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ACM: Flip code revision to fix bad orientation bug.

This commit is contained in:
Jason Short 2012-07-20 13:26:55 -07:00
parent 2dfe38588d
commit 122e2430ff
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/flip.pde
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@ -37,9 +37,9 @@ void roll_flip()
flip_state++; flip_state++;
break; break;
case 1: // Step 2 : Increase throttle to start maneuver case 1: // Step 2 : Increase throttle to start maneuver
if (flip_timer < 95){ // .5 seconds if (flip_timer < 90){ // .5 seconds
g.rc_1.servo_out = get_stabilize_roll(0); g.rc_1.servo_out = get_stabilize_roll(0);
g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC; g.rc_3.servo_out = g.throttle_cruise + AAP_THR_INC;
flip_timer++; flip_timer++;
}else{ }else{
flip_state++; flip_state++;
@ -51,7 +51,7 @@ void roll_flip()
if (ahrs.roll_sensor < 4500){ if (ahrs.roll_sensor < 4500){
// Roll control // Roll control
g.rc_1.servo_out = AAP_ROLL_OUT; g.rc_1.servo_out = AAP_ROLL_OUT;
g.rc_3.servo_out = g.rc_3.control_in; g.rc_3.servo_out = g.throttle_cruise;
}else{ }else{
flip_state++; flip_state++;
} }
@ -59,17 +59,18 @@ void roll_flip()
case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45deg]) case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45deg])
if((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -9000)){// we are in second half of roll if((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -9000)){// we are in second half of roll
g.rc_1.servo_out = 0; //g.rc_1.servo_out = 0;
g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC; g.rc_1.servo_out = get_rate_roll(40000);
g.rc_3.servo_out = g.throttle_cruise - AAP_THR_DEC;
}else{ }else{
flip_state++; flip_state++;
} }
break; break;
case 4: // Step 5 : Increase throttle to stop the descend case 4: // Step 5 : Increase throttle to stop the descend
if (flip_timer < 90){ // .5 seconds if (flip_timer < 120){ // .5 seconds
g.rc_1.servo_out = get_stabilize_roll(0); g.rc_1.servo_out = get_stabilize_roll(0);
g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC + 30; g.rc_3.servo_out = g.throttle_cruise + g.throttle_cruise / 2;
flip_timer++; flip_timer++;
}else{ }else{
flip_state++; flip_state++;