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Added break feature on yaw control. Please verify it works properly before flying. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1753 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-07 17:19:38 +00:00
parent 9b79904a5e
commit 1cc6ba3da9
2 changed files with 6 additions and 6 deletions
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10
ArduCopterMega/Attitude.pde
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@ -143,9 +143,6 @@ output_yaw_with_hold(boolean hold)
long rate = degrees(omega.z) * 100; // 3rad = 17188 , 6rad = 34377 long rate = degrees(omega.z) * 100; // 3rad = 17188 , 6rad = 34377
rate = constrain(rate, -36000, 36000); // limit to something fun! rate = constrain(rate, -36000, 36000); // limit to something fun!
//if(abs(rate) < 1000 ) //experiment to limit yaw reversing
// rate = 0;
long error = ((long)g.rc_4.control_in * 6) - rate; // control is += 6000 * 6 = 36000 long error = ((long)g.rc_4.control_in * 6) - rate; // control is += 6000 * 6 = 36000
// -error = CCW, +error = CW // -error = CCW, +error = CW
@ -154,11 +151,14 @@ output_yaw_with_hold(boolean hold)
// we are breaking; // we are breaking;
g.rc_4.servo_out = (omega.z > 0) ? -1800 : 1800; g.rc_4.servo_out = (omega.z > 0) ? -1800 : 1800;
//switch comments to get old behavior.
//g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);// kP .07 * 36000 = 2520
}else{ }else{
g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);// kP .07 * 36000 = 2520 g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);// kP .07 * 36000 = 2520
} }
g.rc_4.servo_out = constrain(g.rc_4.servo_out, -2400, 2400); // limit to 24° g.rc_4.servo_out = constrain(g.rc_4.servo_out, -2400, 2400); // limit to 24°
} }
} }

2
ArduCopterMega/config.h
View File

@ -287,7 +287,7 @@
#define ACRO_RATE_PITCH_IMAX_CENTIDEGREE ACRO_RATE_PITCH_IMAX * 100 #define ACRO_RATE_PITCH_IMAX_CENTIDEGREE ACRO_RATE_PITCH_IMAX * 100
#ifndef ACRO_RATE_YAW_P #ifndef ACRO_RATE_YAW_P
# define ACRO_RATE_YAW_P .07 # define ACRO_RATE_YAW_P .5
#endif #endif
#ifndef ACRO_RATE_YAW_I #ifndef ACRO_RATE_YAW_I
# define ACRO_RATE_YAW_I 0.0 # define ACRO_RATE_YAW_I 0.0