From a78b057cec27be5b49db20a5192beb324a6b8929 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 5 Aug 2011 16:17:26 +0000
Subject: [PATCH] Added Jose Julio's Flip code, edited to work with AC2. Never
 flown or tested!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3019 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/flip.pde | 78 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 78 insertions(+)
 create mode 100644 ArduCopterMega/flip.pde

diff --git a/ArduCopterMega/flip.pde b/ArduCopterMega/flip.pde
new file mode 100644
index 0000000000..8442c5a811
--- /dev/null
+++ b/ArduCopterMega/flip.pde
@@ -0,0 +1,78 @@
+// 2010 Jose Julio
+// 2011 Adapted for AC2 by Jason Short
+//
+// Automatic Acrobatic Procedure (AAP) v1 : Roll flip
+// State machine aproach:
+//    Some states are fixed commands (for a fixed time)
+//    Some states are fixed commands (until some IMU condition)
+//    Some states include controls inside
+void roll_flip()
+{
+	#define AAP_THR_INC 180
+	#define AAP_THR_DEC 90
+	#define AAP_ROLL_OUT 200
+	#define AAP_ROLL_RATE 3000	// up to 1250
+
+	static int 	AAP_timer = 0;
+	static byte AAP_state = 0;
+
+	// Yaw
+	g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 1.0);
+	// Pitch
+	g.rc_2.servo_out = get_stabilize_pitch(0);
+
+	// State machine
+	switch (AAP_state){
+		case 0: // Step 1 : Initialize
+			AAP_timer = 0;
+			AAP_state++;
+			break;
+
+		case 1: // Step 2 : Increase throttle to start maneuver
+			if (AAP_timer < 95){ 	// .5 seconds
+				g.rc_1.servo_out = get_stabilize_roll(0);
+				g.rc_3.servo_out = get_throttle(g.rc_3.control_in + AAP_THR_INC);
+				//g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 1.0);
+				AAP_timer++;
+			}else{
+				AAP_state++;
+				AAP_timer = 0;
+			}
+			break;
+
+		case 2: // Step 3 : ROLL (until we reach a certain angle [45º])
+			if (dcm.roll_sensor < 4500){
+				// Roll control
+				g.rc_1.servo_out = AAP_ROLL_OUT;	//get_rate_roll(AAP_ROLL_RATE);
+				g.rc_3.servo_out = get_throttle(g.rc_3.control_in - AAP_THR_DEC);
+			}else{
+				AAP_state++;
+			}
+			break;
+
+		case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45º])
+			if ((dcm.roll_sensor >= 4500) || (dcm.roll_sensor < -4500)){
+				g.rc_1.servo_out = 150; //get_rate_roll(AAP_ROLL_RATE);
+				g.rc_3.servo_out = get_throttle(g.rc_3.control_in - AAP_THR_DEC);
+			}else{
+				AAP_state++;
+			}
+			break;
+
+		case 4: // Step 5 : Increase throttle to stop the descend
+			if (AAP_timer < 90){ // .5 seconds
+				g.rc_1.servo_out = get_stabilize_roll(0);
+				g.rc_3.servo_out = get_throttle(g.rc_3.control_in + AAP_THR_INC);
+				AAP_timer++;
+			}else{
+				AAP_state++;
+				AAP_timer = 0;
+			}
+			break;
+
+		case 5: // exit mode
+			//control_mode =
+			do_flip = false;
+			break;
+	}
+}