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Copter: remove ACRO's axis enabled parameter 

Acro is now body frame (with earth frame leveling) while Sport is earth
frame acro
This commit is contained in:
Randy Mackay 2013-08-04 20:06:55 +09:00
parent 786d6824ae
commit 82082e044c
3 changed files with 12 additions and 35 deletions
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37
ArduCopter/ArduCopter.pde
View File

@ -1476,11 +1476,7 @@ void update_yaw_mode(void)
case YAW_ACRO:
// pilot controlled yaw using rate controller
if(g.axis_enabled) {
get_yaw_rate_stabilized_bf(g.rc_4.control_in);
}else{
get_acro_yaw(g.rc_4.control_in);
}
get_yaw_rate_stabilized_bf(g.rc_4.control_in);
break;
case YAW_LOOK_AT_NEXT_WP:
@ -1673,32 +1669,21 @@ void update_roll_pitch_mode(void)
control_pitch = g.rc_2.control_in;
#if FRAME_CONFIG == HELI_FRAME
if(g.axis_enabled) {
acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*cos_pitch_x;
get_roll_rate_stabilized_bf(g.rc_1.control_in);
get_pitch_rate_stabilized_bf(g.rc_2.control_in);
get_acro_level_rates();
// ACRO does not get SIMPLE mode ability
if (motors.flybar_mode == 1) {
g.rc_1.servo_out = g.rc_1.control_in;
g.rc_2.servo_out = g.rc_2.control_in;
}else{
// ACRO does not get SIMPLE mode ability
if (motors.flybar_mode == 1) {
g.rc_1.servo_out = g.rc_1.control_in;
g.rc_2.servo_out = g.rc_2.control_in;
} else {
get_acro_roll(g.rc_1.control_in);
get_acro_pitch(g.rc_2.control_in);
}
}
#else // !HELI_FRAME
if(g.axis_enabled) {
acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*cos_pitch_x;
get_roll_rate_stabilized_bf(g.rc_1.control_in);
get_pitch_rate_stabilized_bf(g.rc_2.control_in);
get_acro_level_rates();
}else{
// ACRO does not get SIMPLE mode ability
get_acro_roll(g.rc_1.control_in);
get_acro_pitch(g.rc_2.control_in);
}
}
#else // !HELI_FRAME
acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*cos_pitch_x;
get_roll_rate_stabilized_bf(g.rc_1.control_in);
get_pitch_rate_stabilized_bf(g.rc_2.control_in);
get_acro_level_rates();
#endif // HELI_FRAME
break;

3
ArduCopter/Parameters.h
View File

@ -146,7 +146,7 @@ public:
k_param_auto_slew_rate, // deprecated - can be deleted
k_param_sonar_type,
k_param_super_simple = 155,
k_param_axis_enabled = 157,
k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
k_param_copter_leds_mode,
k_param_ahrs, // AHRS group
@ -290,7 +290,6 @@ public:
AP_Float low_voltage;
AP_Int8 super_simple;
AP_Int16 rtl_alt_final;
AP_Int8 axis_enabled;
AP_Int8 copter_leds_mode; // Operating mode of LED
// lighting system

7
ArduCopter/Parameters.pde
View File

@ -521,13 +521,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(acro_p, "ACRO_P", ACRO_P),
// @Param: AXIS_ENABLE
// @DisplayName: Acro Axis
// @Description: Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle)
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED),
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode