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Copter: FLIP mode options (WIP) #12277

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commented Sep 12, 2019

This adds FLIP_* parameters to FLIP mode, allowing for much greater control of the flip. It is a port of the FLIP mode from the SkyViper2018

@tridge tridge added Copter WIP labels Sep 12, 2019

@tridge tridge force-pushed the tridge:pr-flip-options branch from d2539c1 to a7ac629 Sep 12, 2019

Copter: added parameters for FLIP mode
this is the FLIP mode from SkyViper2018, worked on by Leonard and
myself

@tridge tridge force-pushed the tridge:pr-flip-options branch from a7ac629 to 1bb2c14 Sep 12, 2019

@@ -645,6 +645,25 @@ void AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw(float roll_angle_ste
// Calculates the body frame angular velocities to follow the target attitude
void AC_AttitudeControl::attitude_controller_run_quat()
{
if (_accel_roll_max_target > 0) {
const float delta_rate = 100000.0 / 400.0;

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khancyr Sep 12, 2019

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shouldn't this be a call to the correct loop rate ?


// update i term as long as we haven't breached the limits or the I term will certainly reduce
// To-Do: should this be replaced with limits check from attitude_controller?
if ((!_motors.limit.throttle_lower && !_motors.limit.throttle_upper) || (i>0&&_accel_error.z<0) || (i<0&&_accel_error.z>0)) {

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khancyr Sep 12, 2019

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use of is_zero() or positive/negative equivalent?

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