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Copter: Heli to set hover roll trim scalar

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This commit is contained in:
Robert Lefebvre 2015-10-23 18:41:01 -04:00 committed by Randy Mackay
parent da1638d72c
commit c0ea1f70ef
1 changed files with 14 additions and 2 deletions
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16
ArduCopter/heli.cpp
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@ -72,10 +72,22 @@ void Copter::check_dynamic_flight(void)
// should be run between the rate controller and the servo updates.
void Copter::update_heli_control_dynamics(void)
{
static int16_t hover_roll_trim_scalar_slew = 0;
// Use Leaky_I if we are not moving fast
attitude_control.use_leaky_i(!heli_flags.dynamic_flight);
// To-Do: Update dynamic phase angle of swashplate
if (ap.land_complete || (motors.get_desired_rotor_speed() == 0)){
// if we are landed or there is no rotor power demanded, decrement slew scalar
hover_roll_trim_scalar_slew--;
} else {
// if we are not landed and motor power is demanded, increment slew scalar
hover_roll_trim_scalar_slew++;
}
hover_roll_trim_scalar_slew = constrain_int16(hover_roll_trim_scalar_slew, 0, MAIN_LOOP_RATE);
// set hover roll trim scalar, will ramp from 0 to 1 over 1 second after we think helicopter has taken off
attitude_control.set_hover_roll_trim_scalar((float)(hover_roll_trim_scalar_slew/MAIN_LOOP_RATE));
}
// heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing