Updates for 2.0.21

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2459 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -6,9 +6,10 @@
 
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 
-#define NAV_TEST 1	// 0 = traditional, 1 = rate controlled
+#define NAV_TEST 1			// 0 = traditional, 1 = rate controlled
-#define YAW_OPTION 0	// 0 = hybrid rate approach, 1 = offset Yaw approach
+#define YAW_OPTION 0		// 0 = hybrid rate approach, 1 = offset Yaw approach
 #define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
+#define CUT_MOTORS 1		// do we cut the motors with no throttle?
 
 // do we want to have camera stabilization?
 #define CAMERA_STABILIZER ENABLED

ArduCopterMega/ArduCopterMega.pde

@@ -779,6 +779,17 @@ void slow_loop()
 				read_battery();
 			#endif
 
+			#if AUTO_RESET_LOITER == 1
+			if(control_mode == LOITER){
+				if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){
+					// reset LOITER to current position
+					long temp 	= next_WP.alt;
+					next_WP 	= current_loc;
+					next_WP.alt = temp;
+				}
+			}
+			#endif
+
 			break;
 
 		case 2:
@@ -850,6 +861,7 @@ void super_slow_loop()
 		gcs_simple.ack();
 		*/
 	//}
+
 }
 
 void update_GPS(void)
@@ -1100,15 +1112,6 @@ void update_current_flight_mode(void)
 				// allow interactive changing of atitude
 				adjust_altitude();
 
-				#if AUTO_RESET_LOITER == 1
-				if((g.rc_2.control_in + g.rc_1.control_in) != 0){
-					// reset LOITER to current position
-					long temp 	= next_WP.alt;
-					next_WP 	= current_loc;
-					next_WP.alt = temp;
-				}
-				#endif
-
 				// Output Pitch, Roll, Yaw and Throttle
 				// ------------------------------------
 

ArduCopterMega/config.h

@@ -27,14 +27,6 @@
 /// change in your local copy of APM_Config.h.
 ///
 #include "APM_Config.h"  // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
-///
-/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
-/// change in your local copy of APM_Config.h.
-///
-
-// Just so that it's completely clear...
-#define ENABLED			1
-#define DISABLED		0
 
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
@@ -256,7 +248,7 @@
 // GROUND_START_DELAY
 //
 #ifndef GROUND_START_DELAY
-# define GROUND_START_DELAY		0
+# define GROUND_START_DELAY		3
 #endif
 
 
@@ -567,6 +559,19 @@
 #endif
 
 
+#ifndef NAV_TEST
+# define NAV_TEST		1		// 0 = traditional, 1 = rate controlled
+#endif
+#ifndef YAW_OPTION
+# define YAW_OPTION		0		// 0 = hybrid rate approach, 1 = offset Yaw approach
+#endif
+#ifndef AUTO_RESET_LOITER
+# define AUTO_RESET_LOITER	1	// enables Loiter to reset it's current location based on stick input.
+#endif
+#ifndef CUT_MOTORS
+# define CUT_MOTORS		1		// do we cut the motors with no throttle?
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // RC override
 //

ArduCopterMega/defines.h

@@ -1,5 +1,8 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+// Just so that it's completely clear...
+#define ENABLED			1
+#define DISABLED		0
 
 // active altitude sensor
 // ----------------------

ArduCopterMega/motors_hexa.pde

@@ -64,6 +64,9 @@ void output_motors_armed()
 	motor_out[CH_7]  = max(motor_out[CH_7],  out_min);
 	motor_out[CH_8]  = max(motor_out[CH_8],  out_min);
 
+
+
+	#if CUT_MOTORS == ENABLED
 	// Send commands to motors
 	if(g.rc_3.servo_out > 0){
 		APM_RC.OutputCh(CH_1, motor_out[CH_1]);
@@ -85,6 +88,21 @@ void output_motors_armed()
 		APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
 		APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
 	}
+
+	#else
+
+		APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+		APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+		APM_RC.OutputCh(CH_3, motor_out[CH_3]);
+		APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+		APM_RC.OutputCh(CH_7, motor_out[CH_7]);
+		APM_RC.OutputCh(CH_8, motor_out[CH_8]);
+
+		// InstantPWM
+		APM_RC.Force_Out0_Out1();
+		APM_RC.Force_Out6_Out7();
+		APM_RC.Force_Out2_Out3();
+	#endif
 }
 
 void output_motors_disarmed()
@@ -198,4 +216,5 @@ void output_motor_test()
 	delay(1000);
 }
 */
+
 #endif

ArduCopterMega/motors_octa.pde

@@ -80,8 +80,33 @@ void output_motors_armed()
 	motor_out[CH_10]	= max(motor_out[CH_10], out_min);
 	motor_out[CH_11] 	= max(motor_out[CH_11], out_min);
 
-	// Send commands to motors
+	#if CUT_MOTORS == ENABLED
-	if(g.rc_3.servo_out > 0){
+		// Send commands to motors
+		if(g.rc_3.servo_out > 0){
+			APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+			APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+			APM_RC.OutputCh(CH_3, motor_out[CH_3]);
+			APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+			APM_RC.OutputCh(CH_7, motor_out[CH_7]);
+			APM_RC.OutputCh(CH_8, motor_out[CH_8]);
+			APM_RC.OutputCh(CH_10, motor_out[CH_10]);
+			APM_RC.OutputCh(CH_11, motor_out[CH_11]);
+
+			// InstantPWM
+			APM_RC.Force_Out0_Out1();
+			APM_RC.Force_Out6_Out7();
+			APM_RC.Force_Out2_Out3();
+		}else{
+			APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
+		}
+	#else
 		APM_RC.OutputCh(CH_1, motor_out[CH_1]);
 		APM_RC.OutputCh(CH_2, motor_out[CH_2]);
 		APM_RC.OutputCh(CH_3, motor_out[CH_3]);
@@ -95,16 +120,7 @@ void output_motors_armed()
 		APM_RC.Force_Out0_Out1();
 		APM_RC.Force_Out6_Out7();
 		APM_RC.Force_Out2_Out3();
-	}else{
+	#endif
-		APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
-	}
 }
 
 void output_motors_disarmed()
@@ -167,3 +183,4 @@ void output_motor_test()
 }
 
 #endif
+

ArduCopterMega/motors_quad.pde

@@ -57,8 +57,23 @@ void output_motors_armed()
 	motor_out[CH_3]		= max(motor_out[CH_3], 	out_min);
 	motor_out[CH_4] 	= max(motor_out[CH_4], 	out_min);
 
-	// Send commands to motors
+	#if CUT_MOTORS == ENABLED
-	if(g.rc_3.servo_out > 0){
+		// Send commands to motors
+		if(g.rc_3.servo_out > 0){
+			APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+			APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+			APM_RC.OutputCh(CH_3, motor_out[CH_3]);
+			APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+			// InstantPWM
+			APM_RC.Force_Out0_Out1();
+			APM_RC.Force_Out2_Out3();
+		}else{
+			APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+		}
+	#else
 		APM_RC.OutputCh(CH_1, motor_out[CH_1]);
 		APM_RC.OutputCh(CH_2, motor_out[CH_2]);
 		APM_RC.OutputCh(CH_3, motor_out[CH_3]);
@@ -66,12 +81,7 @@ void output_motors_armed()
 		// InstantPWM
 		APM_RC.Force_Out0_Out1();
 		APM_RC.Force_Out2_Out3();
-	}else{
+	#endif
-		APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
-	}
 }
 
 void output_motors_disarmed()

ArduCopterMega/motors_tri.pde

@@ -33,19 +33,33 @@ void output_motors_armed()
 	motor_out[CH_2]		= max(motor_out[CH_2], 	out_min);
 	motor_out[CH_4] 	= max(motor_out[CH_4], 	out_min);
 
-		// Send commands to motors
+	#if CUT_MOTORS == ENABLED
-	if(g.rc_3.servo_out > 0){
+			// Send commands to motors
+		if(g.rc_3.servo_out > 0){
+			APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+			APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+			APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+			// InstantPWM
+			APM_RC.Force_Out0_Out1();
+			APM_RC.Force_Out2_Out3();
+		}else{
+			APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+		}
+
+	#else
+
 		APM_RC.OutputCh(CH_1, motor_out[CH_1]);
 		APM_RC.OutputCh(CH_2, motor_out[CH_2]);
 		APM_RC.OutputCh(CH_4, motor_out[CH_4]);
 		// InstantPWM
 		APM_RC.Force_Out0_Out1();
 		APM_RC.Force_Out2_Out3();
-	}else{
+	#endif
-		APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
+
-		APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
+
-		APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+
-	}
 }
 
 void output_motors_disarmed()

ArduCopterMega/motors_y6.pde

@@ -41,8 +41,29 @@ void output_motors_armed()
 	motor_out[CH_1]		-= g.rc_4.pwm_out;	// CW
 	motor_out[CH_4]		-= g.rc_4.pwm_out;  // CW
 
-	// Send commands to motors
+	#if CUT_MOTORS == ENABLED
-	if(g.rc_3.servo_out > 0){
+		// Send commands to motors
+		if(g.rc_3.servo_out > 0){
+			APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+			APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+			APM_RC.OutputCh(CH_3, motor_out[CH_3]);
+			APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+			APM_RC.OutputCh(CH_7, motor_out[CH_7]);
+			APM_RC.OutputCh(CH_8, motor_out[CH_8]);
+
+			// InstantPWM
+			APM_RC.Force_Out0_Out1();
+			APM_RC.Force_Out6_Out7();
+			APM_RC.Force_Out2_Out3();
+		}else{
+			APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
+			APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
+		}
+	#else
 		APM_RC.OutputCh(CH_1, motor_out[CH_1]);
 		APM_RC.OutputCh(CH_2, motor_out[CH_2]);
 		APM_RC.OutputCh(CH_3, motor_out[CH_3]);
@@ -54,14 +75,7 @@ void output_motors_armed()
 		APM_RC.Force_Out0_Out1();
 		APM_RC.Force_Out6_Out7();
 		APM_RC.Force_Out2_Out3();
-	}else{
+	#endif
-		APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
-		APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
-	}
 }
 
 void output_motors_disarmed()

ArduCopterMega/setup.pde

@@ -358,6 +358,7 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
 		init_compass();
 
 	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
+		clear_offsets();
 		g.compass_enabled.set_and_save(false);
 
 	}else{
@@ -404,14 +405,20 @@ setup_sonar(uint8_t argc, const Menu::arg *argv)
 	return 0;
 }
 
+void clear_offsets()
+{
+	Vector3f _offsets;
+	compass.set_offsets(_offsets);
+	compass.save_offsets();
+}
+
 static int8_t
 setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 {
 	Vector3f _offsets;
 
 	if (!strcmp_P(argv[1].str, PSTR("c"))) {
-		compass.set_offsets(_offsets);
+		clear_offsets();
-		compass.save_offsets();
 		report_compass();
 		return (0);
 	}

ArduCopterMega/system.pde

@@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.20 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.21 Beta", main_menu_commands);
 
 void init_ardupilot()
 {
@@ -259,6 +259,9 @@ void startup_ground(void)
 {
 	gcs.send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
 
+	// make Motor light go dark
+	digitalWrite(A_LED_PIN, LOW);
+
 	#if(GROUND_START_DELAY > 0)
 		//gcs.send_text_P(SEVERITY_LOW, PSTR(" With Delay"));
 		delay(GROUND_START_DELAY * 1000);