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