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Arducopter.pde: Increased the throttle Hold altitude control 

simplified Yaw reset
This commit is contained in:
Jason Short 2012-07-19 17:38:25 -07:00
parent 05a2d3ae35
commit 8f7eba4fd1
1 changed files with 10 additions and 4 deletions
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14
ArduCopter/ArduCopter.pde
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@ -1581,7 +1581,9 @@ void update_yaw_mode(void)
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
}else{ }else{
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, g.rc_3.control_in); if(motors.armed() == false)
nav_yaw = ahrs.yaw_sensor;
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
} }
return; return;
@ -1596,6 +1598,10 @@ void update_yaw_mode(void)
//Serial.printf("nav_yaw %d ", nav_yaw); //Serial.printf("nav_yaw %d ", nav_yaw);
nav_yaw = wrap_360(nav_yaw); nav_yaw = wrap_360(nav_yaw);
break; break;
case YAW_TOY:
return;
} }
// Yaw control // Yaw control
@ -1611,7 +1617,7 @@ void update_roll_pitch_mode(void)
// hack to do auto_flip - need to remove, no one is using. // hack to do auto_flip - need to remove, no one is using.
if (do_flip){ if (do_flip){
if(g.rc_1.control_in == 0){ if(abs(g.rc_1.control_in) < 2000){
roll_flip(); roll_flip();
return; return;
}else{ }else{
@ -1802,12 +1808,12 @@ void update_throttle_mode(void)
// allow interactive changing of atitude // allow interactive changing of atitude
if(g.rc_3.control_in < 200){ if(g.rc_3.control_in < 200){
reset_throttle_counter = 50; reset_throttle_counter = 50;
nav_throttle = get_throttle_rate(-80); nav_throttle = get_throttle_rate(-120);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost; g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break; break;
}else if (g.rc_3.control_in > 800){ }else if (g.rc_3.control_in > 800){
reset_throttle_counter = 50; reset_throttle_counter = 50;
nav_throttle = get_throttle_rate(80); nav_throttle = get_throttle_rate(180);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost; g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break; break;
} }