Originally posted on DIYdrones
A couple of questions on AUTO mode:
[quote]
- I thought it used to work such that if you set CRUISE SPEED to zero, you had manual throttle control. Doesn’t seem to happen any more.[/quote]
APMrover2.pde: 411 - refers to throttle nudge between “throttle_max” and “throttle_cruise”
This looks like it’s calculated for AUTO mode in radio.pde: 64
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5) / 0.5);This means throttle is nudged by up to half of the difference between cruise and max throttle %?
APMrover2.pde: 877 - STEERING mode nudging
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;Assuming channel_throttle has range to 100, but it’s not clear if that’s +/-100 or 0-100 (which I can’t confirm radio.pde:14), this gives us “cruise” at stick centre and 2 x cruise speed at full stick. Is that right?
I read somewhere (can’t remember where) that HOLD should use RC3_TRIM, but IF throttle is a “range”, then it doesn’t use the trim, and the code below will always send it to RC3_MIN?
APMrover2.pde: line 904
channel_throttle->servo_out = 0;- What’s the effect of BAD_COMPASS_HEALTH when in AUTO mode?