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88 lines
2.0 KiB
88 lines
2.0 KiB
// 2010 Jose Julio |
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// 2011 Adapted for AC2 by Jason Short |
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// |
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// Automatic Acrobatic Procedure (AAP) v1 : Roll flip |
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// State machine aproach: |
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// Some states are fixed commands (for a fixed time) |
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// Some states are fixed commands (until some IMU condition) |
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// Some states include controls inside |
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#if CH7_OPTION == CH7_FLIP |
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uint8_t flip_timer; |
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uint8_t flip_state; |
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#define AAP_THR_INC 170 |
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#define AAP_THR_DEC 90 |
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#define AAP_ROLL_OUT 2000 |
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void init_flip() |
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{ |
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if(do_flip == false){ |
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do_flip = true; |
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flip_timer = 0; |
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flip_state = 0; |
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} |
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} |
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void roll_flip() |
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{ |
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// Yaw |
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g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); |
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// Pitch |
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g.rc_2.servo_out = get_stabilize_pitch(0); |
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// Roll State machine |
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switch (flip_state){ |
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case 0: // Step 1 : Initialize |
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flip_timer = 0; |
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flip_state++; |
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break; |
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case 1: // Step 2 : Increase throttle to start maneuver |
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if (flip_timer < 95){ // .5 seconds |
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g.rc_1.servo_out = get_stabilize_roll(0); |
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC; |
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flip_timer++; |
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}else{ |
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flip_state++; |
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flip_timer = 0; |
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} |
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break; |
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case 2: // Step 3 : ROLL (until we reach a certain angle [45deg]) |
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if (ahrs.roll_sensor < 4500){ |
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// Roll control |
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g.rc_1.servo_out = AAP_ROLL_OUT; |
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g.rc_3.servo_out = g.rc_3.control_in; |
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}else{ |
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flip_state++; |
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} |
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break; |
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case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45deg]) |
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if((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -9000)){// we are in second half of roll |
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g.rc_1.servo_out = 0; |
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g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC; |
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}else{ |
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flip_state++; |
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} |
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break; |
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case 4: // Step 5 : Increase throttle to stop the descend |
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if (flip_timer < 90){ // .5 seconds |
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g.rc_1.servo_out = get_stabilize_roll(0); |
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g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC + 30; |
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flip_timer++; |
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}else{ |
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flip_state++; |
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flip_timer = 0; |
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} |
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break; |
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case 5: // exit mode |
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flip_timer = 0; |
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flip_state = 0; |
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do_flip = false; |
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break; |
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} |
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} |
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#endif
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