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Added Scaling to yaw response on Auto, RTL, and Guided modes 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2837 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-11 00:54:00 +00:00
parent 35bf288abd
commit bdcd0e2e37
2 changed files with 8 additions and 8 deletions
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12
ArduCopterMega/ArduCopterMega.pde
View File

@ -1027,7 +1027,7 @@ void update_current_flight_mode(void)
}
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, .5);
break;
}
@ -1063,7 +1063,7 @@ void update_current_flight_mode(void)
g.rc_3.servo_out = get_throttle(g.rc_3.control_in);
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 1.0);
//Serial.printf("%u\t%d\n", nav_yaw, g.rc_4.servo_out);
break;
@ -1140,7 +1140,7 @@ void update_current_flight_mode(void)
g.rc_3.servo_out = get_throttle(g.rc_3.control_in);
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 1.0);
//Serial.printf("%d \t %d\n", g.rc_3.servo_out, throttle_slew);
break;
@ -1164,7 +1164,7 @@ void update_current_flight_mode(void)
}
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 1.0);
break;
case GUIDED:
@ -1185,7 +1185,7 @@ void update_current_flight_mode(void)
}
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 0.5);
break;
case LOITER:
@ -1211,7 +1211,7 @@ void update_current_flight_mode(void)
}
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw, 1.0);
break;
default:

4
ArduCopterMega/Attitude.pde
View File

@ -50,7 +50,7 @@ get_stabilize_pitch(long target_angle)
}
int
get_stabilize_yaw(long target_angle)
get_stabilize_yaw(long target_angle, float scaler)
{
long error;
long rate;
@ -62,7 +62,7 @@ get_stabilize_yaw(long target_angle)
error = constrain(error, -4500, 4500);
// desired Rate:
rate = g.pid_stabilize_yaw.get_pi((float)error, delta_ms_fast_loop, 1.0);
rate = g.pid_stabilize_yaw.get_pi((float)error, delta_ms_fast_loop, scaler);
//Serial.printf("%u\t%d\t%d\t", (int)target_angle, (int)error, (int)rate);
// Rate P: