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Arducopter: deprecated the get_nav_yaw_offset function. 

Small Toy mode updates
This commit is contained in:
Jason Short 2012-07-19 17:41:52 -07:00
parent 91062b56af
commit 610d1d1795
1 changed files with 9 additions and 6 deletions
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15
ArduCopter/Attitude.pde
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@ -479,8 +479,10 @@ static void reset_stability_I(void)
throttle control throttle control
****************************************************************/ ****************************************************************/
/* Depricated
static long static long
get_nav_yaw_offset(int yaw_input, int reset) //get_nav_yaw_offset(int yaw_input, int reset)
{ {
int32_t _yaw; int32_t _yaw;
@ -501,6 +503,7 @@ get_nav_yaw_offset(int yaw_input, int reset)
} }
} }
} }
*/
static int16_t get_angle_boost(int16_t value) static int16_t get_angle_boost(int16_t value)
{ {
@ -784,22 +787,22 @@ void roll_pitch_toy()
// user from Loiter mode // user from Loiter mode
int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate; int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
//nav_yaw += yaw_rate / 100;
//nav_yaw = wrap_360(nav_yaw);
//g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
if(g.rc_1.control_in != 0){ // roll if(g.rc_1.control_in != 0){ // roll
g.rc_4.servo_out = get_acro_yaw(yaw_rate/2); g.rc_4.servo_out = get_acro_yaw(yaw_rate/2);
yaw_stopped = false; yaw_stopped = false;
yaw_timer = 150; yaw_timer = 150;
}else if (!yaw_stopped){ }else if (!yaw_stopped){
g.rc_4.servo_out = get_acro_yaw(0); g.rc_4.servo_out = get_acro_yaw(0);
yaw_timer--; yaw_timer--;
if(yaw_timer == 0){
if((yaw_timer == 0) || (fabs(omega.z) < .17)){
yaw_stopped = true; yaw_stopped = true;
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
}else{ }else{
if(motors.armed() == false)
nav_yaw = ahrs.yaw_sensor;
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
} }