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Arducopter: Toy mode update 

Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
This commit is contained in:
Jason Short 2012-07-11 17:45:01 -07:00
parent d3426420ad
commit b6715b2e53
1 changed files with 9 additions and 8 deletions
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17
ArduCopter/Attitude.pde
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@ -707,7 +707,7 @@ 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);
@ -725,7 +725,6 @@ void roll_pitch_toy()
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
}else{ }else{
nav_yaw = get_nav_yaw_offset(yaw_rate, g.rc_3.control_in);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
} }
@ -735,7 +734,7 @@ void roll_pitch_toy()
// roll_rate is the outcome of the linear equation or lookup table // roll_rate is the outcome of the linear equation or lookup table
// based on speed and Yaw rate // based on speed and Yaw rate
int16_t roll_rate; int16_t roll_rate = 0;
// We manually set out modes based on the state of Toy mode: // We manually set out modes based on the state of Toy mode:
// Handle throttle manually // Handle throttle manually
@ -768,14 +767,16 @@ void roll_pitch_toy()
// Linear equation for Yaw:Speed to Roll // Linear equation for Yaw:Speed to Roll
// default is 1000, lower for more roll action // default is 1000, lower for more roll action
//roll_rate = ((float)g_gps->ground_speed / 600) * (float)yaw_rate; //roll_rate = ((float)g_gps->ground_speed / 600) * (float)yaw_rate;
roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /20; roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
Serial.printf("roll_rate: %d\n",roll_rate); //Serial.printf("roll_rate: %d\n",roll_rate);
// limit roll rate to 15, 30, or 45 deg per second. // limit roll rate to 15, 30, or 45 deg per second.
int16_t roll_limit = 4500 / g.toy_yaw_rate; //int16_t roll_limit = 4500 / g.toy_yaw_rate;
roll_rate = constrain(roll_rate, -roll_limit, roll_limit); //roll_rate = constrain(roll_rate, -roll_limit, roll_limit);
Serial.printf("yaw_rate %d, roll_rate %d, lim %d\n",yaw_rate, roll_rate, roll_limit); roll_rate = constrain(roll_rate, -2500, 2500);
//Serial.printf("yaw_rate %d, roll_rate %d, lim %d\n",yaw_rate, roll_rate, roll_limit);
#endif #endif
// Output the attitude // Output the attitude