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TradHeli: Add yaw-only rate request function for flybar acro mode.

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Robert Lefebvre 2014-07-03 20:55:17 -04:00 committed by Randy Mackay
parent 3316fe8f63
commit a4f710a363
1 changed files with 18 additions and 5 deletions
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23
ArduCopter/heli_control_acro.pde
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@ -34,13 +34,15 @@ static void heli_acro_run()
if(motors.armed() && heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
}
// To-Do: add support for flybarred helis
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
}else{
// flybar helis only need yaw rate control
get_pilot_desired_yaw_rate(g.rc_4.control_in, target_yaw);
}
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
@ -49,4 +51,15 @@ static void heli_acro_run()
attitude_control.set_throttle_out(g.rc_3.control_in, false);
}
// get_pilot_desired_yaw_rate - transform pilot's yaw input into a desired yaw angle rate
// returns desired yaw rate in centi-degrees-per-second
static void get_pilot_desired_yaw_rate(int16_t yaw_in, float &yaw_out)
{
// calculate rate request
float rate_bf_yaw_request = yaw_in * g.acro_yaw_p;
// hand back rate request
yaw_out = rate_bf_yaw_request;
}
#endif //HELI_FRAME