Discussions

Hello

I have been trying to understand the Arducopter code, but i have some doubts that don't seem to go away -

Question 1 -

In File "Attitude.pde" (Version - v1.0, Aug 27, 2010) in function Rate_control_v2 on line 141, I see -

currentRollRate = ToDeg(Omega[0]);

should this not be -

currentRollRate = ToDeg(Omega_Vector[0]);

Isn't Omega_Vector the fully corrected Gyro reading? And if it is, should that not be used to get current roll rate rather than use Omega (which has only got integral correction)?

Question 2 -

In File "Attitude.pde" (Version - v1.0, Aug 27, 2010) in function Attitude_control_v3 on line 75 we have -

err_roll = stable_roll - ToDeg(Omega[0]); // Omega[] is the raw gyro reading plus Omega_I, so it´s bias corrected
control_roll = STABLE_MODE_KP_RATE_ROLL*err_roll;

Why are we subtracting Omgea from stable_roll? stable_roll already seems to have gain1*error+gain2*integral(error).

Question 3 -

I do not understand the use of the following variables - Arming_counter, Disarming_counter, motorArmed, motorSafety, Safety_counter.

Thanks in advance,

Srinath