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Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX 

No functional change
This commit is contained in:
Leonard Hall 2016-10-23 17:29:09 +10:30 committed by Randy Mackay
parent 5a344b8487
commit 8cd8f0d570
4 changed files with 14 additions and 14 deletions
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6
ArduCopter/Attitude.cpp
View File

@ -18,7 +18,7 @@ void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float
angle_max = constrain_float(angle_max, 1000, aparm.angle_max); angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
// scale roll_in, pitch_in to ANGLE_MAX parameter range // scale roll_in, pitch_in to ANGLE_MAX parameter range
float scaler = aparm.angle_max/(float)ROLL_PITCH_INPUT_MAX; float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
roll_in *= scaler; roll_in *= scaler;
pitch_in *= scaler; pitch_in *= scaler;
@ -58,10 +58,10 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
} }
// yaw expo // yaw expo
y_in = float(stick_angle)/ROLL_PITCH_INPUT_MAX; y_in = float(stick_angle)/ROLL_PITCH_YAW_INPUT_MAX;
y_in3 = y_in*y_in*y_in; y_in3 = y_in*y_in*y_in;
y_out = (g2.acro_y_expo * y_in3) + ((1.0f - g2.acro_y_expo) * y_in); y_out = (g2.acro_y_expo * y_in3) + ((1.0f - g2.acro_y_expo) * y_in);
yaw_request = ROLL_PITCH_INPUT_MAX * y_out * g.acro_yaw_p; yaw_request = ROLL_PITCH_YAW_INPUT_MAX * y_out * g.acro_yaw_p;
} }
// convert pilot input to the desired yaw rate // convert pilot input to the desired yaw rate
return yaw_request; return yaw_request;

4
ArduCopter/config.h
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@ -508,8 +508,8 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control // Stabilize Rate Control
// //
#ifndef ROLL_PITCH_INPUT_MAX #ifndef ROLL_PITCH_YAW_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range # define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range
#endif #endif
#ifndef DEFAULT_ANGLE_MAX #ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value # define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value

12
ArduCopter/control_acro.cpp
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@ -62,8 +62,8 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
// apply circular limit to pitch and roll inputs // apply circular limit to pitch and roll inputs
float total_in = norm(pitch_in, roll_in); float total_in = norm(pitch_in, roll_in);
if (total_in > ROLL_PITCH_INPUT_MAX) { if (total_in > ROLL_PITCH_YAW_INPUT_MAX) {
float ratio = (float)ROLL_PITCH_INPUT_MAX / total_in; float ratio = (float)ROLL_PITCH_YAW_INPUT_MAX / total_in;
roll_in *= ratio; roll_in *= ratio;
pitch_in *= ratio; pitch_in *= ratio;
} }
@ -82,16 +82,16 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
} }
// roll expo // roll expo
rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX; rp_in = float(roll_in)/ROLL_PITCH_YAW_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in; rp_in3 = rp_in*rp_in*rp_in;
rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in); rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
rate_bf_request.x = ROLL_PITCH_INPUT_MAX * rp_out * g.acro_rp_p; rate_bf_request.x = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
// pitch expo // pitch expo
rp_in = float(pitch_in)/ROLL_PITCH_INPUT_MAX; rp_in = float(pitch_in)/ROLL_PITCH_YAW_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in; rp_in3 = rp_in*rp_in*rp_in;
rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in); rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
rate_bf_request.y = ROLL_PITCH_INPUT_MAX * rp_out * g.acro_rp_p; rate_bf_request.y = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
} }
// calculate yaw rate request // calculate yaw rate request

6
ArduCopter/radio.cpp
View File

@ -27,9 +27,9 @@ void Copter::init_rc_in()
channel_yaw = RC_Channel::rc_channel(rcmap.yaw()-1); channel_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
// set rc channel ranges // set rc channel ranges
channel_roll->set_angle(ROLL_PITCH_INPUT_MAX); channel_roll->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX); channel_pitch->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
channel_yaw->set_angle(4500); channel_yaw->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
channel_throttle->set_range(0, 1000); channel_throttle->set_range(0, 1000);
channel_roll->set_type(RC_CHANNEL_TYPE_ANGLE_RAW); channel_roll->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);