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Copter: drift file format fixes

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Randy Mackay 2013-11-30 15:29:26 +09:00
parent 1124e84ae0
commit f12f0a6abe
1 changed files with 28 additions and 30 deletions
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58
ArduCopter/drift.pde
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@ -1,52 +1,50 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Drift Mode // Drift Mode
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#define SPEEDGAIN 14.0 #define SPEEDGAIN 14.0
// The function call for managing the flight mode drift // The function call for managing the flight mode drift
static void static void
get_roll_pitch_drift() get_roll_pitch_drift()
{ {
} }
static void static void
get_yaw_drift() get_yaw_drift()
{ {
static float breaker = 0.0; static float breaker = 0.0;
// convert pilot input to lean angles // convert pilot input to lean angles
// moved to Yaw since it is called before get_roll_pitch_drift(); // moved to Yaw since it is called before get_roll_pitch_drift();
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch); get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
// Grab inertial velocity // Grab inertial velocity
Vector3f vel = inertial_nav.get_velocity(); Vector3f vel = inertial_nav.get_velocity();
// rotate roll, pitch input from north facing to vehicle's perspective // rotate roll, pitch input from north facing to vehicle's perspective
float roll_vel = vel.y * cos_yaw - vel.x * sin_yaw; // body roll vel float roll_vel = vel.y * cos_yaw - vel.x * sin_yaw; // body roll vel
float pitch_vel = vel.y * sin_yaw + vel.x * cos_yaw; // body pitch vel float pitch_vel = vel.y * sin_yaw + vel.x * cos_yaw; // body pitch vel
float pitch_vel2 = min(fabs(pitch_vel), 800); float pitch_vel2 = min(fabs(pitch_vel), 800);
// simple gain scheduling for yaw input // simple gain scheduling for yaw input
get_yaw_rate_stabilized_ef((float)(control_roll/2) * (1.0 - (pitch_vel2 / 2400.0))); get_yaw_rate_stabilized_ef((float)(control_roll/2) * (1.0 - (pitch_vel2 / 2400.0)));
roll_vel = constrain_float(roll_vel, -322, 322); roll_vel = constrain_float(roll_vel, -322, 322);
pitch_vel = constrain_float(pitch_vel, -322, 322); pitch_vel = constrain_float(pitch_vel, -322, 322);
// always limit roll // always limit roll
get_stabilize_roll(roll_vel * -SPEEDGAIN); get_stabilize_roll(roll_vel * -SPEEDGAIN);
if(control_pitch == 0){ if(control_pitch == 0){
// .14/ (.03 * 100) = 4.6 seconds till full breaking // .14/ (.03 * 100) = 4.6 seconds till full breaking
breaker+= .03; breaker+= .03;
breaker = min(breaker, SPEEDGAIN); breaker = min(breaker, SPEEDGAIN);
// If we let go of sticks, bring us to a stop // If we let go of sticks, bring us to a stop
get_stabilize_pitch(pitch_vel * breaker); get_stabilize_pitch(pitch_vel * breaker);
}else{ }else{
breaker = 0.0; breaker = 0.0;
get_stabilize_pitch(control_pitch); get_stabilize_pitch(control_pitch);
} }
} }