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ACM: TradHeli

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Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
This commit is contained in:
Robert Lefebvre 2012-11-26 18:58:21 -05:00
parent 6056d4fb7b
commit 311d190494
2 changed files with 2 additions and 16 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1675,7 +1675,7 @@ 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) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in); g.rc_3.servo_out = g.rc_3.control_in;
#else #else
if (control_mode == ACRO) { if (control_mode == ACRO) {
g.rc_3.servo_out = g.rc_3.control_in; g.rc_3.servo_out = g.rc_3.control_in;
@ -1769,7 +1769,7 @@ void update_throttle_mode(void)
} }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
throttle_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle - landing_boost); throttle_out = g.throttle_cruise + nav_throttle - landing_boost;
#else #else
throttle_out = g.throttle_cruise + nav_throttle + angle_boost - landing_boost; throttle_out = g.throttle_cruise + nav_throttle + angle_boost - landing_boost;
#endif #endif

14
ArduCopter/Attitude.pde
View File

@ -585,20 +585,6 @@ static int16_t get_angle_boost(int16_t value)
return ((float)(value + 80) / temp) - (value + 80); return ((float)(value + 80) / temp) - (value + 80);
} }
#if FRAME_CONFIG == HELI_FRAME
// heli_angle_boost - adds a boost depending on roll/pitch values
// equivalent of quad's angle_boost function
// throttle value should be 0 ~ 1000
static int16_t heli_get_angle_boost(int16_t throttle)
{
float angle_boost_factor = cos_pitch_x * cos_roll_x;
angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0);
return throttle + throttle_above_mid*angle_boost_factor;
}
#endif // HELI_FRAME
// calculate modified roll/pitch depending upon optical flow calculated position // calculate modified roll/pitch depending upon optical flow calculated position
static int32_t static int32_t
get_of_roll(int32_t input_roll) get_of_roll(int32_t input_roll)