mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.8 KiB
Plaintext
57 lines
1.8 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Drift Mode
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#ifndef DRIFT_SPEEDGAIN
|
|
# define DRIFT_SPEEDGAIN 14.0
|
|
#endif
|
|
|
|
// The function call for managing the flight mode drift
|
|
static void
|
|
get_roll_pitch_drift()
|
|
{
|
|
}
|
|
|
|
// get_yaw_drift - roll-pitch and yaw controller for drift mode
|
|
static void
|
|
get_yaw_drift()
|
|
{
|
|
static float breaker = 0.0;
|
|
// convert pilot input to lean angles
|
|
// moved to Yaw since it is called before get_roll_pitch_drift();
|
|
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
|
|
|
|
// Grab inertial velocity
|
|
Vector3f vel = inertial_nav.get_velocity();
|
|
|
|
// rotate roll, pitch input from north facing to vehicle's perspective
|
|
float roll_vel = vel.y * cos_yaw - vel.x * sin_yaw; // body roll vel
|
|
float pitch_vel = vel.y * sin_yaw + vel.x * cos_yaw; // body pitch vel
|
|
|
|
float pitch_vel2 = min(fabs(pitch_vel), 800);
|
|
// simple gain scheduling for yaw input
|
|
get_yaw_rate_stabilized_ef((float)(control_roll/2) * (1.0 - (pitch_vel2 / 2400.0)));
|
|
|
|
roll_vel = constrain_float(roll_vel, -322, 322);
|
|
pitch_vel = constrain_float(pitch_vel, -322, 322);
|
|
|
|
// always limit roll
|
|
control_roll = roll_vel * -DRIFT_SPEEDGAIN;
|
|
get_stabilize_roll(control_roll);
|
|
|
|
if(control_pitch == 0){
|
|
// .14/ (.03 * 100) = 4.6 seconds till full breaking
|
|
breaker+= .03;
|
|
breaker = min(breaker, DRIFT_SPEEDGAIN);
|
|
// If we let go of sticks, bring us to a stop
|
|
control_pitch = pitch_vel * breaker;
|
|
}else{
|
|
breaker = 0.0;
|
|
}
|
|
|
|
// stabilize pitch
|
|
get_stabilize_pitch(control_pitch);
|
|
}
|