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Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks.

This commit is contained in:
Jason Short 2012-07-02 17:51:55 -07:00
parent 1142ec0665
commit 88428743b2
1 changed files with 17 additions and 47 deletions
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64
ArduCopter/Attitude.pde
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@ -700,18 +700,9 @@ void roll_pitch_toy()
{ {
bool manual_control = false; bool manual_control = false;
if(g.rc_2.control_in != 0){ // pitch if(g.rc_2.control_in != 0){
// If we pitch forward or back, resume manually control
manual_control = true; manual_control = true;
}else if(g.rc_1.control_in != 0){ // Roll/Yaw combo
// we have some user input
if(wp_control == TOY_MODE){
// we are heading to Virtual WP
manual_control = true;
}else{
// we are in manual control
manual_control = false;
}
} }
// Yaw control - Yaw is always available, and will NOT exit the // Yaw control - Yaw is always available, and will NOT exit the
@ -732,6 +723,7 @@ void roll_pitch_toy()
// We manually set out modes based on the state of Toy mode: // We manually set out modes based on the state of Toy mode:
// Handle throttle manually // Handle throttle manually
throttle_mode = THROTTLE_MANUAL; throttle_mode = THROTTLE_MANUAL;
// Dont try to navigate or integrate a nav error // Dont try to navigate or integrate a nav error
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
@ -768,55 +760,33 @@ void roll_pitch_toy()
}else{ }else{
//no user input //no user input
// Count-up to decision tp Loiter
// Hold current Yaw
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
// Count-up to decision - Loiter or Virtual WP
toy_input_timer++; toy_input_timer++;
if (toy_input_timer == TOY_DELAY){ //if (toy_input_timer == TOY_DELAY){
if((wp_control != LOITER_MODE) && ((g_gps->ground_speed < 150) || (toy_input_timer == TOY_DELAY))){
// clear our I terms for Nav or we will carry over old values // clear our I terms for Nav or we will carry over old values
reset_wind_I(); reset_wind_I();
// loiter
wp_control = LOITER_MODE;
if (g_gps->ground_speed < 200) {
// loiter
wp_control = LOITER_MODE;
set_next_WP(&current_loc);
}else{
// hold velocity and
// calc a new WP 10000cm ahead (Approximate)
struct Location tmp;
tmp.lng = current_loc.lng + (10000 * cos_yaw_x); // X or East/West
tmp.lat = current_loc.lat + (10000 * sin_yaw_y); // Y or North/South
tmp.alt = current_loc.alt;
set_next_WP(&tmp);
// A special navigation mode for Toy mode that maintains the entry speed
wp_control = TOY_MODE;
// Save our speed as we entered the mode
toy_speed = g_gps->ground_speed;
}
// Just level out until we hit 1.5s
g.rc_1.servo_out = get_stabilize_roll(0);
g.rc_2.servo_out = get_stabilize_pitch(0);
}else if (toy_input_timer > TOY_DELAY){
// we are in an alt hold throttle with manual override // we are in an alt hold throttle with manual override
throttle_mode = THROTTLE_HOLD; throttle_mode = THROTTLE_HOLD;
// resets so we don't overflow the timer
toy_input_timer = TOY_DELAY; set_next_WP(&current_loc);
}
if (wp_control == LOITER_MODE){
// prevent timer overflow
toy_input_timer = TOY_DELAY;
// outputs the needed nav_control to maintain speed and direction // outputs the needed nav_control to maintain speed and direction
g.rc_1.servo_out = get_stabilize_roll(auto_roll); g.rc_1.servo_out = get_stabilize_roll(auto_roll);
g.rc_2.servo_out = get_stabilize_pitch(auto_pitch); g.rc_2.servo_out = get_stabilize_pitch(auto_pitch);
}else{ }else{
// Coast
// outputs the needed nav_control to maintain speed and direction
g.rc_1.servo_out = get_stabilize_roll(0); g.rc_1.servo_out = get_stabilize_roll(0);
g.rc_2.servo_out = get_stabilize_pitch(0); g.rc_2.servo_out = get_stabilize_pitch(0);
} }