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ACM: Altitude Adjust

This commit is contained in:
Jason Short 2012-08-28 15:28:18 -07:00
parent 98cc65862d
commit 9d64bea2ef
1 changed files with 21 additions and 4 deletions
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17
ArduCopter/ArduCopter.pde
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@ -1834,6 +1834,7 @@ void update_throttle_mode(void)
case THROTTLE_HOLD: case THROTTLE_HOLD:
// 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 = 150; reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(-120); nav_throttle = get_throttle_rate(-120);
@ -1845,6 +1846,22 @@ void update_throttle_mode(void)
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;
} }
*/
if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){
int16_t _rate = 120 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20);
reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(-_rate);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}else if(g.rc_3.radio_in > (g.rc_3.radio_max - 200)){
int16_t _rate = 180 - ((g.rc_3.radio_max - g.rc_3.radio_in) * 18) / 20;
reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(_rate);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}
// allow 1 second of slow down after pilot moves throttle back into deadzone // allow 1 second of slow down after pilot moves throttle back into deadzone
if(reset_throttle_counter > 0) { if(reset_throttle_counter > 0) {