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Added Arming light. LED A solid = safe, blinking = armed. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1529 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-23 02:36:22 +00:00
parent eb67a7eee0
commit 1468ec497d
3 changed files with 21 additions and 26 deletions
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2
ArduCopterMega/ArduCopterMega.pde
View File

@ -163,6 +163,8 @@ PID pid_nav_lon (EE_GAIN_8);
PID pid_baro_throttle (EE_GAIN_9);
PID pid_sonar_throttle (EE_GAIN_10);
boolean motor_light;
// GPS variables
// -------------
byte ground_start_count = 5; // have we achieved first lock and set Home?

20
ArduCopterMega/system.pde
View File

@ -346,19 +346,29 @@ void update_GPS_light(void)
GPS_light = !GPS_light;
if(GPS_light){
digitalWrite(C_LED_PIN, HIGH);
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(B_LED_PIN, HIGH);
}else{
digitalWrite(C_LED_PIN, LOW);
digitalWrite(A_LED_PIN, LOW);
digitalWrite(B_LED_PIN, LOW);
}
}else{
if(!GPS_light){
GPS_light = true;
digitalWrite(C_LED_PIN, HIGH);
}
}
if(motor_armed == true){
motor_light = !motor_light;
// blink
if(motor_light){
digitalWrite(A_LED_PIN, HIGH);
}else{
digitalWrite(A_LED_PIN, LOW);
}
}else{
if(!motor_light){
motor_light = true;
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(B_LED_PIN, HIGH);
}
}
}

25
ArduCopterMega/test.pde
View File

@ -259,31 +259,14 @@ test_stabilize(uint8_t argc, const Menu::arg *argv)
ts_num++;
if (ts_num > 10){
ts_num = 0;
/*Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, rc2:%d, rc4 %d, ny:%ld, ys:%ld, ye:%ld, R: %d, L: %d F: %d B: %d\n"),
Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, Int%4.4f, "),
(int)(roll_sensor/100),
(int)(pitch_sensor/100),
rc_1.pwm_out,
rc_2.pwm_out,
rc_4.pwm_out,
nav_yaw,
dcm.yaw_sensor,
yaw_error,
motor_out[RIGHT],
motor_out[LEFT],
motor_out[FRONT],
motor_out[BACK]);*/
pid_stabilize_roll.get_integrator());
Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, Int%4.4f, R: %d, L: %d F: %d B: %d\n"),
(int)(roll_sensor/100),
(int)(pitch_sensor/100),
rc_1.pwm_out,
pid_stabilize_roll.get_integrator(),
motor_out[RIGHT],
motor_out[LEFT],
motor_out[FRONT],
motor_out[BACK]);
print_motor_out();
}
// R: 1417, L: 1453 F: 1453 B: 1417
//Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)roll_sensor/100), ((int)pitch_sensor/100), ((uint16_t)yaw_sensor/100));
@ -846,7 +829,7 @@ void print_hit_enter()
void print_motor_out(){
Serial.printf("out: %d %d %d %d\n",
Serial.printf("out: R: %d, L: %d F: %d B: %d\n",
(motor_out[RIGHT] - rc_3.radio_min),
(motor_out[LEFT] - rc_3.radio_min),
(motor_out[FRONT] - rc_3.radio_min),