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Fixed inverted ELEVATOR on Acro mode 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@53 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-07-25 17:12:02 +00:00
parent 67d31dc9c8
commit 935d990488
1 changed files with 6 additions and 2 deletions
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6
Arducopter/Arducopter.pde
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@ -277,6 +277,8 @@ void Position_control(long lat_dest, long lon_dest)
/* ************************************************************ */ /* ************************************************************ */
// ROLL, PITCH and YAW PID controls... // ROLL, PITCH and YAW PID controls...
// Input : desired Roll, Pitch and Yaw absolute angles. Output : Motor commands // Input : desired Roll, Pitch and Yaw absolute angles. Output : Motor commands
// Stable Mode
void Attitude_control() void Attitude_control()
{ {
// ROLL CONTROL // ROLL CONTROL
@ -334,6 +336,7 @@ void Attitude_control()
control_yaw = KP_QUAD_YAW*err_yaw + KD_QUAD_YAW*yaw_D + KI_QUAD_YAW*yaw_I; control_yaw = KP_QUAD_YAW*err_yaw + KD_QUAD_YAW*yaw_D + KI_QUAD_YAW*yaw_I;
} }
// Acro Mode
void Rate_control() void Rate_control()
{ {
static float previousRollRate, previousPitchRate, previousYawRate; static float previousRollRate, previousPitchRate, previousYawRate;
@ -355,7 +358,8 @@ void Rate_control()
// PITCH CONTROL // PITCH CONTROL
currentPitchRate = read_adc(1); currentPitchRate = read_adc(1);
err_pitch = ((1500-ch_pitch) * xmitFactor) - currentPitchRate; // err_pitch = ((1500-ch_pitch) * xmitFactor) - currentPitchRate; // was incorrect, inverted ELE between Arco / Stable
err_pitch = ((ch_pitch - 1500) * xmitFactor) - currentPitchRate; // correct one, now ELE is ok on both modes
pitch_I += err_pitch*G_Dt; pitch_I += err_pitch*G_Dt;
pitch_I = constrain(pitch_I,-20,20); pitch_I = constrain(pitch_I,-20,20);