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TradHeli - updated Heli.h to use AP_Compass instead of the outdated APM_Compass. Also changed autopilot on/off switch to be consistent with Quad. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1497 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2011-01-15 01:41:51 +00:00
parent 78095b1dd7
commit 067ddc4802
2 changed files with 30 additions and 35 deletions
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8
ArducopterNG/Heli.h
View File

@ -42,7 +42,7 @@ TODO:
#include <EEPROM.h> // added by Randy
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <APM_Compass.h> // ArduPilot Mega Compass Library
#include <AP_Compass.h> // ArduPilot Mega Compass Library
#include <DataFlash.h> // ArduPilot Mega DataFlash Library.
#include "../AP_Math/AP_Math.h"
@ -156,9 +156,9 @@ int roll_control_switch = 1;
int pitch_control_switch = 1;
int yaw_control_switch = 1;
int collective_control_switch = 0;
int position_control_switch = 0;
int position_control_engaged = 0; // we don't have enough buttons so we will turn this on and off with roll + pitch positions
int position_control_safety = 0; // if 0 then safety is off. if 1 then safety is on and position control will not operate
//int position_control_switch = 0;
//int position_control_engaged = 0; // we don't have enough buttons so we will turn this on and off with roll + pitch positions
//int position_control_safety = 0; // if 0 then safety is off. if 1 then safety is on and position control will not operate
/// for sending values out to servos
Vector3f ccpmPercents_out; // Array of ccpm input values, converted to percents

57
ArducopterNG/Heli.pde
View File

@ -164,8 +164,8 @@ void heli_setup()
roll_control_switch = !SW_DIP1;
pitch_control_switch = !SW_DIP2;
yaw_control_switch = !SW_DIP3;
collective_control_switch = 0; //!SW_DIP4;
position_control_switch = !SW_DIP4; // switch 4 controls whether we will do GPS hold or not
collective_control_switch = !SW_DIP4;
//position_control_switch = !SW_DIP4; // switch 4 controls whether we will do GPS hold or not
}
/*****************************************************************************************************/
@ -231,7 +231,7 @@ void heli_read_radio()
// get the yaw (not coded)
yawPercent = (yawSlope * APM_RC.InputCh(CHANNEL_YAW) + yawIntercept) - trim_yaw;
// we add 1500 to make it fit in with rest of arduCopter code..
// put decoded values into the global variables
ch_roll = rollPitchCollPercent.x;
ch_pitch = rollPitchCollPercent.y;
ch_collective = rollPitchCollPercent.z;
@ -242,42 +242,32 @@ void heli_read_radio()
else
ch_yaw = yawPercent;
// get the aux channel (for tuning on/off autopilot)
ch_aux = APM_RC.InputCh(CH_5) * ch_aux_slope + ch_aux_offset;
// convert to absolute angles
command_rx_roll = ch_roll / HELI_STICK_TO_ANGLE_FACTOR; // Convert stick position to absolute angles
command_rx_pitch = ch_pitch / HELI_STICK_TO_ANGLE_FACTOR; // Convert stick position to absolute angles
command_rx_collective = ch_collective;
command_rx_yaw = ch_yaw / HELI_YAW_STICK_TO_ANGLE_FACTOR; // Convert stick position to turn rate
// for use by non-heli parts of code
ch_throttle = 1000 + (ch_collective * 10);
// hardcode flight mode
flightMode = STABLE_MODE;
// if position_control could be active
if( position_control_switch == 1 && position_control_safety == 0 ) {
//if roll or pitch ever > 40% or < -40% turn off autopilot
if( AP_mode == AP_AUTOMATIC_MODE && (fabs(ch_roll) >= 40 || fabs(ch_pitch) >= 40 )) {
position_control_safety = 1;
target_position = 0; // force it to reset to current position
Serial.println("autopilot OFF! safety!");
}
// switch on auto pilot if elevator goes over 50%
if( AP_mode == AP_NORMAL_MODE && ch_collective >= 50 ) {
AP_mode = AP_AUTOMATIC_MODE;
Serial.println("autopilot on!");
}
// switch off auto pilot if elevator goes below 20%
if( AP_mode == AP_AUTOMATIC_MODE && ch_collective <= 20 ) {
AP_mode = AP_NORMAL_MODE;
target_position = 0; // force it to reset to current position
Serial.println("autopilot off!");
}
}else{
AP_mode = AP_NORMAL_MODE;
}
// turn off AP_AUTOMATIC_MODE if roll or pitch is > 40% or < -40%
// Autopilot mode (only works on Stable mode)
if (flightMode == STABLE_MODE)
{
if(ch_aux < 1300) {
AP_mode = AP_AUTOMATIC_MODE; // Automatic mode : GPS position hold mode + altitude hold
//SerPrln("autopilot ON!");
}else{
AP_mode = AP_NORMAL_MODE; // Normal mode
//SerPrln("autopilot OFF!");
}
}
}
/**********************************************************************/
@ -334,7 +324,7 @@ void heli_attitude_control(int command_roll, int command_pitch, int command_coll
heli_previousTimeMicros = currentTimeMicros;
// always pass through collective command
control_collective = command_rx_collective;
control_collective = command_collective;
// ROLL CONTROL -- ONE PID
if( roll_control_switch )
@ -428,6 +418,11 @@ void heli_attitude_control(int command_roll, int command_pitch, int command_coll
// straight pass through
control_yaw = ch_yaw;
}
Log_Write_PID(7,KP_QUAD_ROLL*err_roll,roll_I,roll_D,control_roll);
Log_Write_PID(8,KP_QUAD_PITCH*err_pitch,pitch_I,pitch_D,control_pitch);
Log_Write_PID(9,Kp_RateYaw*err_heading,heading_I,0,control_yaw_rate);
Log_Write_PID(10,KP_QUAD_YAW*err_yaw,yaw_I,yaw_D,control_yaw);
}
#endif // #if AIRFRAME == HELI