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Copter: Drift mode gain changes and roll control through ch4

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Jason Short 2014-11-18 16:18:57 -08:00 committed by Randy Mackay
parent aeecc46f7b
commit fe74a11b4e
1 changed files with 17 additions and 8 deletions
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25
ArduCopter/control_drift.pde
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@ -5,7 +5,10 @@
*/
#ifndef DRIFT_SPEEDGAIN
# define DRIFT_SPEEDGAIN 14.0f
# define DRIFT_SPEEDGAIN 8.0f
#endif
#ifndef DRIFT_SPEEDLIMIT
# define DRIFT_SPEEDLIMIT 560.0f
#endif
#ifndef DRIFT_THR_ASSIST_GAIN
@ -38,6 +41,7 @@ static bool drift_init(bool ignore_checks)
static void drift_run()
{
static float breaker = 0.0;
static float roll_input = 0.0;
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
@ -63,16 +67,21 @@ static void drift_run()
float roll_vel = vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
float pitch_vel2 = min(fabs(pitch_vel), 800);
// gain sceduling for Yaw
float pitch_vel2 = min(fabs(pitch_vel), 2000);
target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
// simple gain scheduling for yaw input
target_yaw_rate = (float)(target_roll/2.0f) * (1.0f - (pitch_vel2 / 2400.0f)) * g.acro_yaw_p;
roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
roll_input = roll_input * .96 + (float)g.rc_4.control_in * .04;
roll_vel = constrain_float(roll_vel, -322, 322);
pitch_vel = constrain_float(pitch_vel, -322, 322);
//convert user input into desired roll velocity
float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
// always limit roll
target_roll = roll_vel * -DRIFT_SPEEDGAIN;
// Roll velocity is feed into roll acceleration to minimize slip
target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
target_roll = constrain_int16(target_roll, -4500, 4500);
// If we let go of sticks, bring us to a stop
if(target_pitch == 0){