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Axis lock beta (off by default)

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Jason Short 2012-02-18 21:16:19 -08:00
parent 885710fce6
commit 028de5d2c5
1 changed files with 27 additions and 3 deletions
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30
ArduCopter/ArduCopter.pde
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@ -489,6 +489,12 @@ static float sin_pitch_y, sin_yaw_y, sin_roll_y;
// or in SuperSimple mode when the copter leaves a 20m radius from home.
static int32_t initial_simple_bearing;
////////////////////////////////////////////////////////////////////////////////
// ACRO Mode
////////////////////////////////////////////////////////////////////////////////
// Used to control Axis lock
int32_t roll_axis;
int32_t pitch_axis;
////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control
@ -1407,9 +1413,27 @@ void update_roll_pitch_mode(void)
switch(roll_pitch_mode){
case ROLL_PITCH_ACRO:
// ACRO does not get SIMPLE mode ability
g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
if(g.axis_enabled){
roll_axis += (float)g.rc_1.control_in * g.axis_lock_p;
pitch_axis += (float)g.rc_2.control_in * g.axis_lock_p;
roll_axis = wrap_360(roll_axis);
pitch_axis = wrap_360(pitch_axis);
// in this mode, nav_roll and nav_pitch = the iterm
g.rc_1.servo_out = get_stabilize_roll(roll_axis);
g.rc_2.servo_out = get_stabilize_pitch(pitch_axis);
if (g.rc_3.control_in == 0){
roll_axis = 0;
pitch_axis = 0;
}
}else{
// ACRO does not get SIMPLE mode ability
g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
}
break;
case ROLL_PITCH_STABLE: