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Copter: ensure motors don't stop during flip

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This commit is contained in:
Randy Mackay 2014-08-23 23:39:36 +09:00
parent e1e010c504
commit 65ed77e803
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/control_flip.pde
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@ -141,7 +141,9 @@ static void flip_run()
// between 45deg ~ -90deg request 400deg/sec roll // between 45deg ~ -90deg request 400deg/sec roll
attitude_control.rate_bf_roll_pitch_yaw(FLIP_ROTATION_RATE * flip_roll_dir, 0.0, 0.0); attitude_control.rate_bf_roll_pitch_yaw(FLIP_ROTATION_RATE * flip_roll_dir, 0.0, 0.0);
// decrease throttle // decrease throttle
throttle_out -= FLIP_THR_DEC; if (throttle_out >= g.throttle_min) {
throttle_out = max(throttle_out - FLIP_THR_DEC, g.throttle_min);
}
// beyond -90deg move on to recovery // beyond -90deg move on to recovery
if ((flip_angle < 4500) && (flip_angle > -9000)) { if ((flip_angle < 4500) && (flip_angle > -9000)) {
@ -153,7 +155,9 @@ static void flip_run()
// between 45deg ~ -90deg request 400deg/sec pitch // between 45deg ~ -90deg request 400deg/sec pitch
attitude_control.rate_bf_roll_pitch_yaw(0.0, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0); attitude_control.rate_bf_roll_pitch_yaw(0.0, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0);
// decrease throttle // decrease throttle
throttle_out -= FLIP_THR_DEC; if (throttle_out >= g.throttle_min) {
throttle_out = max(throttle_out - FLIP_THR_DEC, g.throttle_min);
}
// check roll for inversion // check roll for inversion
if ((labs(ahrs.roll_sensor) > 9000) && (flip_angle > 4500)) { if ((labs(ahrs.roll_sensor) > 9000) && (flip_angle > 4500)) {
@ -165,7 +169,9 @@ static void flip_run()
// between 45deg ~ -90deg request 400deg/sec pitch // between 45deg ~ -90deg request 400deg/sec pitch
attitude_control.rate_bf_roll_pitch_yaw(0.0, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0); attitude_control.rate_bf_roll_pitch_yaw(0.0, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0);
// decrease throttle // decrease throttle
throttle_out -= FLIP_THR_DEC; if (throttle_out >= g.throttle_min) {
throttle_out = max(throttle_out - FLIP_THR_DEC, g.throttle_min);
}
// check roll for inversion // check roll for inversion
if ((labs(ahrs.roll_sensor) < 9000) && (flip_angle > -4500)) { if ((labs(ahrs.roll_sensor) < 9000) && (flip_angle > -4500)) {