 2020-11-15 08:36:42 +00:00 • committed by GitHub
commit efeefd9eb8
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7 changed files with 71 additions and 26 deletions
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26
src/main/navigation/navigation.c
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@ -156,6 +156,8 @@ 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_smooth = 0,
.pitch_to_throttle_thresh = 0,
.loiter_radius = 5000, // 50m
//Fixed wing landing
@ -1886,13 +1888,13 @@ static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode)
// Control System Design, Lecture Notes for ME 155A by Karl Johan Åström (p.228)
// http://www.cds.caltech.edu/~murray/courses/cds101/fa02/caltech/astrom-ch6.pdf
float navPidApply3(
pidController_t *pid,
const float setpoint,
const float measurement,
const float dt,
const float outMin,
const float outMax,
const pidControllerFlags_e pidFlags,
pidController_t *pid,
const float setpoint,
const float measurement,
const float dt,
const float outMin,
const float outMax,
const pidControllerFlags_e pidFlags,
const float gainScaler,
const float dTermScaler
) {
@ -2418,7 +2420,7 @@ static navigationHomeFlags_t navigationActualStateHomeValidity(void)
/*******************************************************
* Is a safehome being used instead of the arming point?
*******************************************************/
bool isSafeHomeInUse(void)
bool isSafeHomeInUse(void)
{
return (safehome_used > -1 && safehome_used < MAX_SAFE_HOMES);
}
@ -2429,7 +2431,7 @@ bool isSafeHomeInUse(void)
**********************************************************/
bool foundNearbySafeHome(void)
{
safehome_used = -1;
safehome_used = -1;
fpVector3_t safeHome;
gpsLocation_t shLLH;
shLLH.alt = 0;
@ -2437,7 +2439,7 @@ bool foundNearbySafeHome(void)
shLLH.lat = safeHomeConfig(i)->lat;
shLLH.lon = safeHomeConfig(i)->lon;
geoConvertGeodeticToLocal(&safeHome, &posControl.gpsOrigin, &shLLH, GEO_ALT_RELATIVE);
safehome_distance = calculateDistanceToDestination(&safeHome);
safehome_distance = calculateDistanceToDestination(&safeHome);
if (safehome_distance < 20000) { // 200 m
safehome_used = i;
setHomePosition(&safeHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
@ -2937,7 +2939,7 @@ bool saveNonVolatileWaypointList(void)
#if defined(USE_SAFE_HOME)
void resetSafeHomes(void)
void resetSafeHomes(void)
{
memset(safeHomeConfigMutable(0), 0, sizeof(navSafeHome_t) * MAX_SAFE_HOMES);
}
@ -3237,7 +3239,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
// Pilot-activated waypoint mission. Fall-back to RTH in case of no mission loaded
// Pilot-activated waypoint mission. Fall-back to RTH in case of no mission loaded
if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivatePosHold && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME)))
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;