mirror of https://github.com/ArduPilot/ardupilot
ACM: Flip code revision to fix bad orientation bug.
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@ -37,9 +37,9 @@ void roll_flip()
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flip_state++;
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break;
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case 1: // Step 2 : Increase throttle to start maneuver
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if (flip_timer < 95){ // .5 seconds
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if (flip_timer < 90){ // .5 seconds
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g.rc_1.servo_out = get_stabilize_roll(0);
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
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g.rc_3.servo_out = g.throttle_cruise + AAP_THR_INC;
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flip_timer++;
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}else{
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flip_state++;
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@ -51,7 +51,7 @@ void roll_flip()
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if (ahrs.roll_sensor < 4500){
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// Roll control
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g.rc_1.servo_out = AAP_ROLL_OUT;
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g.rc_3.servo_out = g.rc_3.control_in;
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g.rc_3.servo_out = g.throttle_cruise;
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}else{
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flip_state++;
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}
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@ -59,17 +59,18 @@ void roll_flip()
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case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45deg])
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if((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -9000)){// we are in second half of roll
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g.rc_1.servo_out = 0;
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g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
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//g.rc_1.servo_out = 0;
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g.rc_1.servo_out = get_rate_roll(40000);
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g.rc_3.servo_out = g.throttle_cruise - AAP_THR_DEC;
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}else{
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flip_state++;
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}
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break;
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case 4: // Step 5 : Increase throttle to stop the descend
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if (flip_timer < 90){ // .5 seconds
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if (flip_timer < 120){ // .5 seconds
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g.rc_1.servo_out = get_stabilize_roll(0);
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC + 30;
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g.rc_3.servo_out = g.throttle_cruise + g.throttle_cruise / 2;
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flip_timer++;
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}else{
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flip_state++;
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