Which part of the code in the ArduCopter v2.7.3 makes the ArduCopter roll left/right, yaw and pitch up/down ??
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Which part of the code in the ArduCopter v2.7.3 makes the ArduCopter roll left/right, yaw and pitch up/down ??
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most of the attitude control code is in the Attitude.pde
get_stabilize_pitch takes an angle (x100) (we use centedegrees for integer accuracy and fast calcs where possible)
It returns a servo angle output which is converted to PWM by the motor mixer.
get_stabilize_pitch is called in Arducopter.pde by a variety of flight modes inside of a switch in update_roll_pitch_mode()
Jason