mirror of https://github.com/ArduPilot/ardupilot
219 lines
7.0 KiB
Plaintext
219 lines
7.0 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == HELI_FRAME
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#define HELI_SERVO_AVERAGING_DIGITAL 0 // 250Hz
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#define HELI_SERVO_AVERAGING_ANALOG 2 // 125Hz
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static int heli_manual_override = false;
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static float heli_throttle_scaler = 0;
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// heli_servo_averaging:
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// 0 or 1 = no averaging, 250hz
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// 2 = average two samples, 125hz
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// 3 = averaging three samples = 83.3 hz
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// 4 = averaging four samples = 62.5 hz
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// 5 = averaging 5 samples = 50hz
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// digital = 0 / 250hz, analog = 2 / 83.3
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static void heli_init_swash()
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{
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int i;
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int tilt_max[CH_3+1];
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int total_tilt_max = 0;
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// swash servo initialisation
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g.heli_servo_1.set_range(0,1000);
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g.heli_servo_2.set_range(0,1000);
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g.heli_servo_3.set_range(0,1000);
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g.heli_servo_4.set_angle(4500);
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// pitch factors
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heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos));
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heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos));
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heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos));
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// roll factors
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heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90));
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heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90));
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heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90));
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// collective min / max
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total_tilt_max = 0;
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for( i=CH_1; i<=CH_3; i++ ) {
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tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100;
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total_tilt_max = max(total_tilt_max,tilt_max[i]);
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}
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// servo min/max values - or should I use set_range?
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g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1];
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g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1];
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g.heli_servo_2.radio_min = g.heli_coll_min - tilt_max[CH_2];
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g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2];
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g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3];
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g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3];
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// scaler for changing channel 3 radio input into collective range
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heli_throttle_scaler = ((float)(g.heli_coll_max - g.heli_coll_min))/1000;
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// reset the servo averaging
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for( i=0; i<=3; i++ )
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heli_servo_out[i] = 0;
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// double check heli_servo_averaging is reasonable
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if( g.heli_servo_averaging < 0 || g.heli_servo_averaging < 0 > 5 ) {
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g.heli_servo_averaging = 0;
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g.heli_servo_averaging.save();
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}
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}
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static void heli_move_servos_to_mid()
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{
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heli_move_swash(0,0,1500,0);
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}
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//
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// heli_move_swash - moves swash plate to attitude of parameters passed in
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// - expected ranges:
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// roll : -4500 ~ 4500
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// pitch: -4500 ~ 4500
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// collective: 1000 ~ 2000
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// yaw: -4500 ~ 4500
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//
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static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
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{
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// ensure values are acceptable:
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roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
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pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
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coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max);
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// swashplate servos
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g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500);
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if( g.heli_servo_1.get_reverse() )
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g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out;
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g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500);
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if( g.heli_servo_2.get_reverse() )
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g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out;
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g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500);
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if( g.heli_servo_3.get_reverse() )
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g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out;
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g.heli_servo_4.servo_out = yaw_out;
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// use servo_out to calculate pwm_out and radio_out
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g.heli_servo_1.calc_pwm();
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g.heli_servo_2.calc_pwm();
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g.heli_servo_3.calc_pwm();
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g.heli_servo_4.calc_pwm();
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// add the servo values to the averaging
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heli_servo_out[0] += g.heli_servo_1.servo_out;
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heli_servo_out[1] += g.heli_servo_2.servo_out;
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heli_servo_out[2] += g.heli_servo_3.servo_out;
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heli_servo_out[3] += g.heli_servo_4.radio_out;
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heli_servo_out_count++;
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// is it time to move the servos?
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if( heli_servo_out_count >= g.heli_servo_averaging ) {
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// average the values if necessary
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if( g.heli_servo_averaging >= 2 ) {
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heli_servo_out[0] /= g.heli_servo_averaging;
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heli_servo_out[1] /= g.heli_servo_averaging;
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heli_servo_out[2] /= g.heli_servo_averaging;
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heli_servo_out[3] /= g.heli_servo_averaging;
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}
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// actually move the servos
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APM_RC.OutputCh(CH_1, heli_servo_out[0]);
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APM_RC.OutputCh(CH_2, heli_servo_out[1]);
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APM_RC.OutputCh(CH_3, heli_servo_out[2]);
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APM_RC.OutputCh(CH_4, heli_servo_out[3]);
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// output gyro value
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if( g.heli_ext_gyro_enabled ) {
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APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain);
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}
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#if INSTANT_PWM == 1
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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#endif
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// reset the averaging
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heli_servo_out_count = 0;
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heli_servo_out[0] = 0;
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heli_servo_out[1] = 0;
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heli_servo_out[2] = 0;
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heli_servo_out[3] = 0;
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}
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}
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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ICR5 = 5000; // 400 hz output CH 1, 2, 9
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ICR1 = 5000; // 400 hz output CH 3, 4, 10
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ICR3 = 40000; // 50 hz output CH 7, 8, 11
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#endif
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}
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// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
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static void output_motors_armed()
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{
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//static int counter = 0;
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g.rc_1.calc_pwm();
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g.rc_2.calc_pwm();
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g.rc_3.calc_pwm();
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g.rc_4.calc_pwm();
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if( heli_manual_override ) {
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// straight pass through from radio inputs to swash plate
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heli_move_swash( g.rc_1.control_in, g.rc_2.control_in, g.rc_3.radio_in, g.rc_4.control_in );
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}else{
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// source inputs from attitude controller
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heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out );
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}
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}
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// for helis - armed or disarmed we allow servos to move
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static void output_motors_disarmed()
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{
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if(g.rc_3.control_in > 0){
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// we have pushed up the throttle, remove safety
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motor_auto_armed = true;
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}
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output_motors_armed();
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}
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static void output_motor_test()
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{
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}
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// heli_get_scaled_throttle - user's throttle scaled to collective range
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// input is expected to be in the range of 0~1000 (ie. pwm)
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// also does equivalent of angle_boost
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static int heli_get_scaled_throttle(int throttle)
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{
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float scaled_throttle = (g.heli_coll_min - 1000) + throttle * heli_throttle_scaler;
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return g.heli_coll_min - 1000 + (throttle * heli_throttle_scaler);
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}
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// heli_angle_boost - takes servo_out position
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// adds a boost depending on roll/pitch values
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// equivalent of quad's angle_boost function
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// pwm_out value should be 0 ~ 1000
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static int heli_get_angle_boost(int pwm_out)
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{
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float angle_boost_factor = cos_pitch_x * cos_roll_x;
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angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
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int throttle_above_center = max(1000 + pwm_out - g.heli_coll_mid,0);
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return pwm_out + throttle_above_center*angle_boost_factor;
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}
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#endif // HELI_FRAME
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