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Copter: Clarify get_pilot_desired_lean_angles and fix limit

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Leonard Hall 2022-04-02 18:13:06 +10:30 committed by Randy Mackay
parent fc9a792f88
commit 08cdde5608
1 changed files with 17 additions and 22 deletions
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39
ArduCopter/mode.cpp
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@ -405,33 +405,28 @@ void Mode::get_pilot_desired_lean_angles(float &roll_out_cd, float &pitch_out_cd
pitch_out_cd = 0.0;
return;
}
// fetch roll and pitch stick positions
float thrust_angle_x_cd = - channel_pitch->get_control_in();
float thrust_angle_y_cd = channel_roll->get_control_in();
// limit max lean angle
float rc_2_rad = radians(angle_max_cd * 0.01) / (float)ROLL_PITCH_YAW_INPUT_MAX;
// fetch roll and pitch stick positions and convert them to normalised horizontal thrust
Vector2f thrust;
thrust.x = - tanf(rc_2_rad * channel_pitch->get_control_in());
thrust.y = tanf(rc_2_rad * channel_roll->get_control_in());
// calculate the horizontal thrust limit based on the angle limit
angle_limit_cd = constrain_float(angle_limit_cd, 1000.0f, angle_max_cd);
float thrust_limit = tanf(radians(angle_limit_cd * 0.01));
// scale roll and pitch inputs to +- angle_max
float scaler = angle_max_cd/(float)ROLL_PITCH_YAW_INPUT_MAX;
thrust_angle_x_cd *= scaler;
thrust_angle_y_cd *= scaler;
// convert square mapping to circular mapping with maximum magnitude of angle_limit
float total_in = norm(thrust_angle_x_cd, thrust_angle_y_cd);
if (total_in > angle_limit_cd) {
float ratio = angle_limit_cd / total_in;
thrust_angle_x_cd *= ratio;
thrust_angle_y_cd *= ratio;
}
// thrust_angle_x and thrust_angle_y represents a level body frame thrust vector in the
// direction of [thrust_angle_x, thrust_angle_y] and a magnitude
// tan(mag([thrust_angle_x, thrust_angle_y])) * 9.81 * aircraft mass.
// apply horizontal thrust limit
thrust.limit_length(thrust_limit);
// Conversion from angular thrust vector to euler angles.
roll_out_cd = (18000/M_PI) * atanf(cosf(thrust_angle_x_cd*(M_PI/18000))*tanf(thrust_angle_y_cd*(M_PI/18000)));
pitch_out_cd = - thrust_angle_x_cd;
float pitch_rad = - atanf(thrust.x);
float roll_rad = atanf(cosf(pitch_rad) * thrust.y);
// Convert to centi-degrees
roll_out_cd = degrees(roll_rad) * 100.0;
pitch_out_cd = degrees(pitch_rad) * 100.0;
}
// transform pilot's roll or pitch input into a desired velocity