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Added code for self centering throttle - disabled by default.

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This commit is contained in:
Jason Short 2012-06-29 21:37:28 -07:00
parent 84d2782c33
commit b199fb22a2
1 changed files with 8 additions and 1 deletions
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9
ArduCopter/ArduCopter.pde
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@ -1298,6 +1298,13 @@ static void super_slow_loop()
if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
Log_Write_Current();
#if 0 //CENTER_THROTTLE == 1
// recalibrate the throttle_cruise to center on the sticks
g.rc_3.set_range((g.throttle_cruise - (MAXIMUM_THROTTLE - g.throttle_cruise)), MAXIMUM_THROTTLE);
g.rc_3.set_range_out(0,1000);
#endif
// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 25 seconds
// but only of the control mode is manual
if((control_mode <= ACRO) && (g.rc_3.control_in == 0)){
@ -1675,7 +1682,7 @@ void update_throttle_mode(void)
}
// calc average throttle
if ((g.rc_3.control_in > g.throttle_min) && abs(climb_rate) < 60){
throttle_avg = throttle_avg * .98 + (float)g.rc_3.control_in * .02;
throttle_avg = throttle_avg * .99 + (float)g.rc_3.control_in * .01;
g.throttle_cruise = throttle_avg;
}
#endif