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Copter: remove unused flip.pde

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Randy Mackay 2014-01-31 13:55:21 +09:00 committed by Andrew Tridgell
parent d90d3d8dca
commit b87852ee2e
1 changed files with 0 additions and 82 deletions
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ArduCopter/flip.pde
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@ -1,82 +0,0 @@
// 2010 Jose Julio
// 2011 Adapted and updated for AC2 by Jason Short
//
// Automatic Acrobatic Procedure (AAP) v1 : Roll flip
// State machine aproach:
// Some states are fixed commands (for a fixed time)
// Some states are fixed commands (until some IMU condition)
// Some states include controls inside
uint8_t flip_timer;
uint8_t flip_state;
#define AAP_THR_INC 170
#define AAP_THR_DEC 120
#define AAP_ROLL_OUT 2000
static int8_t flip_dir;
void init_flip()
{
if(false == ap.do_flip) {
ap.do_flip = true;
flip_state = 0;
flip_dir = (ahrs.roll_sensor >= 0) ? 1 : -1;
Log_Write_Event(DATA_BEGIN_FLIP);
}
}
void roll_flip()
{
int32_t roll = ahrs.roll_sensor * flip_dir;
// Roll State machine
switch (flip_state) {
case 0:
if (roll < 4500) {
// Roll control
roll_rate_target_bf = 40000 * flip_dir;
if (throttle_mode_manual(throttle_mode)){
// increase throttle right before flip
set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
}
}else{
flip_state++;
}
break;
case 1:
if((roll >= 4500) || (roll < -9000)) {
#if FRAME_CONFIG == HELI_FRAME
roll_rate_target_bf = 40000 * flip_dir;
#else
roll_rate_target_bf = 40000 * flip_dir;
#endif
// decrease throttle while inverted
if (throttle_mode_manual(throttle_mode)){
set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false);
}
}else{
flip_state++;
flip_timer = 0;
}
break;
case 2:
// 100 = 1 second with 100hz
if (flip_timer < 100) {
// we no longer need to adjust the roll_rate.
// It will be handled by normal flight control loops
// increase throttle to gain any lost alitude
if (throttle_mode_manual(throttle_mode)){
set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
}
flip_timer++;
}else{
Log_Write_Event(DATA_END_FLIP);
ap.do_flip = false;
flip_state = 0;
}
break;
}
}