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rework of inflight trim.

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This commit is contained in:
Jason Short 2011-12-10 15:05:28 -08:00
parent c64e3f5772
commit 2defbe818f
1 changed files with 8 additions and 9 deletions
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17
ArduCopter/control_modes.pde
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@ -202,16 +202,16 @@ static void trim_accel()
g.pi_stabilize_roll.reset_I();
g.pi_stabilize_pitch.reset_I();
float trim_roll = (float)g.rc_1.control_in / 3000;
float trim_pitch = (float)g.rc_2.control_in / 3000;
float trim_roll = (float)g.rc_1.control_in / 30000.0;
float trim_pitch = (float)g.rc_2.control_in / 30000.0;
trim_roll = constrain(trim_roll, -1.5, 1.5);
trim_pitch = constrain(trim_pitch, -1.5, 1.5);
if(g.rc_1.control_in > 200){ // Roll RIght
imu.ay(imu.ay() + trim_roll);
imu.ay(imu.ay() - trim_roll);
}else if (g.rc_1.control_in < -200){
imu.ay(imu.ay() + trim_roll);
imu.ay(imu.ay() - trim_roll);
}
if(g.rc_2.control_in > 200){ // Pitch Back
@ -221,12 +221,11 @@ static void trim_accel()
}
/*
Serial.printf_P(PSTR("r:%ld p:%ld ax:%f, ay:%f, az:%f\n"),
dcm.roll_sensor,
dcm.pitch_sensor,
(float)imu.ax(),
Serial.printf_P(PSTR("r:%1.2f %1.2f \t| p:%1.2f %1.2f\n"),
trim_roll,
(float)imu.ay(),
(float)imu.az());
trim_pitch,
(float)imu.ax());
//*/
}