kopia lustrzana https://github.com/YohanHadji/R2Home
Update spiral detection code
rodzic
14b26605cf
commit
b56a259026
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@ -28,11 +28,12 @@
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#define LINEAR_MODE 0 // command is linear (0), or linear but with a large deadband set using servo_start etc (1)
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#define LINEAR_MODE 0 // command is linear (0), or linear but with a large deadband set using servo_start etc (1)
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#define DROP true // R2Home's version, drop or motorised
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#define DROP true // R2Home's version, drop or motorised
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#define DESCENT_TIMER 1000
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#define DESCENT_TIMER 15000
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#define GLIDING_TIMER 3000
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#define OPENING_TIMER 6000
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#define DEP_ALT 100 // m above ground
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#define SPIRAL_RECOVER 5000
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#define VUP 1 // m/s
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#define DEP_ALT 300 // m above ground
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#define VDOWN -1.5 // m/s
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#define VUP 5 // m/s
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#define VDOWN -6 // m/s
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#define NKP 1
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#define NKP 1
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#define NKI 0.05
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#define NKI 0.05
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@ -8,6 +8,7 @@ bool flight_started = false;
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bool deployed = false;
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bool deployed = false;
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bool wing_opened = false;
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bool wing_opened = false;
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bool spiral = false;
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bool spiral = false;
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unsigned long spiral_time = 0;
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unsigned long init_time = 0;
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unsigned long init_time = 0;
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@ -155,9 +156,10 @@ void flight_gliding_auto() {
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if (is_descent(v_down(-5), 0)) {
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if (is_descent(v_down(-5), 0)) {
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spiral = true;
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spiral = true;
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spiral_time = millis();
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}
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}
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if (is_ascent(v_down(-2), 0)) {
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if (millis()-spiral_time>SPIRAL_RECOVER) {
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spiral = false;
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spiral = false;
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}
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}
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