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TradHeli: formatting and param description changes

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Randy Mackay 2013-11-06 14:45:58 +09:00
parent 46118b59d7
commit 34fb70cfc7
2 changed files with 22 additions and 16 deletions
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3
ArduCopter/Parameters.pde
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@ -434,6 +434,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Rate Pitch Feed Forward
// @Description: Rate Pitch Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_pitch_ff, "RATE_PIT_FF", HELI_PITCH_FF),
@ -441,6 +442,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Rate Roll Feed Forward
// @Description: Rate Roll Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_roll_ff, "RATE_RLL_FF", HELI_ROLL_FF),
@ -448,6 +450,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Rate Yaw Feed Forward
// @Description: Rate Yaw Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_yaw_ff, "RATE_YAW_FF", HELI_YAW_FF),
#endif

3
ArduCopter/heli.pde
View File

@ -68,6 +68,9 @@ void init_rate_controllers()
// rate_pitch_filter.set_cutoff_frequency(0.01f, 0.1f);
}
// heli_integrated_swash_controller - convert desired roll and pitch rate to roll and pitch swash angles
// should be called at 100hz
// output placed directly into g.rc_1.servo_out and g.rc_2.servo_out
static void heli_integrated_swash_controller(int32_t target_roll_rate, int32_t target_pitch_rate)
{
int32_t roll_p, roll_i, roll_d, roll_ff; // used to capture pid values for logging