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Fix premature completion of launch sequence

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-03-07 19:59:41 +10:00
parent ca923c49da
commit f44b101888
1 changed files with 31 additions and 23 deletions
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54
src/main/navigation/navigation_fw_launch.c
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@ -142,34 +142,42 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
// Called at PID rate // Called at PID rate
if (launchState.launchDetected) { if (launchState.launchDetected) {
// If launch detected we are in launch procedure - control airplane bool applyLaunchIdleLogic = true;
const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs- launchState.launchStartedTime);
// If user moves the stick - finish the launch if (launchState.motorControlAllowed) {
if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) { // If launch detected we are in launch procedure - control airplane
launchState.launchFinished = true; const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs - launchState.launchStartedTime);
}
// Abort launch after a pre-set time // If user moves the stick - finish the launch
if (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_timeout) { if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) {
launchState.launchFinished = true; launchState.launchFinished = true;
}
// Motor control enabled
if (launchState.motorControlAllowed && (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_motor_timer)) {
// Increase throttle gradually over `launch_motor_spinup_time` milliseconds
if (navConfig()->fw.launch_motor_spinup_time > 0) {
const float timeSinceMotorStartMs = constrainf(timeElapsedSinceLaunchMs - navConfig()->fw.launch_motor_timer, 0.0f, navConfig()->fw.launch_motor_spinup_time);
const uint16_t minIdleThrottle = MAX(motorConfig()->minthrottle, navConfig()->fw.launch_idle_throttle);
rcCommand[THROTTLE] = scaleRangef(timeSinceMotorStartMs,
0.0f, navConfig()->fw.launch_motor_spinup_time,
minIdleThrottle, navConfig()->fw.launch_throttle);
} }
else {
rcCommand[THROTTLE] = navConfig()->fw.launch_throttle; // Abort launch after a pre-set time
if (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_timeout) {
launchState.launchFinished = true;
}
// Motor control enabled
if (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_motor_timer) {
// Don't apply idle logic anymore
applyLaunchIdleLogic = false;
// Increase throttle gradually over `launch_motor_spinup_time` milliseconds
if (navConfig()->fw.launch_motor_spinup_time > 0) {
const float timeSinceMotorStartMs = constrainf(timeElapsedSinceLaunchMs - navConfig()->fw.launch_motor_timer, 0.0f, navConfig()->fw.launch_motor_spinup_time);
const uint16_t minIdleThrottle = MAX(motorConfig()->minthrottle, navConfig()->fw.launch_idle_throttle);
rcCommand[THROTTLE] = scaleRangef(timeSinceMotorStartMs,
0.0f, navConfig()->fw.launch_motor_spinup_time,
minIdleThrottle, navConfig()->fw.launch_throttle);
}
else {
rcCommand[THROTTLE] = navConfig()->fw.launch_throttle;
}
} }
} }
else {
if (applyLaunchIdleLogic) {
// Launch idle logic - low throttle and zero out PIDs // Launch idle logic - low throttle and zero out PIDs
applyFixedWingLaunchIdleLogic(); applyFixedWingLaunchIdleLogic();
} }