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added boost scalar arguments 

removed accel math from Trig function into Attitude.pde
This commit is contained in:
Jason Short 2011-10-27 12:33:19 -07:00
parent 81083ddecf
commit 13f708cb40
1 changed files with 4 additions and 11 deletions
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15
ArduCopter/ArduCopter.pde
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@ -1022,8 +1022,10 @@ void update_throttle_mode(void)
case THROTTLE_MANUAL: case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0){ if (g.rc_3.control_in > 0){
g.rc_3.servo_out = g.rc_3.control_in + get_angle_boost(); g.rc_3.servo_out = g.rc_3.control_in + get_angle_boost(g.rc_3.control_in);
}else{ }else{
g.pi_stabilize_roll.reset_I();
g.pi_stabilize_pitch.reset_I();
g.pi_rate_roll.reset_I(); g.pi_rate_roll.reset_I();
g.pi_rate_pitch.reset_I(); g.pi_rate_pitch.reset_I();
g.rc_3.servo_out = 0; g.rc_3.servo_out = 0;
@ -1050,8 +1052,7 @@ void update_throttle_mode(void)
invalid_throttle = false; invalid_throttle = false;
} }
// apply throttle control at 200 hz g.rc_3.servo_out = g.throttle_cruise + nav_throttle + get_angle_boost(g.throttle_cruise);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + get_angle_boost() + alt_hold_velocity();
break; break;
} }
} }
@ -1171,14 +1172,6 @@ static void update_trig(void){
// 90° = cos_yaw: 1.00, sin_yaw: 0.00, // 90° = cos_yaw: 1.00, sin_yaw: 0.00,
// 180 = cos_yaw: 0.00, sin_yaw: -1.00, // 180 = cos_yaw: 0.00, sin_yaw: -1.00,
// 270 = cos_yaw: -1.00, sin_yaw: 0.00, // 270 = cos_yaw: -1.00, sin_yaw: 0.00,
#if ACCEL_ALT_HOLD == 1
Vector3f accel_filt = imu.get_accel_filtered();
accels_rot = dcm.get_dcm_matrix() * imu.get_accel_filtered();
accels_rot_sum += accels_rot.z;
accels_rot_count++;
#endif
} }
// updated at 10hz // updated at 10hz