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ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP

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This commit is contained in:
rmackay9 2012-07-28 14:21:07 +09:00
parent f97257830b
commit 014f5aae99
3 changed files with 16 additions and 2 deletions
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9
ArduCopter/ArduCopter.pde
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@ -261,9 +261,13 @@ static GPS *g_gps_null;
#if QUATERNION_ENABLE == ENABLED #if QUATERNION_ENABLE == ENABLED
AP_AHRS_Quaternion ahrs(&imu, g_gps_null); AP_AHRS_Quaternion ahrs(&imu, g_gps_null);
#else
#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
#else #else
AP_AHRS_DCM ahrs(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
#endif #endif
#endif
AP_TimerProcess timer_scheduler; AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
@ -2368,6 +2372,11 @@ static void tuning(){
case CH6_AHRS_YAW_KP: case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value); ahrs._kp_yaw.set(tuning_value);
break; break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value);
//ahrs.push_gains_to_dmp();
break;
} }
} }

4
ArduCopter/config.h
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@ -1025,6 +1025,10 @@
# define QUATERNION_ENABLE DISABLED # define QUATERNION_ENABLE DISABLED
#endif #endif
// experimental mpu6000 DMP code
#ifndef DMP_ENABLED
# define DMP_ENABLED DISABLED
#endif
#ifndef ALTERNATIVE_YAW_MODE #ifndef ALTERNATIVE_YAW_MODE
# define ALTERNATIVE_YAW_MODE DISABLED # define ALTERNATIVE_YAW_MODE DISABLED

1
ArduCopter/defines.h
View File

@ -180,6 +180,7 @@
#define CH6_LOITER_RATE_KD 23 #define CH6_LOITER_RATE_KD 23
#define CH6_AHRS_YAW_KP 30 #define CH6_AHRS_YAW_KP 30
#define CH6_AHRS_KP 31
// nav byte mask // nav byte mask