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Plane: auto-invert pitch control when upside down

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this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
This commit is contained in:
Andrew Tridgell 2013-05-05 17:09:59 +10:00
parent 7af3c667a5
commit 11ad9d5a2d
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/Attitude.pde
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@ -105,18 +105,19 @@ static void stabilize_pitch(float speed_scaler)
g.flybywire_airspeed_min, g.flybywire_airspeed_max);
break;
default:
default: {
int32_t tempcalc = nav_pitch_cd +
fabsf(ahrs.roll_sensor * g.kff_pitch_compensation) +
(g.channel_throttle.servo_out * g.kff_throttle_to_pitch) -
(ahrs.pitch_sensor - g.pitch_trim_cd);
if (inverted_flight) {
if (abs(ahrs.roll_sensor) > 9000) {
// when flying upside down the elevator control is inverted
tempcalc = -tempcalc;
}
g.channel_pitch.servo_out = g.pidServoPitch.get_pid_4500(tempcalc, speed_scaler);
break;
}
}
}
/*