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Automatically pitch down in angle mode when throttle is bellow cruise throttle #3290

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merged 1 commit into from
Jun 18, 2018
Merged

Automatically pitch down in angle mode when throttle is bellow cruise throttle #3290

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4 changes: 4 additions & 0 deletions src/main/fc/settings.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -572,6 +572,10 @@ groups:
field: appliedMixerPreset
min: -1
max: INT16_MAX
- name: fw_min_throttle_down_pitch
field: fwMinThrottleDownPitchAngle
min: 0
max: 450

- name: PG_MOTOR_3D_CONFIG
type: flight3DConfig_t
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3 changes: 2 additions & 1 deletion src/main/flight/mixer.c
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Expand Up @@ -74,7 +74,8 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.yaw_jump_prevention_limit = 200,
.platformType = PLATFORM_MULTIROTOR,
.hasFlaps = false,
.appliedMixerPreset = -1 //This flag is not available in CLI and used by Configurator only
.appliedMixerPreset = -1, //This flag is not available in CLI and used by Configurator only
.fwMinThrottleDownPitchAngle = 0
);

#ifdef BRUSHED_MOTORS
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3 changes: 2 additions & 1 deletion src/main/flight/mixer.h
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Expand Up @@ -59,6 +59,7 @@ typedef struct mixerConfig_s {
uint8_t platformType;
bool hasFlaps;
int16_t appliedMixerPreset;
uint16_t fwMinThrottleDownPitchAngle;
} mixerConfig_t;

PG_DECLARE(mixerConfig_t, mixerConfig);
Expand Down Expand Up @@ -97,4 +98,4 @@ void mixTable(void);
void writeMotors(void);
void processServoAutotrim(void);
void stopMotors(void);
void stopPwmAllMotors(void);
void stopPwmAllMotors(void);
7 changes: 6 additions & 1 deletion src/main/flight/pid.c
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Expand Up @@ -413,7 +413,12 @@ static float calcHorizonRateMagnitude(void)
static void pidLevel(pidState_t *pidState, flight_dynamics_index_t axis, float horizonRateMagnitude)
{
// This is ROLL/PITCH, run ANGLE/HORIZON controllers
const float angleTarget = pidRcCommandToAngle(rcCommand[axis], pidProfile()->max_angle_inclination[axis]);
float angleTarget = pidRcCommandToAngle(rcCommand[axis], pidProfile()->max_angle_inclination[axis]);

// Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
if ((axis == FD_PITCH) && STATE(FIXED_WING) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle())
angleTarget += scaleRange(MAX(0, navConfig()->fw.cruise_throttle - rcCommand[THROTTLE]), 0, navConfig()->fw.cruise_throttle - PWM_RANGE_MIN, 0, mixerConfig()->fwMinThrottleDownPitchAngle);
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I think we should start thinking about unifying configuration for navigation and other things into "platform configuration". We can have separate airplaneConfig and rotorcraftConfig plus unified platformConfig to keep common values. These structures will hold platform capabilities like max inclination, cruise throttle, hover throttle, reference airspeed etc.

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👍

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It's definitely out of scope of current PR, but we should really look into it.


const float angleErrorDeg = DECIDEGREES_TO_DEGREES(angleTarget - attitude.raw[axis]);

float angleRateTarget = constrainf(angleErrorDeg * (pidBank()->pid[PID_LEVEL].P / FP_PID_LEVEL_P_MULTIPLIER), -currentControlRateProfile->stabilized.rates[axis] * 10.0f, currentControlRateProfile->stabilized.rates[axis] * 10.0f);
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