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Copter: hybrid init brake roll and pitch at loiter exit

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Ju1ien 2014-04-23 12:37:06 +09:00 committed by Randy Mackay
parent d745060c80
commit 43b1dd748b
1 changed files with 8 additions and 6 deletions
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14
ArduCopter/control_hybrid.pde
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@ -258,7 +258,7 @@ static void hybrid_run()
// check for pilot input
if (target_roll != 0) {
hybrid.roll_mode = HYBRID_PILOT_OVERRIDE;
hybrid.roll_mode = HYBRID_PILOT_OVERRIDE;// JD-TO-DO : transition avec le mode manu à créer en utilisant LOITER TO PILOT OVERRIDE
}
// final lean angle is braking angle + wind compensation angle
@ -352,7 +352,7 @@ static void hybrid_run()
// check for pilot input
if (target_pitch != 0) {
hybrid.pitch_mode = HYBRID_PILOT_OVERRIDE;
hybrid.pitch_mode = HYBRID_PILOT_OVERRIDE;// JD-TO-DO : transition avec le mode manu à créer en utilisant LOITER TO PILOT OVERRIDE
}
// final lean angle is braking angle + wind compensation angle
@ -436,16 +436,16 @@ static void hybrid_run()
if (target_roll != 0 || target_pitch != 0) {
// if roll input switch to pilot override for roll
if (target_roll != 0) {
hybrid.roll_mode = HYBRID_PILOT_OVERRIDE;
hybrid.roll_mode = HYBRID_PILOT_OVERRIDE; // JD-TO-DO : transition avec le mode manu à créer en utilisant LOITER TO PILOT OVERRIDE
// switch pitch-mode to brake (but ready to go back to loiter anytime)
hybrid.pitch_mode = HYBRID_BRAKE_READY_TO_LOITER;
hybrid.pitch_mode = HYBRID_BRAKE_READY_TO_LOITER; // JD : no need to reset hybrid.brake_pitch here as wind comp has not been updated since last brake_pitch computation
}
// if pitch input switch to pilot override for pitch
if (target_pitch != 0) {
hybrid.pitch_mode = HYBRID_PILOT_OVERRIDE;
hybrid.pitch_mode = HYBRID_PILOT_OVERRIDE; // JD-TO-DO : transition avec le mode manu à créer en utilisant LOITER TO PILOT OVERRIDE
if (target_roll == 0) {
// switch roll-mode to brake (but ready to go back to loiter anytime)
hybrid.roll_mode = HYBRID_BRAKE_READY_TO_LOITER;
hybrid.roll_mode = HYBRID_BRAKE_READY_TO_LOITER; // JD : no need to reset hybrid.brake_roll here as wind comp has not been updated since last brake_roll computation
}
}
}
@ -472,6 +472,7 @@ static void hybrid_run()
hybrid.pilot_roll = target_roll;
// switch pitch-mode to brake (but ready to go back to loiter anytime)
hybrid.pitch_mode = HYBRID_BRAKE_READY_TO_LOITER;
hybrid.brake_pitch = 0; // JD : reset brake_pitch because wind_comp is now different and should give the compensation of the whole previous loiter angle
}
// if pitch input switch to pilot override for pitch
if (target_pitch != 0) {
@ -482,6 +483,7 @@ static void hybrid_run()
// if roll not overriden switch roll-mode to brake (but be ready to go back to loiter any time)
if (target_roll == 0) {
hybrid.roll_mode = HYBRID_BRAKE_READY_TO_LOITER;
hybrid.brake_roll = 0;
}
}
// store final loiter outputs for mixing with pilot input