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fixed a bug on Yaw.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1309 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-28 01:45:43 +00:00
parent 94ebc7860c
commit 10036c7277
2 changed files with 8 additions and 10 deletions
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2
ArduCopterMega/EEPROM.pde
View File

@ -8,7 +8,6 @@
void read_EEPROM_startup(void) void read_EEPROM_startup(void)
{ {
read_EEPROM_PID(); read_EEPROM_PID();
read_EEPROM_radio(); // read Radio limits
read_EEPROM_frame(); read_EEPROM_frame();
read_EEPROM_configs(); read_EEPROM_configs();
read_EEPROM_flight_modes(); read_EEPROM_flight_modes();
@ -16,6 +15,7 @@ void read_EEPROM_startup(void)
imu.load_gyro_eeprom(); imu.load_gyro_eeprom();
imu.load_accel_eeprom(); imu.load_accel_eeprom();
read_EEPROM_alt_RTL(); read_EEPROM_alt_RTL();
// magnatometer // magnatometer
read_EEPROM_mag(); read_EEPROM_mag();
read_EEPROM_mag_declination(); read_EEPROM_mag_declination();

16
ArduCopterMega/radio.pde
View File

@ -1,12 +1,12 @@
void init_rc_in() void init_rc_in()
{ {
read_EEPROM_radio(); // read Radio limits
rc_1.set_angle(4500); rc_1.set_angle(4500);
rc_1.dead_zone = 50; rc_1.dead_zone = 50;
rc_2.set_angle(4500); rc_2.set_angle(4500);
rc_2.dead_zone = 50; rc_2.dead_zone = 50;
rc_3.set_range(0,1000); rc_3.set_range(0,1000);
rc_3.dead_zone = 20; rc_3.dead_zone = 20;
//rc_3.radio_max += 300; // hack for better throttle control
rc_3.scale_output = .8; rc_3.scale_output = .8;
rc_4.set_angle(6000); rc_4.set_angle(6000);
rc_4.dead_zone = 500; rc_4.dead_zone = 500;
@ -15,7 +15,6 @@ void init_rc_in()
rc_6.set_range(200,800); rc_6.set_range(200,800);
rc_7.set_range(0,1000); rc_7.set_range(0,1000);
rc_8.set_range(0,1000); rc_8.set_range(0,1000);
} }
void init_rc_out() void init_rc_out()
@ -52,7 +51,7 @@ void read_radio()
void trim_radio() void trim_radio()
{ {
for (byte i = 0; i < 50; i++){ for (byte i = 0; i < 30; i++){
read_radio(); read_radio();
} }
rc_1.trim(); // roll rc_1.trim(); // roll
@ -62,7 +61,7 @@ void trim_radio()
void trim_yaw() void trim_yaw()
{ {
for (byte i = 0; i < 50; i++){ for (byte i = 0; i < 30; i++){
read_radio(); read_radio();
} }
rc_4.trim(); // yaw rc_4.trim(); // yaw
@ -162,20 +161,19 @@ void set_servos_4(void)
//*/ //*/
// //
/* debugging and dynamic kP /* debugging and dynamic kP
num++; num++;
if (num > 50){ if (num > 50){
num = 0; num = 0;
//Serial.printf("control_in: %d ", rc_3.control_in);
//Serial.printf(" servo: %d %d %d %d\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
//Serial.printf(" cwm: %d %d %d %d, %d\t", rc_1.pwm_out, rc_2.pwm_out, rc_3.pwm_out, rc_4.pwm_out, rc_3.radio_out);
//Serial.printf(" out: %d %d %d %d\n", r_out, l_out, f_out, b_out);
//Serial.printf(" pwm: %d, %d %d %d %d\n",rc_3.pwm_out, motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
pid_stabilize_roll.kP((float)rc_6.control_in / 1000); pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.25; stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.25;
init_pids(); init_pids();
//Serial.print("nav_yaw: ");
//Serial.println(nav_yaw,DEC);
//Serial.print("kP: "); //Serial.print("kP: ");
//Serial.println(pid_stabilize_roll.kP(),3); //Serial.println(pid_stabilize_roll.kP(),3);
} }