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Copter: reject bad RC roll-pitch inputs during stabilize flight

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Jonathan Challinger 2014-05-09 23:44:07 -07:00 committed by Randy Mackay
parent 5b5b840c5a
commit d839d5aa59
1 changed files with 18 additions and 8 deletions
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26
ArduCopter/ArduCopter.pde
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@ -1638,8 +1638,13 @@ void update_roll_pitch_mode(void)
// apply SIMPLE mode transform
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
if(failsafe.radio) {
// don't allow copter to fly away during failsafe
get_pilot_desired_lean_angles(0.0f, 0.0f, control_roll, control_pitch);
} else {
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
}
// pass desired roll, pitch to stabilize attitude controllers
get_stabilize_roll(control_roll);
@ -1659,8 +1664,13 @@ void update_roll_pitch_mode(void)
// apply SIMPLE mode transform
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
if(failsafe.radio) {
// don't allow copter to fly away during failsafe
get_pilot_desired_lean_angles(0.0f, 0.0f, control_roll, control_pitch);
} else {
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
}
// mix in user control with optical flow
control_roll = get_of_roll(control_roll);
@ -1679,6 +1689,10 @@ void update_roll_pitch_mode(void)
// apply SIMPLE mode transform
update_simple_mode();
// copy user input for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
if(failsafe.radio) {
// don't allow loiter target to move during failsafe
wp_nav.move_loiter_target(0.0f, 0.0f, 0.01f);
@ -1687,10 +1701,6 @@ void update_roll_pitch_mode(void)
wp_nav.move_loiter_target(g.rc_1.control_in, g.rc_2.control_in, 0.01f);
}
// copy latest output from nav controller to stabilize controller
control_roll = wp_nav.get_desired_roll();
control_pitch = wp_nav.get_desired_pitch();
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;