From fe74a11b4ee8b310ec102e843d259eaec99c6784 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Tue, 18 Nov 2014 16:18:57 -0800
Subject: [PATCH] Copter: Drift mode gain changes and roll control through ch4
---
ArduCopter/control_drift.pde | 25 +++++++++++++++++--------
1 file changed, 17 insertions(+), 8 deletions(-)
diff --git a/ArduCopter/control_drift.pde b/ArduCopter/control_drift.pde
index 003856531..3217e3e46 100644
--- a/ArduCopter/control_drift.pde
+++ b/ArduCopter/control_drift.pde
@@ -5,7 +5,10 @@
*/
#ifndef DRIFT_SPEEDGAIN
- # define DRIFT_SPEEDGAIN 14.0f
+ # define DRIFT_SPEEDGAIN 8.0f
+#endif
+#ifndef DRIFT_SPEEDLIMIT
+ # define DRIFT_SPEEDLIMIT 560.0f
#endif
#ifndef DRIFT_THR_ASSIST_GAIN
@@ -38,6 +41,7 @@ static bool drift_init(bool ignore_checks)
static void drift_run()
{
static float breaker = 0.0;
+ static float roll_input = 0.0;
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
@@ -63,16 +67,21 @@ static void drift_run()
float roll_vel = vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
- float pitch_vel2 = min(fabs(pitch_vel), 800);
+ // gain sceduling for Yaw
+ float pitch_vel2 = min(fabs(pitch_vel), 2000);
+ target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
- // simple gain scheduling for yaw input
- target_yaw_rate = (float)(target_roll/2.0f) * (1.0f - (pitch_vel2 / 2400.0f)) * g.acro_yaw_p;
+ roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
+ pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
+
+ roll_input = roll_input * .96 + (float)g.rc_4.control_in * .04;
- roll_vel = constrain_float(roll_vel, -322, 322);
- pitch_vel = constrain_float(pitch_vel, -322, 322);
+ //convert user input into desired roll velocity
+ float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
- // always limit roll
- target_roll = roll_vel * -DRIFT_SPEEDGAIN;
+ // Roll velocity is feed into roll acceleration to minimize slip
+ target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
+ target_roll = constrain_int16(target_roll, -4500, 4500);
// If we let go of sticks, bring us to a stop
if(target_pitch == 0){
--
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