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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1266 f9c3cf11-9bcb-44bc-f272-b75c42450872

This commit is contained in:
jasonshort 2010-12-26 05:18:25 +00:00
parent e93daf2546
commit 1fc9aa189e
1 changed files with 30 additions and 8 deletions
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38
ArduCopterMega/flight_control.pde
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@ -8,29 +8,32 @@ throttle control
void output_manual_throttle()
{
rc_3.servo_out = rc_3.control_in;
//rc_3.servo_out = (float)rc_3.servo_out * throttle_boost();
rc_3.servo_out = (float)rc_3.servo_out * angle_boost();
}
// Autopilot
// ---------
void output_auto_throttle()
{
rc_3.servo_out = (float)nav_throttle * throttle_boost();
rc_3.servo_out = (float)nav_throttle * angle_boost();
rc_3.servo_out = max(rc_3.servo_out, 1);
}
// Jason
void calc_nav_throttle()
{
long err = constrain (altitude_error, -300, 300); //+-5 meters
long err = constrain (altitude_error, -300, 300); //+-3 meters
long temp = pid_throttle.get_pid(err, deltaMiliSeconds, 1.0);
nav_throttle = (float)(throttle_cruise + temp) * throttle_boost();
nav_throttle = (float)(throttle_cruise + temp) * angle_boost();
}
float throttle_boost()
float angle_boost()
{
//static byte flipper;
float temp = 1 / (cos(dcm.roll) * cos(dcm.pitch));
if(temp > 1.25)
temp = 1.25;
temp *= .5;
if(temp > 1.2)
temp = 1.2;
return temp;
}
@ -42,19 +45,38 @@ float throttle_boost()
yaw control
****************************************************************/
void input_yaw_hold()
void input_yaw_hold_2()
{
if(rc_3.control_in == 0){
// Reset the yaw hold
nav_yaw = yaw_sensor;
}else if(rc_4.control_in == 0){
// do nothing
}else{
// create up to 60° of yaw error
nav_yaw = yaw_sensor + rc_4.control_in;
nav_yaw = wrap_360(nav_yaw);
}
}
void input_yaw_hold()
{
if(rc_3.control_in == 0){
// Reset the yaw hold
nav_yaw = yaw_sensor;
}else if(rc_4.control_in == 0){
// do nothing
}else{
// create up to 60° of yaw error
nav_yaw += ((long)rc_4.control_in * (long)deltaMiliSeconds) / 500; // we'll get 60° * 2 or 120° per second
nav_yaw = wrap_360(nav_yaw);
}
}
/*void output_yaw_stabilize()
{
rc_4.servo_out = rc_4.control_in;