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updated angle boost.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1622 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-10 07:11:00 +00:00
parent c9df790df5
commit fdefe84bde
1 changed files with 7 additions and 6 deletions
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13
ArduCopterMega/flight_control.pde
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@ -45,14 +45,15 @@ void calc_nav_throttle()
float angle_boost()
{
// This is the furture replacement for the heavyweight trig functions in use now.
//Matrix3f temp = dcm.get_dcm_matrix();
//cos_pitch = sqrt(1 - (temp.c.x * temp.c.x));
//cos_roll = dcm.c.z / cos_pitch;
//static byte flipper;
//float temp = 1 / (cos(dcm.roll) * cos(dcm.pitch));
float temp = (1.0 - (cos(dcm.roll) * cos(dcm.pitch)));
temp = 1.0 + (temp / 1.5);
// limit the boost value
if(temp > 1.4)
temp = 1.4;
float temp = cos(dcm.roll) * cos(dcm.pitch);
temp = 2.0 - constrain(temp, .7071, 1);
return temp;
}