mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
Plaintext
53 lines
1.5 KiB
Plaintext
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////////////////////////////////////////////////////////////////////////////////
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// Drift Mode
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////////////////////////////////////////////////////////////////////////////////
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#define SPEEDGAIN 14.0
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// The function call for managing the flight mode drift
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static void
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get_roll_pitch_drift()
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{
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}
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static void
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get_yaw_drift()
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{
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static float breaker = 0.0;
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// convert pilot input to lean angles
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// moved to Yaw since it is called before get_roll_pitch_drift();
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get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
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// Grab inertial velocity
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Vector3f vel = inertial_nav.get_velocity();
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// rotate roll, pitch input from north facing to vehicle's perspective
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float roll_vel = vel.y * cos_yaw - vel.x * sin_yaw; // body roll vel
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float pitch_vel = vel.y * sin_yaw + vel.x * cos_yaw; // body pitch vel
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float pitch_vel2 = min(fabs(pitch_vel), 800);
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// simple gain scheduling for yaw input
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get_yaw_rate_stabilized_ef((float)(control_roll/2) * (1.0 - (pitch_vel2 / 2400.0)));
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roll_vel = constrain_float(roll_vel, -322, 322);
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pitch_vel = constrain_float(pitch_vel, -322, 322);
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// always limit roll
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get_stabilize_roll(roll_vel * -SPEEDGAIN);
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if(control_pitch == 0){
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// .14/ (.03 * 100) = 4.6 seconds till full breaking
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breaker+= .03;
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breaker = min(breaker, SPEEDGAIN);
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// If we let go of sticks, bring us to a stop
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get_stabilize_pitch(pitch_vel * breaker);
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}else{
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breaker = 0.0;
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get_stabilize_pitch(control_pitch);
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}
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}
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