Copter: drift moved to control_drift
This commit is contained in:
parent
212ced63f6
commit
70c8b622e2
75
ArduCopter/control_drift.pde
Normal file
75
ArduCopter/control_drift.pde
Normal file
@ -0,0 +1,75 @@
|
||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
/*
|
||||
* control_drift.pde - init and run calls for drift flight mode
|
||||
*/
|
||||
|
||||
#ifndef DRIFT_SPEEDGAIN
|
||||
# define DRIFT_SPEEDGAIN 14.0
|
||||
#endif
|
||||
|
||||
// drift_init - initialise drift controller
|
||||
static bool drift_init(bool ignore_checks)
|
||||
{
|
||||
if (GPS_ok() || ignore_checks) {
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// drift_run - runs the drift controller
|
||||
// should be called at 100hz or more
|
||||
static void drift_run()
|
||||
{
|
||||
static float breaker = 0.0;
|
||||
int16_t target_roll, target_pitch;
|
||||
float target_yaw_rate;
|
||||
|
||||
// if not armed or landed, set throttle to zero and exit immediately
|
||||
if(!motors.armed() || ap.land_complete) {
|
||||
attitude_control.init_targets();
|
||||
attitude_control.set_throttle_out(0, false);
|
||||
return;
|
||||
}
|
||||
|
||||
// convert pilot input to lean angles
|
||||
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_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
|
||||
target_yaw_rate = (float)(target_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
|
||||
target_roll = roll_vel * -DRIFT_SPEEDGAIN;
|
||||
|
||||
// If we let go of sticks, bring us to a stop
|
||||
if(target_pitch == 0){
|
||||
// .14/ (.03 * 100) = 4.6 seconds till full breaking
|
||||
breaker += .03;
|
||||
breaker = min(breaker, DRIFT_SPEEDGAIN);
|
||||
target_pitch = pitch_vel * breaker;
|
||||
}else{
|
||||
breaker = 0.0;
|
||||
}
|
||||
|
||||
// call attitude controller
|
||||
attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
|
||||
|
||||
// re-fetch angle targets for reporting
|
||||
const Vector3f angle_target = attitude_control.angle_ef_targets();
|
||||
control_roll = angle_target.x;
|
||||
control_pitch = angle_target.y;
|
||||
control_yaw = angle_target.z;
|
||||
}
|
Loading…
Reference in New Issue
Block a user