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Copter: Acro_Balance update

mission-4.1.18
Leonard Hall 6 years ago committed by Randy Mackay
parent
4754710e60
commit
8b7fe2ac12
2 changed files with 8 additions and 8 deletions
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  1. 8
      ArduCopter/mode_acro.cpp
  2. 8
      ArduCopter/mode_sport.cpp

8
ArduCopter/mode_acro.cpp
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@ -124,15 +124,15 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
if (g.acro_trainer == ACRO_TRAINER_LIMITED) { if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
const float angle_max = copter.aparm.angle_max; const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){ if (roll_angle > angle_max){
rate_ef_level.x -= g.acro_balance_roll*(roll_angle-angle_max); rate_ef_level.x += AC_AttitudeControl::sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
}else if (roll_angle < -angle_max) { }else if (roll_angle < -angle_max) {
rate_ef_level.x -= g.acro_balance_roll*(roll_angle+angle_max); rate_ef_level.x += AC_AttitudeControl::sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
} }
if (pitch_angle > angle_max){ if (pitch_angle > angle_max){
rate_ef_level.y -= g.acro_balance_pitch*(pitch_angle-angle_max); rate_ef_level.y += AC_AttitudeControl::sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
}else if (pitch_angle < -angle_max) { }else if (pitch_angle < -angle_max) {
rate_ef_level.y -= g.acro_balance_pitch*(pitch_angle+angle_max); rate_ef_level.y += AC_AttitudeControl::sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
} }
} }

8
ArduCopter/mode_sport.cpp
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@ -54,15 +54,15 @@ void ModeSport::run()
const float angle_max = copter.aparm.angle_max; const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){ if (roll_angle > angle_max){
target_roll_rate -= g.acro_rp_p*(roll_angle-angle_max); target_roll_rate += AC_AttitudeControl::sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
}else if (roll_angle < -angle_max) { }else if (roll_angle < -angle_max) {
target_roll_rate -= g.acro_rp_p*(roll_angle+angle_max); target_roll_rate += AC_AttitudeControl::sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
} }
if (pitch_angle > angle_max){ if (pitch_angle > angle_max){
target_pitch_rate -= g.acro_rp_p*(pitch_angle-angle_max); target_pitch_rate += AC_AttitudeControl::sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
}else if (pitch_angle < -angle_max) { }else if (pitch_angle < -angle_max) {
target_pitch_rate -= g.acro_rp_p*(pitch_angle+angle_max); target_pitch_rate += AC_AttitudeControl::sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
} }
// get pilot's desired yaw rate // get pilot's desired yaw rate

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