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Copter: tradheli-comments added to new Heli Acro code

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Bill Geyer 2019-03-24 16:23:25 -04:00 committed by Randy Mackay
parent e13ff6c398
commit 4492727878
1 changed files with 6 additions and 3 deletions
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9
ArduCopter/mode_acro_heli.cpp
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@ -70,9 +70,12 @@ void Copter::ModeAcro_Heli::run()
if (!motors->has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
// only mimic flybar response when trainer mode is disabled
if (g.acro_trainer == ACRO_TRAINER_DISABLED) {
// while landed always leak off target attitude to current attitude
if (ap.land_complete) {
virtual_flybar(target_roll, target_pitch, target_yaw, 3.0f, 3.0f);
// while flying use acro balance parameters for leak rate
} else {
virtual_flybar(target_roll, target_pitch, target_yaw, g.acro_balance_pitch, g.acro_balance_roll);
}
@ -127,16 +130,16 @@ void Copter::ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, f
// get attitude targets
const Vector3f att_target = attitude_control->get_att_target_euler_cd();
// Calculate Heli mode earth frame rate command for roll
// Calculate earth frame rate command for roll leak to current attitude
rate_ef_level.x = -wrap_180_cd(att_target.x - ahrs.roll_sensor) * roll_leak;
// Calculate Heli mode earth frame rate command for pitch
// Calculate earth frame rate command for pitch leak to current attitude
rate_ef_level.y = -wrap_180_cd(att_target.y - ahrs.pitch_sensor) * pitch_leak;
// Calculate earth frame rate command for yaw
rate_ef_level.z = 0;
// convert earth-frame level rates to body-frame level rates
// convert earth-frame leak rates to body-frame leak rates
attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests