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Toy Mode: Yaw performance update.

This commit is contained in:
Jason Short 2012-07-03 17:14:54 -07:00
parent 50d1ff56c5
commit b2d932136a
1 changed files with 20 additions and 3 deletions
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23
ArduCopter/Attitude.pde
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@ -708,9 +708,26 @@ void roll_pitch_toy()
// Yaw control - Yaw is always available, and will NOT exit the // Yaw control - Yaw is always available, and will NOT exit the
// user from Loiter mode // user from Loiter mode
int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate; int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
nav_yaw += yaw_rate / 100; //nav_yaw += yaw_rate / 100;
nav_yaw = wrap_360(nav_yaw); //nav_yaw = wrap_360(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); //g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
if(g.rc_1.control_in != 0){
g.rc_4.servo_out = get_acro_yaw(yaw_rate);
yaw_stopped = false;
yaw_timer = 150;
}else if (!yaw_stopped){
g.rc_4.servo_out = get_acro_yaw(0);
yaw_timer--;
if(yaw_timer == 0){
yaw_stopped = true;
nav_yaw = ahrs.yaw_sensor;
}
}else{
nav_yaw = get_nav_yaw_offset(yaw_rate, g.rc_3.control_in);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
}
if(manual_control){ if(manual_control){
// user is in control: reset count-up timer // user is in control: reset count-up timer