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Copter: init targets when entering acro

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Randy Mackay 2014-01-30 21:44:44 +09:00 committed by Andrew Tridgell
parent 9f33873b2e
commit fdf41219ca
1 changed files with 9 additions and 11 deletions
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20
ArduCopter/control_acro.pde
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@ -7,6 +7,8 @@
// acro_init - initialise acro controller
static bool acro_init(bool ignore_checks)
{
// clear stabilized rate errors
attitude_control.init_targets();
return true;
}
@ -16,21 +18,17 @@ static void acro_run()
{
int16_t target_roll, target_pitch, target_yaw;
// if motors not running reset angle targets
if(!motors.armed() || g.rc_3.control_in <= 0) {
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
}
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
// To-Do: handle helicopter
// pilot controlled yaw using rate controller
//get_yaw_rate_stabilized_bf(pilot_yaw);
// call get_acro_level_rates() here?
// To-Do: convert body-frame stabilized angles to earth frame angles and update controll_roll, pitch and yaw?
// body-frame rate controller is run directly from 100hz loop
}