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Copter: remove unused earth frame rate controllers

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Randy Mackay 2013-07-21 14:08:39 +09:00
parent 43379f20c3
commit c9a875da52
1 changed files with 0 additions and 83 deletions
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83
ArduCopter/Attitude.pde
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@ -235,89 +235,6 @@ get_yaw_rate_stabilized_bf(int32_t stick_angle)
set_yaw_rate_target(0, BODY_EARTH_FRAME);
}
// Roll with rate input and stabilized in the earth frame
static void
get_roll_rate_stabilized_ef(int32_t stick_angle)
{
int32_t angle_error = 0;
// convert the input to the desired roll rate
int32_t target_rate = stick_angle * g.acro_p - (roll_axis * g.acro_balance_roll)/100;
// convert the input to the desired roll rate
roll_axis += target_rate * G_Dt;
roll_axis = wrap_180_cd(roll_axis);
// ensure that we don't reach gimbal lock
if (labs(roll_axis) > 4500 && g.acro_trainer_enabled) {
roll_axis = constrain_int32(roll_axis, -4500, 4500);
angle_error = wrap_180_cd(roll_axis - ahrs.roll_sensor);
} else {
// angle error with maximum of +- max_angle_overshoot
angle_error = wrap_180_cd(roll_axis - ahrs.roll_sensor);
angle_error = constrain_int32(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
// reset target angle to current angle if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update roll_axis to be within max_angle_overshoot of our current heading
roll_axis = wrap_180_cd(angle_error + ahrs.roll_sensor);
// set earth frame targets for rate controller
set_roll_rate_target(g.pi_stabilize_roll.get_p(angle_error) + target_rate, EARTH_FRAME);
}
// Pitch with rate input and stabilized in the earth frame
static void
get_pitch_rate_stabilized_ef(int32_t stick_angle)
{
int32_t angle_error = 0;
// convert the input to the desired pitch rate
int32_t target_rate = stick_angle * g.acro_p - (pitch_axis * g.acro_balance_pitch)/100;
// convert the input to the desired pitch rate
pitch_axis += target_rate * G_Dt;
pitch_axis = wrap_180_cd(pitch_axis);
// ensure that we don't reach gimbal lock
if (labs(pitch_axis) > 4500) {
pitch_axis = constrain_int32(pitch_axis, -4500, 4500);
angle_error = wrap_180_cd(pitch_axis - ahrs.pitch_sensor);
} else {
// angle error with maximum of +- max_angle_overshoot
angle_error = wrap_180_cd(pitch_axis - ahrs.pitch_sensor);
angle_error = constrain_int32(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
// reset target angle to current angle if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update pitch_axis to be within max_angle_overshoot of our current heading
pitch_axis = wrap_180_cd(angle_error + ahrs.pitch_sensor);
// set earth frame targets for rate controller
set_pitch_rate_target(g.pi_stabilize_pitch.get_p(angle_error) + target_rate, EARTH_FRAME);
}
// Yaw with rate input and stabilized in the earth frame
static void
get_yaw_rate_stabilized_ef(int32_t stick_angle)