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Better CTUN Logging 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1893 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-16 20:42:31 +00:00
parent f54f75140e
commit 7aa34211b6
1 changed files with 8 additions and 5 deletions
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13
ArduCopterMega/Attitude.pde
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@ -115,11 +115,9 @@ output_yaw_with_hold(boolean hold)
clear_yaw_control();
hold = true; // just to be explicit
//Serial.print("C");
}else{
// return to rate control until we slow down.
hold = false;
hold = false; // return to rate control until we slow down.
//Serial.print("D");
}
}
@ -144,21 +142,26 @@ output_yaw_with_hold(boolean hold)
// Apply PID and save the new angle back to RC_Channel
g.rc_4.servo_out = g.pid_yaw.get_pid(yaw_error, delta_ms_fast_loop, 1.0); // .5 * 6000 = 3000
yaw_debug = YAW_HOLD;
}else{
// -error = CCW, +error = CW
if(g.rc_4.control_in == 0){
// we are breaking;
//g.rc_4.servo_out = (omega.z > 0) ? -600 : 600;
g.rc_4.servo_out = (int)((float)g.rc_4.servo_out * (omega.z / 6.0));
yaw_debug = YAW_BRAKE;
}else{
long error = ((long)g.rc_4.control_in * 6) - rate; // control is += 6000 * 6 = 36000
g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0); // kP .07 * 36000 = 2520
yaw_debug = YAW_RATE;
}
}
// Limit dampening to be equal to propotional term for symmetry
dampener = rate * g.hold_yaw_dampener; // 34377 * .175 = 6000
g.rc_4.servo_out -= constrain(dampener, -1800, 1800);
//dampener = rate * g.hold_yaw_dampener; // 34377 * .175 = 6000
//g.rc_4.servo_out -= constrain(dampener, -1800, 1800);
// Limit Output
g.rc_4.servo_out = constrain(g.rc_4.servo_out, -1800, 1800); // limit to 24°