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Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.

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This commit is contained in:
Jason Short 2012-02-08 21:09:24 -08:00
parent 18e994de4f
commit f3547a04a5
2 changed files with 18 additions and 2 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -1415,8 +1415,8 @@ void update_roll_pitch_mode(void)
switch(roll_pitch_mode){
case ROLL_PITCH_ACRO:
// ACRO does not get SIMPLE mode ability
g.rc_1.servo_out = get_rate_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_rate_pitch(g.rc_2.control_in);
g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
break;
case ROLL_PITCH_STABLE:

16
ArduCopter/Attitude.pde
View File

@ -80,6 +80,22 @@ get_stabilize_yaw(int32_t target_angle)
#endif
}
static int
get_acro_roll(int32_t target_rate)
{
target_rate = target_rate * g.pi_stabilize_roll.kP();
target_rate = constrain(target_rate, -10000, 10000);
return get_rate_roll(target_rate);
}
static int
get_acro_pitch(int32_t target_rate)
{
target_rate = target_rate * g.pi_stabilize_pitch.kP();
target_rate = constrain(target_rate, -10000, 10000);
return get_rate_pitch(target_rate);
}
static int
get_rate_roll(int32_t target_rate)
{