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Lots of little things. Yaw control is updated based on Jani's logs. Thanks!

Browse Source 
Takeoff now works well.
better logging.
tuned down kD for Yaw - was causing some bad behavior.
Auto mission now resets when entering mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-21 05:15:45 +00:00
parent 4cbbeb4860
commit 0c61e9dd79
11 changed files with 192 additions and 147 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
ArduCopterMega/APM_Config.h
View File

@ -6,18 +6,32 @@
#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_BACK
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
//#define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define GCS_PORT 0
#define SERIAL0_BAUD 38400
# define STABILIZE_ROLL_P 0.75
# define STABILIZE_PITCH_P 0.75
//# define STABILIZE_DAMPENER 0.1
#define STABILIZE_ROLL_P 0.75
#define STABILIZE_PITCH_P 0.75
//#define STABILIZE_DAMPENER 0.1
#define CHANNEL_6_TUNING CH6_NONE
//#define CHANNEL_6_TUNING CH6_STABLIZE_KP
/*
CH6_NONE
CH6_STABLIZE_KP
CH6_STABLIZE_KD
CH6_BARO_KP
CH6_BARO_KD
CH6_SONAR_KP
CH6_SONAR_KD
CH6_Y6_SCALING
*/
//#define ACRO_RATE_TRIGGER 4200
// if you want full ACRO mode, set value to 0
// if you want mostly stabilize with flips, set value to 4200

19
ArduCopterMega/ArduCopterMega.pde
View File

@ -632,17 +632,9 @@ void medium_loop()
Log_Write_Nav_Tuning();
if (g.log_bitmask & MASK_LOG_GPS){
if(home_is_set){
Log_Write_GPS(g_gps->time,
current_loc.lat,
current_loc.lng,
g_gps->altitude,
current_loc.alt,
(long)g_gps->ground_speed,
g_gps->ground_course,
g_gps->fix,
g_gps->num_sats);
}
//if(home_is_set){
Log_Write_GPS();
//}
}
// XXX this should be a "GCS medium loop" interface
@ -845,7 +837,7 @@ void update_GPS(void)
init_home();
// init altitude
current_loc.alt = g_gps->altitude;
current_loc.alt = home.alt;
ground_start_count = 0;
}
}
@ -1135,15 +1127,14 @@ void update_alt()
if(altitude_sensor == BARO){
current_loc.alt = baro_alt + home.alt;
}else{
sonar_alt = min(sonar_alt, 600);
current_loc.alt = sonar_alt + home.alt;
}
}else{
// no sonar altitude
current_loc.alt = baro_alt + home.alt;
}
//Serial.printf("b_alt: %ld, home: %ld ", baro_alt, home.alt);
#endif

42
ArduCopterMega/Attitude.pde
View File

@ -45,7 +45,7 @@ output_stabilize_roll()
error = constrain(error, -2500, 2500);
// only buildup I if we are trying to roll hard
if(abs(g.rc_1.servo_out) < 1500){
if(abs(g.rc_1.servo_out) < 1000){
// smoother alternative to reset?
//if(g.pid_stabilize_roll.kI() != 0){
// g.pid_stabilize_roll.kI(g.pid_stabilize_roll.kI() * .8);
@ -54,7 +54,7 @@ output_stabilize_roll()
}
// write out angles back to servo out - this will be converted to PWM by RC_Channel
g.rc_1.servo_out = g.pid_stabilize_roll.get_pid(error, delta_ms_fast_loop, 1.0);
g.rc_1.servo_out = g.pid_stabilize_roll.get_pid(error, delta_ms_fast_loop, 1.0); // 2500 * .7 = 1750
// We adjust the output by the rate of rotation:
// Rate control through bias corrected gyro rates
@ -99,9 +99,11 @@ void
clear_yaw_control()
{
//Serial.print("Clear ");
rate_yaw_flag = false; // exit rate_yaw_flag
nav_yaw = dcm.yaw_sensor; // save our Yaw
yaw_error = 0;
rate_yaw_flag = false; // exit rate_yaw_flag
nav_yaw = dcm.yaw_sensor; // save our Yaw
g.rc_4.servo_out = 0; // reset our output. It can stick when we are at 0 throttle
yaw_error = 0;
yaw_debug = YAW_HOLD; //0
}
void
@ -138,40 +140,38 @@ output_yaw_with_hold(boolean hold)
if(hold){
// try and hold the current nav_yaw setting
yaw_error = nav_yaw - dcm.yaw_sensor; // +- 60°
yaw_error = wrap_180(yaw_error);
yaw_error = nav_yaw - dcm.yaw_sensor; // +- 60°
yaw_error = wrap_180(yaw_error);
// limit the error we're feeding to the PID
yaw_error = constrain(yaw_error, -6000, 6000); // limit error to 60 degees
yaw_error = constrain(yaw_error, -6000, 6000); // limit error to 60 degees
// Apply PID and save the new angle back to RC_Channel
g.rc_4.servo_out = g.pid_yaw.get_pid(yaw_error, delta_ms_fast_loop, 1.0); // .5 * 6000 = 3000
g.rc_4.servo_out = g.pid_yaw.get_pid(yaw_error, delta_ms_fast_loop, 1.0); // .5 * 6000 = 3000
// add in yaw dampener
g.rc_4.servo_out -= constrain(dampener, -1800, 1800);
yaw_debug = YAW_HOLD; //0
g.rc_4.servo_out -= constrain(dampener, -2400, 2400);
yaw_debug = YAW_HOLD; //0
}else{
if(g.rc_4.control_in == 0){
// we are breaking;
//g.rc_4.servo_out = (omega.z > 0) ? -600 : 600;
// adaptive braking
g.rc_4.servo_out = (int)((-1800.0 * omega.z) / 1);
// -1800 * 0.925 / 6 = -277
yaw_debug = YAW_BRAKE; // 1
// adaptive braking
g.rc_4.servo_out = (int)((-3000.0 * omega.z) / 1);
yaw_debug = YAW_BRAKE; // 1
}else{
// RATE control
long error = ((long)g.rc_4.control_in * 6) - rate; // control is += 6000 * 6 = 36000
g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0); // kP .07 * 36000 = 2520
yaw_debug = YAW_RATE; // 2
yaw_debug = YAW_RATE; // 2
}
}
// Limit Output
g.rc_4.servo_out = constrain(g.rc_4.servo_out, -1800, 1800); // limit to 24°
g.rc_4.servo_out = constrain(g.rc_4.servo_out, -2400, 2400); // limit to 24°
//Serial.printf("%d\n",g.rc_4.servo_out);
}
@ -243,10 +243,10 @@ void calc_nav_throttle()
}
if(altitude_sensor == BARO){
nav_throttle = g.pid_baro_throttle.get_pid(error, delta_ms_fast_loop, scaler);
nav_throttle = g.pid_baro_throttle.get_pid(error, delta_ms_fast_loop, scaler); // .25
nav_throttle = g.throttle_cruise + constrain(nav_throttle, -30, 80);
}else{
nav_throttle = g.pid_sonar_throttle.get_pid(error, delta_ms_fast_loop, scaler);
nav_throttle = g.pid_sonar_throttle.get_pid(error, delta_ms_fast_loop, scaler); // .5
nav_throttle = g.throttle_cruise + constrain(nav_throttle, -60, 100);
}

199
ArduCopterMega/Log.pde
View File

@ -362,61 +362,54 @@ void Log_Write_Cmd(byte num, struct Location *wp)
DataFlash.WriteByte(num);
DataFlash.WriteByte(wp->id);
DataFlash.WriteByte(wp->p1);
DataFlash.WriteByte(wp->options);
DataFlash.WriteLong(wp->alt);
DataFlash.WriteLong(wp->lat);
DataFlash.WriteLong(wp->lng);
DataFlash.WriteByte(END_BYTE);
}
// Write a control tuning packet. Total length : 22 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
void Log_Write_Control_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
// Control
DataFlash.WriteInt((int)(g.rc_3.control_in));
DataFlash.WriteInt((int)(g.rc_3.servo_out));
DataFlash.WriteInt((int)(g.rc_4.control_in));
DataFlash.WriteInt((int)(g.rc_4.servo_out));
DataFlash.WriteInt((int)yaw_error);
// Yaw mode
DataFlash.WriteByte(yaw_debug);
// Gyro Rates
DataFlash.WriteInt((int)(omega.x * 1000));
DataFlash.WriteInt((int)(omega.y * 1000));
DataFlash.WriteInt((int)(omega.z * 1000));
// Position
DataFlash.WriteInt((int)dcm.pitch_sensor);
DataFlash.WriteInt((int)dcm.roll_sensor);
DataFlash.WriteInt((int)(dcm.yaw_sensor/10));
DataFlash.WriteByte(END_BYTE);
}
#endif
// Write a navigation tuning packet. Total length : 18 bytes
void Log_Write_Nav_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor);
DataFlash.WriteInt((int)wp_distance);
DataFlash.WriteInt((uint16_t)target_bearing);
DataFlash.WriteInt((uint16_t)nav_bearing);
DataFlash.WriteInt(altitude_error);
DataFlash.WriteInt((int)airspeed);
DataFlash.WriteInt((int)(nav_gain_scaler*1000));
DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); // 1
DataFlash.WriteInt((int)wp_distance); // 2
DataFlash.WriteInt((int)(target_bearing/100)); // 3
DataFlash.WriteInt((int)(nav_bearing/100)); // 4
DataFlash.WriteByte(altitude_sensor); // 5
DataFlash.WriteInt((int)sonar_alt); // 6
DataFlash.WriteInt((int)baro_alt); // 7
DataFlash.WriteInt(home.alt); // 8
DataFlash.WriteInt((int)next_WP.alt); // 9
DataFlash.WriteInt((int)altitude_error); // 10
DataFlash.WriteByte(END_BYTE);
}
void Log_Read_Nav_Tuning()
{
// 1 2 3 4 5 6 7 8 9 10
Serial.printf_P(PSTR("NTUN, %d, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"),
DataFlash.ReadInt(), //yaw sensor
DataFlash.ReadInt(), //distance
DataFlash.ReadInt(), //target bearing
DataFlash.ReadInt(), //nav bearing
DataFlash.ReadByte(), //Alt sensor
DataFlash.ReadInt(), //Sonar
DataFlash.ReadInt(), //Baro
DataFlash.ReadInt(), //home.alt
DataFlash.ReadInt(), //Next_alt
DataFlash.ReadInt()); //Alt Error
}
// Write a mode packet. Total length : 5 bytes
void Log_Write_Mode(byte mode)
{
@ -428,24 +421,48 @@ void Log_Write_Mode(byte mode)
}
// Write an GPS packet. Total length : 30 bytes
void Log_Write_GPS( long log_Time, long log_Lattitude, long log_Longitude, long log_mix_alt, long log_gps_alt,
long log_Ground_Speed, long log_Ground_Course, byte log_Fix, byte log_NumSats)
void Log_Write_GPS()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_GPS_MSG);
DataFlash.WriteLong(log_Time);
DataFlash.WriteByte(log_Fix);
DataFlash.WriteByte(log_NumSats);
DataFlash.WriteLong(log_Lattitude);
DataFlash.WriteLong(log_Longitude);
DataFlash.WriteLong(log_mix_alt);
DataFlash.WriteLong(log_gps_alt);
DataFlash.WriteLong(log_Ground_Speed);
DataFlash.WriteLong(log_Ground_Course);
DataFlash.WriteLong(g_gps->time); // 1
DataFlash.WriteByte(g_gps->fix); // 2
DataFlash.WriteByte(g_gps->num_sats); // 3
DataFlash.WriteLong(current_loc.lat); // 4
DataFlash.WriteLong(current_loc.lng); // 5
DataFlash.WriteLong(g_gps->altitude); // 6
DataFlash.WriteLong(current_loc.alt); // 7
DataFlash.WriteInt(g_gps->ground_speed); // 8
DataFlash.WriteInt((int)(g_gps->ground_course/100)); // 9
DataFlash.WriteByte(END_BYTE);
}
// Read a GPS packet
void Log_Read_GPS()
{ // 1 2 3 4 5 6 7 8 9
// GPS, t, 1, 8, 37.7659070, -122.4329400, 57.0500, 58.1400, 658.8400, -11636846.0000
// 1 2 3 4 5 6 7 8 9
Serial.printf_P(PSTR("GPS, %ld, %d, %d, %4.7f, %4.7f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
DataFlash.ReadLong(), // 1 time
(int)DataFlash.ReadByte(), // 2 fix
(int)DataFlash.ReadByte(), // 3 sats
(float)DataFlash.ReadLong() / t7, // 4 lat
(float)DataFlash.ReadLong() / t7, // 5 lon
(float)DataFlash.ReadLong() / 100.0, // 6 gps alt
(float)DataFlash.ReadLong() / 100.0, // 7 sensor alt
(float)DataFlash.ReadInt() / 100.0, // 8 ground speed
(float)DataFlash.ReadInt()); // 9 ground course
}
// Write an raw accel/gyro data packet. Total length : 28 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
void Log_Write_Raw()
@ -491,10 +508,47 @@ void Log_Read_Current()
DataFlash.ReadInt());
}
// Write a control tuning packet. Total length : 22 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
void Log_Write_Control_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
// Control
DataFlash.WriteInt((int)(g.rc_3.control_in));
DataFlash.WriteInt((int)(g.rc_3.servo_out));
DataFlash.WriteInt((int)(g.rc_4.control_in));
DataFlash.WriteInt((int)(g.rc_4.servo_out));
DataFlash.WriteInt((int)yaw_error);
// Yaw mode
DataFlash.WriteByte(yaw_debug);
// Gyro Rates
DataFlash.WriteInt((int)(omega.x * 1000));
DataFlash.WriteInt((int)(omega.y * 1000));
DataFlash.WriteInt((int)(omega.z * 1000));
DataFlash.WriteInt((int)g.throttle_cruise);
DataFlash.WriteInt((int)g.pid_baro_throttle.get_integrator());
DataFlash.WriteInt((int)g.pid_sonar_throttle.get_integrator());
// Position
//DataFlash.WriteInt((int)dcm.pitch_sensor);
//DataFlash.WriteInt((int)dcm.roll_sensor);
//DataFlash.WriteInt((int)(dcm.yaw_sensor/10));
DataFlash.WriteByte(END_BYTE);
}
#endif
// Read an control tuning packet
void Log_Read_Control_Tuning()
{
Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %ld\n"),
Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %d\n"),
// Control
DataFlash.ReadInt(),
DataFlash.ReadInt(),
@ -512,24 +566,17 @@ void Log_Read_Control_Tuning()
(float)DataFlash.ReadInt() / 1000.0,
// Position
//DataFlash.ReadInt(),
//DataFlash.ReadInt(),
//(long)DataFlash.ReadInt() * 10);
// Alt Hold
DataFlash.ReadInt(),
DataFlash.ReadInt(),
(long)DataFlash.ReadInt() * 10);
DataFlash.ReadInt());
}
// Read a nav tuning packet
void Log_Read_Nav_Tuning()
{
Serial.printf_P(PSTR("NTUN: %4.4f, %d, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f,\n"),
(float)((uint16_t)DataFlash.ReadInt())/100.0,
DataFlash.ReadInt(),
(float)((uint16_t)DataFlash.ReadInt())/100.0,
(float)((uint16_t)DataFlash.ReadInt())/100.0,
(float)DataFlash.ReadInt()/100.0,
(float)DataFlash.ReadInt()/100.0,
(float)DataFlash.ReadInt()/1000.0);
}
// Read a performance packet
void Log_Read_Performance()
@ -560,12 +607,12 @@ void Log_Read_Cmd()
long logvarl;
Serial.printf_P(PSTR("CMD:"));
for(int i = 1; i < 4; i++) {
for(int i = 1; i <= 4; i++) {
logvarb = DataFlash.ReadByte();
Serial.print(logvarb, DEC);
Serial.print(comma);
}
for(int i = 1; i < 4; i++) {
for(int i = 1; i <= 3; i++) {
logvarl = DataFlash.ReadLong();
Serial.print(logvarl, DEC);
Serial.print(comma);
@ -589,22 +636,6 @@ void Log_Read_Mode()
Serial.println(flight_mode_strings[DataFlash.ReadByte()]);
}
// Read a GPS packet
void Log_Read_GPS()
{
Serial.printf_P(PSTR("GPS: %ld, %d, %d, %4.7f, %4.7f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
DataFlash.ReadLong(),
(int)DataFlash.ReadByte(),
(int)DataFlash.ReadByte(),
(float)DataFlash.ReadLong() / t7,
(float)DataFlash.ReadLong() / t7,
(float)DataFlash.ReadLong() / 100.0,
(float)DataFlash.ReadLong() / 100.0,
(float)DataFlash.ReadLong() / 100.0,
(float)DataFlash.ReadLong() / 100.0);
}
// Read a raw accel/gyro packet
void Log_Read_Raw()
{

7
ArduCopterMega/commands.pde
View File

@ -15,6 +15,10 @@ void init_auto()
Serial.println("ia_f");
do_RTL();
}
// initialize commands
// -------------------
init_commands();
}
// this is only used by an air-start
@ -76,7 +80,6 @@ struct Location get_wp_with_index(int i)
// this is a hack for now, until we get GUI support
yaw_tracking = TRACK_NEXT_WP;
return temp;
}
@ -222,6 +225,8 @@ void init_home()
// -------------------
set_wp_with_index(home, 0);
print_wp(&home, 0);
// Save prev loc
// -------------
next_WP = prev_WP = home;

11
ArduCopterMega/commands_logic.pde
View File

@ -126,7 +126,7 @@ bool handle_no_commands()
bool verify_must()
{
Serial.printf("vmust ::%d", nav_throttle);
//Serial.printf("vmust: %d\n", command_must_ID);
switch(command_must_ID) {
@ -219,11 +219,12 @@ void do_RTL(void)
void do_takeoff()
{
Location temp = current_loc;
temp.alt += next_command.alt;
temp.alt = next_command.alt;
takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
Serial.print("dt ");
Serial.println(temp.alt,DEC);
//Serial.print("dt ");
//Serial.println(temp.alt, DEC);
set_next_WP(&temp);
}
@ -294,7 +295,7 @@ void do_loiter_time()
bool verify_takeoff()
{
Serial.print("vt ");
//Serial.printf("vt c_alt:%ld, n_alt:%ld\n", current_loc.alt, next_WP.alt);
// wait until we are ready!
if(g.rc_3.control_in == 0)

6
ArduCopterMega/commands_process.pde
View File

@ -35,6 +35,8 @@ void load_next_command_from_EEPROM()
// -----------------------------------------------------
if(next_command.id == NO_COMMAND){
next_command = get_wp_with_index(g.waypoint_index + 1);
//Serial.println("AA");
print_wp(&next_command, g.waypoint_index + 1);
}
// If the preload failed, return or just Loiter
@ -61,6 +63,7 @@ void process_next_command()
SendDebug("MSG <pnc> new c_must_id ");
SendDebug(next_command.id,DEC);
SendDebug(" index:");
SendDebugln(command_must_index,DEC);
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.waypoint_index, &next_command);
@ -104,7 +107,8 @@ void process_must()
{
//gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
Serial.printf("pmst %d\n", (int)next_command.id);
//Serial.printf("pmst %d\n", (int)next_command.id);
print_wp(&next_command, g.waypoint_index);
// clear May indexes
command_may_index = NO_COMMAND;

4
ArduCopterMega/config.h
View File

@ -349,7 +349,7 @@
# define YAW_I 0.0 // Always 0
#endif
#ifndef YAW_D
# define YAW_D 0.175 //
# define YAW_D 0.05 // Trying a lower value to prevent odd behavior
#endif
#ifndef YAW_IMAX
# define YAW_IMAX 0 // Always 0
@ -399,7 +399,7 @@
#ifndef THROTTLE_SONAR_P
# define THROTTLE_SONAR_P .5
# define THROTTLE_SONAR_P .65 // upped a hair from .5
#endif
#ifndef THROTTLE_SONAR_I
# define THROTTLE_SONAR_I 0.1

2
ArduCopterMega/radio.pde
View File

@ -14,7 +14,7 @@ void init_rc_in()
g.rc_2.set_angle(4500);
g.rc_3.set_range(0,1000);
g.rc_3.scale_output = .9;
g.rc_4.set_angle(6000);
g.rc_4.set_angle(4500);
// set rc dead zones
g.rc_1.dead_zone = 60; // 60 = .6 degrees

13
ArduCopterMega/system.pde
View File

@ -17,9 +17,9 @@ extern int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
" logs\n"
" setup\n"
" test\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n"));
@ -171,7 +171,7 @@ void init_ardupilot()
pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
pinMode(PUSHBUTTON_PIN, INPUT); // unused
DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
// Logging:
// --------
DataFlash.Init(); // DataFlash log initialization
@ -224,7 +224,7 @@ void init_ardupilot()
//********************************************************************************
void startup_ground(void)
{
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
gcs.send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
#if(GROUND_START_DELAY > 0)
//gcs.send_text_P(SEVERITY_LOW, PSTR(" With Delay"));
@ -275,9 +275,10 @@ void startup_ground(void)
break;
}
}
report_gps();
SendDebug("\nReady to FLY ");
gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
//gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
void set_mode(byte mode)

12
ArduCopterMega/test.pde
View File

@ -134,14 +134,12 @@ test_radio(uint8_t argc, const Menu::arg *argv)
while(1){
delay(20);
read_radio();
output_manual_throttle();
//output_manual_throttle();
//g.rc_1.calc_pwm();
//g.rc_2.calc_pwm();
//g.rc_4.calc_pwm();
g.rc_1.calc_pwm();
g.rc_2.calc_pwm();
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"),
Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"),
g.rc_1.control_in,
g.rc_2.control_in,
g.rc_3.control_in,