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75 lines
1.9 KiB
75 lines
1.9 KiB
// 2010 Jose Julio |
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// 2011 Adapted and updated 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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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 120 |
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#define AAP_ROLL_OUT 2000 |
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static int8_t flip_dir; |
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void init_flip() |
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{ |
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if(false == ap.do_flip) { |
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ap.do_flip = true; |
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flip_state = 0; |
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flip_dir = (ahrs.roll_sensor >= 0) ? 1 : -1; |
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Log_Write_Event(DATA_BEGIN_FLIP); |
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} |
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} |
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void roll_flip() |
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{ |
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// Pitch |
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//g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in); |
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get_stabilize_pitch(g.rc_2.control_in); |
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int32_t roll = ahrs.roll_sensor * flip_dir; |
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// Roll State machine |
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switch (flip_state) { |
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case 0: |
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if (roll < 4500) { |
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// Roll control |
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g.rc_1.servo_out = AAP_ROLL_OUT * flip_dir; |
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set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false); |
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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 1: |
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if((roll >= 4500) || (roll < -9000)) { |
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#if FRAME_CONFIG == HELI_FRAME |
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g.rc_1.servo_out = get_heli_rate_roll(40000 * flip_dir); |
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#else |
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g.rc_1.servo_out = get_rate_roll(40000 * flip_dir); |
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#endif // HELI_FRAME |
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set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false); |
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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: |
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if (flip_timer < 100) { |
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//g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in); |
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get_stabilize_roll(g.rc_1.control_in); |
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set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false); |
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flip_timer++; |
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}else{ |
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Log_Write_Event(DATA_END_FLIP); |
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ap.do_flip = false; |
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flip_state = 0; |
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} |
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break; |
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} |
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}
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