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Copter: Acro balance fix

mission-4.1.18
lthall 11 years ago committed by Randy Mackay
parent
f630f9abc3
commit
f53181ec66
1 changed files with 4 additions and 4 deletions
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  1. 8
      ArduCopter/control_acro.pde

8
ArduCopter/control_acro.pde
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@ -71,15 +71,15 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int @@ -71,15 +71,15 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
// Calculate angle limiting earth frame rate commands
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (roll_angle > aparm.angle_max){
rate_ef_level.x -= g.acro_rp_p*(roll_angle-aparm.angle_max);
rate_ef_level.x -= g.acro_balance_roll*(roll_angle-aparm.angle_max);
}else if (roll_angle < -aparm.angle_max) {
rate_ef_level.x -= g.acro_rp_p*(roll_angle+aparm.angle_max);
rate_ef_level.x -= g.acro_balance_roll*(roll_angle+aparm.angle_max);
}
if (pitch_angle > aparm.angle_max){
rate_ef_level.y -= g.acro_rp_p*(pitch_angle-aparm.angle_max);
rate_ef_level.y -= g.acro_balance_pitch*(pitch_angle-aparm.angle_max);
}else if (pitch_angle < -aparm.angle_max) {
rate_ef_level.y -= g.acro_rp_p*(pitch_angle+aparm.angle_max);
rate_ef_level.y -= g.acro_balance_pitch*(pitch_angle+aparm.angle_max);
}
}

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