mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.7 KiB
Plaintext
70 lines
1.7 KiB
Plaintext
// 2010 Jose Julio
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// 2011 Adapted and updated for AC2 by Jason Short
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//
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// Automatic Acrobatic Procedure (AAP) v1 : Roll flip
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// State machine aproach:
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// Some states are fixed commands (for a fixed time)
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// Some states are fixed commands (until some IMU condition)
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// Some states include controls inside
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uint8_t flip_timer;
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uint8_t flip_state;
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#define AAP_THR_INC 170
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#define AAP_THR_DEC 120
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#define AAP_ROLL_OUT 2000
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static int8_t flip_dir;
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void init_flip()
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{
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if(do_flip == false) {
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do_flip = true;
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flip_state = 0;
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flip_dir = (ahrs.roll_sensor >= 0) ? 1 : -1;
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}
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}
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void roll_flip()
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{
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// Pitch
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//g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
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get_stabilize_pitch(g.rc_2.control_in);
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int32_t roll = ahrs.roll_sensor * flip_dir;
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// Roll State machine
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switch (flip_state) {
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case 0:
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if (roll < 4500) {
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// Roll control
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g.rc_1.servo_out = AAP_ROLL_OUT * flip_dir;
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
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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 1:
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if((roll >= 4500) || (roll < -9000)) {
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g.rc_1.servo_out = get_rate_roll(40000 * flip_dir);
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g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
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}else{
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flip_state++;
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flip_timer = 0;
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}
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break;
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case 2:
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if (flip_timer < 100) {
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//g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
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get_stabilize_roll(g.rc_1.control_in);
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
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flip_timer++;
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}else{
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do_flip = false;
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flip_state = 0;
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}
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break;
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}
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}
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