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Copter: flip minor comments and formatting

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This commit is contained in:
Randy Mackay 2014-04-23 17:08:33 +09:00
parent 882edaf787
commit 4184c1d6e5
1 changed files with 6 additions and 8 deletions
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14
ArduCopter/control_flip.pde
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@ -6,9 +6,9 @@
* Adapted and updated for AC2 in 2011 by Jason Short
*
* Controls:
* CH7_OPT or CH8_OPT parameter must be set to "Flip" (AUX_SWITCH_FLIP)
* CH7_OPT or CH8_OPT parameter must be set to "Flip" (AUX_SWITCH_FLIP) which is "2"
* Pilot switches to Stabilize, Acro or AltHold flight mode and puts ch7/ch8 switch to ON position
* Roll will be to the left is roll stick is held slightly left, otherwise it will roll right
* Vehicle will Roll right by default but if roll or pitch stick is held slightly left, forward or back it will flip in that direction
* Vehicle should complete the roll within 2.5sec and will then return to the original flight mode it was in before flip was triggered
* Pilot may manually exit flip by switching off ch7/ch8 or by moving roll stick to >40deg left or right
*
@ -65,7 +65,7 @@ static bool flip_init(bool ignore_checks)
// initialise state
flip_state = Flip_Start;
flip_start_time = millis();
flip_roll_dir = flip_pitch_dir = 0;
// choose direction based on pilot's roll and pitch sticks
@ -73,12 +73,10 @@ static bool flip_init(bool ignore_checks)
flip_pitch_dir = FLIP_PITCH_BACK;
}else if(g.rc_2.control_in < -300) {
flip_pitch_dir = FLIP_PITCH_FORWARD;
}else if (g.rc_1.control_in >= 0) {
flip_roll_dir = FLIP_ROLL_RIGHT;
}else{
if (g.rc_1.control_in >= 0) {
flip_roll_dir = FLIP_ROLL_RIGHT;
}else{
flip_roll_dir = FLIP_ROLL_LEFT;
}
flip_roll_dir = FLIP_ROLL_LEFT;
}
// log start of flip