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Changes Toy mode declarations to Drift mode. Requires GPS, Mode 2 transmitter Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.master
Jason Short
11 years ago
committed by
Randy Mackay
7 changed files with 96 additions and 81 deletions
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//////////////////////////////////////////////////////////////////////////////// |
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// Drift Mode |
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//////////////////////////////////////////////////////////////////////////////// |
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#define SPEEDGAIN 14.0 |
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// The function call for managing the flight mode drift |
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static void |
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get_roll_pitch_drift() |
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{ |
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} |
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static void |
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get_yaw_drift() |
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{ |
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static float breaker = 0.0; |
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// convert pilot input to lean angles |
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// moved to Yaw since it is called before get_roll_pitch_drift(); |
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get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch); |
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// Grab inertial velocity |
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Vector3f vel = inertial_nav.get_velocity(); |
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// rotate roll, pitch input from north facing to vehicle's perspective |
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float roll_vel = vel.y * cos_yaw - vel.x * sin_yaw; // body roll vel |
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float pitch_vel = vel.y * sin_yaw + vel.x * cos_yaw; // body pitch vel |
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float pitch_vel2 = min(fabs(pitch_vel), 800); |
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// simple gain scheduling for yaw input |
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get_yaw_rate_stabilized_ef((float)(control_roll/2) * (1.0 - (pitch_vel2 / 2400.0))); |
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roll_vel = constrain_float(roll_vel, -322, 322); |
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pitch_vel = constrain_float(pitch_vel, -322, 322); |
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// always limit roll |
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get_stabilize_roll(roll_vel * -SPEEDGAIN); |
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if(control_pitch == 0){ |
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// .14/ (.03 * 100) = 4.6 seconds till full breaking |
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breaker+= .03; |
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breaker = min(breaker, SPEEDGAIN); |
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// If we let go of sticks, bring us to a stop |
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get_stabilize_pitch(pitch_vel * breaker); |
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}else{ |
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breaker = 0.0; |
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get_stabilize_pitch(control_pitch); |
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} |
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} |
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@ -1,31 +0,0 @@
@@ -1,31 +0,0 @@
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//////////////////////////////////////////////////////////////////////////////// |
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// Toy Mode |
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//////////////////////////////////////////////////////////////////////////////// |
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static float toy_gain; |
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static void |
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get_yaw_toy() |
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{ |
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// convert pilot input to lean angles |
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// moved to Yaw since it is called before get_roll_pitch_toy(); |
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get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch); |
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// Gain scheduling for Yaw input - |
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// we reduce the yaw input based on the velocity of the copter |
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// 0 = full control, 600cm/s = 20% control |
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toy_gain = min(inertial_nav.get_velocity_xy(), 700); |
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toy_gain = 1.0 - (toy_gain / 800.0); |
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get_yaw_rate_stabilized_ef((float)control_roll * toy_gain); |
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} |
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// The function call for managing the flight mode Toy |
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static void |
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get_roll_pitch_toy() |
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{ |
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// pass desired roll, pitch to stabilize attitude controllers |
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get_stabilize_roll((float)control_roll * (1.0 - toy_gain)); |
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get_stabilize_pitch(control_pitch); |
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} |
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