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Copter: Fix circle radius pitch stick control

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Pitch stick up will reduce the radius, as in moving forward.  Pitch stick back will increase the radius, as in moving backwards.
This commit is contained in:
Matt Lawrence 2020-02-03 16:23:08 -05:00 committed by Andrew Tridgell
parent fa76276040
commit 8e24cf4948
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/mode_circle.cpp
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@ -47,7 +47,7 @@ void ModeCircle::run()
const float radius_current = copter.circle_nav->get_radius(); // circle controller's radius target, which begins as the circle_radius parameter const float radius_current = copter.circle_nav->get_radius(); // circle controller's radius target, which begins as the circle_radius parameter
const float pitch_stick = channel_pitch->norm_input_dz(); // pitch stick normalized -1 to 1 const float pitch_stick = channel_pitch->norm_input_dz(); // pitch stick normalized -1 to 1
const float nav_speed = copter.wp_nav->get_default_speed_xy(); // copter WP_NAV parameter speed const float nav_speed = copter.wp_nav->get_default_speed_xy(); // copter WP_NAV parameter speed
const float radius_pilot_change = (-pitch_stick * nav_speed) * G_Dt; // rate of change (inverted so pushing stick up reduces radius, as in moving forward) const float radius_pilot_change = (pitch_stick * nav_speed) * G_Dt; // rate of change (pitch stick up reduces the radius, as in moving forward)
const float radius_new = MAX(radius_current + radius_pilot_change,0); // new radius target const float radius_new = MAX(radius_current + radius_pilot_change,0); // new radius target
if (!is_equal(radius_current, radius_new)) { if (!is_equal(radius_current, radius_new)) {