mirror of https://github.com/ArduPilot/ardupilot
80 lines
1.9 KiB
Plaintext
80 lines
1.9 KiB
Plaintext
// 2010 Jose Julio
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// 2011 Adapted 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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#if CH7_OPTION == CH7_FLIP
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void roll_flip()
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{
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#define AAP_THR_INC 180
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#define AAP_THR_DEC 90
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#define AAP_ROLL_OUT 2000
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#define AAP_ROLL_RATE 3000 // up to 1250
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static int AAP_timer = 0;
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static byte AAP_state = 0;
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// Yaw
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g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
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// Pitch
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g.rc_2.servo_out = get_stabilize_pitch(0);
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// State machine
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switch (AAP_state){
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case 0: // Step 1 : Initialize
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AAP_timer = 0;
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AAP_state++;
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break;
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case 1: // Step 2 : Increase throttle to start maneuver
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if (AAP_timer < 95){ // .5 seconds
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g.rc_1.servo_out = get_stabilize_roll(0);
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
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AAP_timer++;
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}else{
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AAP_state++;
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AAP_timer = 0;
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}
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break;
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case 2: // Step 3 : ROLL (until we reach a certain angle [45deg])
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if (ahrs.roll_sensor < 4500){
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// Roll control
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g.rc_1.servo_out = AAP_ROLL_OUT;
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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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AAP_state++;
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}
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break;
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case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45deg])
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if ((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -4500)){
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g.rc_1.servo_out = 0;
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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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AAP_state++;
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}
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break;
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case 4: // Step 5 : Increase throttle to stop the descend
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if (AAP_timer < 90){ // .5 seconds
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g.rc_1.servo_out = get_stabilize_roll(0);
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
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AAP_timer++;
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}else{
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AAP_state++;
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AAP_timer = 0;
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}
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break;
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case 5: // exit mode
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AAP_timer = 0;
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AAP_state = 0;
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do_flip = false;
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break;
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}
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}
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#endif
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