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Copter: Drift updates control_roll, pitch

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control_roll, pitch should always hold desired roll and pitch angles now
that we have the RCIN dataflash message for recording pilot's input
This commit is contained in:
Randy Mackay 2013-11-30 18:06:56 +09:00
parent a3be25750f
commit 49ac1a48a5
1 changed files with 7 additions and 3 deletions
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10
ArduCopter/drift.pde
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@ -14,6 +14,7 @@ get_roll_pitch_drift()
{
}
// get_yaw_drift - roll-pitch and yaw controller for drift mode
static void
get_yaw_drift()
{
@ -37,16 +38,19 @@ get_yaw_drift()
pitch_vel = constrain_float(pitch_vel, -322, 322);
// always limit roll
get_stabilize_roll(roll_vel * -DRIFT_SPEEDGAIN);
control_roll = roll_vel * -DRIFT_SPEEDGAIN;
get_stabilize_roll(control_roll);
if(control_pitch == 0){
// .14/ (.03 * 100) = 4.6 seconds till full breaking
breaker+= .03;
breaker = min(breaker, DRIFT_SPEEDGAIN);
// If we let go of sticks, bring us to a stop
get_stabilize_pitch(pitch_vel * breaker);
control_pitch = pitch_vel * breaker;
}else{
breaker = 0.0;
get_stabilize_pitch(control_pitch);
}
// stabilize pitch
get_stabilize_pitch(control_pitch);
}