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AC: Flip code fix 

Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.
This commit is contained in:
Jason Short 2013-02-22 12:56:26 -08:00 committed by rmackay9
parent 8e4c9518ea
commit 7d5b975da2
2 changed files with 34 additions and 27 deletions
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24
ArduCopter/ArduCopter.pde
View File

@ -1051,6 +1051,18 @@ static void fast_loop()
// --------------------------------------------------------------------
update_trig();
// Acrobatic control
if (ap.do_flip) {
if(abs(g.rc_1.control_in) < 4000) {
// calling roll_flip will override the desired roll rate and throttle output
roll_flip();
}else{
// force an exit from the loop if we are not hands off sticks.
ap.do_flip = false;
Log_Write_Event(DATA_EXIT_FLIP);
}
}
// run low level rate controllers that only require IMU data
run_rate_controllers();
@ -1087,7 +1099,6 @@ static void fast_loop()
#ifdef USERHOOK_FASTLOOP
USERHOOK_FASTLOOP
#endif
}
static void medium_loop()
@ -1622,17 +1633,6 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
// 100hz update rate
void update_roll_pitch_mode(void)
{
if (ap.do_flip) {
if(abs(g.rc_1.control_in) < 4000) {
roll_flip();
return;
}else{
// force an exit from the loop if we are not hands off sticks.
ap.do_flip = false;
Log_Write_Event(DATA_EXIT_FLIP);
}
}
switch(roll_pitch_mode) {
case ROLL_PITCH_ACRO:

37
ArduCopter/flip.pde
View File

@ -27,10 +27,6 @@ void init_flip()
void roll_flip()
{
// Pitch
//g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
get_stabilize_pitch(g.rc_2.control_in);
int32_t roll = ahrs.roll_sensor * flip_dir;
// Roll State machine
@ -38,8 +34,11 @@ void roll_flip()
case 0:
if (roll < 4500) {
// Roll control
g.rc_1.servo_out = AAP_ROLL_OUT * flip_dir;
set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
roll_rate_target_bf = 40000 * flip_dir;
if(ap.manual_throttle){
// increase throttle right before flip
set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
}
}else{
flip_state++;
}
@ -47,12 +46,15 @@ void roll_flip()
case 1:
if((roll >= 4500) || (roll < -9000)) {
#if FRAME_CONFIG == HELI_FRAME
g.rc_1.servo_out = get_heli_rate_roll(40000 * flip_dir);
#else
g.rc_1.servo_out = get_rate_roll(40000 * flip_dir);
#endif // HELI_FRAME
set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false);
#if FRAME_CONFIG == HELI_FRAME
roll_rate_target_bf = 30000 * flip_dir;
#else
roll_rate_target_bf = 30000 * flip_dir;
#endif
// decrease throttle while inverted
if(ap.manual_throttle){
set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false);
}
}else{
flip_state++;
flip_timer = 0;
@ -60,10 +62,15 @@ void roll_flip()
break;
case 2:
// 100 = 1 second with 100hz
if (flip_timer < 100) {
//g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
get_stabilize_roll(g.rc_1.control_in);
set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
// we no longer need to adjust the roll_rate.
// It will be handled by normal flight control loops
// increase throttle to gain any lost alitude
if(ap.manual_throttle){
set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
}
flip_timer++;
}else{
Log_Write_Event(DATA_END_FLIP);