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Fixed Flip code to compile. Flip still not flight tested!

This commit is contained in:
Jason Short 2011-09-25 12:21:54 -07:00
parent bdf6471587
commit 18fea55f8d
5 changed files with 10 additions and 28 deletions
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14
ArduCopter/ArduCopter.pde
View File

@ -347,7 +347,6 @@ static int airspeed; // m/s * 100
// Location Errors
// ---------------
//static long bearing_error; // deg * 100 : 0 to 36000
static long altitude_error; // meters * 100 we are off in altitude
static long old_altitude;
static long yaw_error; // how off are we pointed
@ -374,7 +373,7 @@ static int ground_temperature;
// Altitude Sensor variables
// ----------------------
static int sonar_alt;
static int baro_alt;;
static int baro_alt;
static byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
static int altitude_rate;
@ -476,7 +475,6 @@ static float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm
// ----------------------
static long perf_mon_timer;
//static float imu_health; // Metric based on accel gain deweighting
static int G_Dt_max; // Max main loop cycle time in milliseconds
static int gps_fix_count;
static byte gps_watchdog;
@ -533,6 +531,7 @@ void loop()
// reads all of the necessary trig functions for cameras, throttle, etc.
update_trig();
// perform 10hz tasks
medium_loop();
// Stuff to run at full 50hz, but after the loops
@ -551,7 +550,8 @@ void loop()
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
resetPerfData();
gps_fix_count = 0;
perf_mon_timer = millis();
}
//PORTK &= B10111111;
}
@ -576,11 +576,6 @@ static void fast_loop()
// IMU DCM Algorithm
read_AHRS();
// Look for slow loop times
// ------------------------
//if (delta_ms_fast_loop > G_Dt_max)
// G_Dt_max = delta_ms_fast_loop;
// custom code/exceptions for flight modes
// ---------------------------------------
update_yaw_mode();
@ -1156,7 +1151,6 @@ static void update_navigation()
}else{
// lets just jump to Loiter Mode after RTL
set_mode(LOITER);
//xtrack_enabled = false;
}
// calculates the desired Roll and Pitch

2
ArduCopter/GCS_Standard.pde
View File

@ -147,7 +147,7 @@ static void send_message(byte id, long param) {
tempint = mainLoop_count; // Main Loop cycles
mess_buffer[7] = tempint & 0xff;
mess_buffer[8] = (tempint >> 8) & 0xff;
mess_buffer[9] = G_Dt_max & 0xff;
mess_buffer[9] = 0 & 0xff;
mess_buffer[10] = gyro_sat_count; // Problem counts
mess_buffer[11] = adc_constraints;
mess_buffer[12] = renorm_sqrt_count;

5
ArduCopter/Log.pde
View File

@ -658,8 +658,6 @@ static void Log_Write_Performance()
//*
//DataFlash.WriteLong( millis()- perf_mon_timer);
//DataFlash.WriteInt ( mainLoop_count);
DataFlash.WriteInt ( G_Dt_max); //1
DataFlash.WriteByte( dcm.gyro_sat_count); //2
DataFlash.WriteByte( imu.adc_constraints); //3
@ -676,14 +674,13 @@ static void Log_Write_Performance()
// Read a performance packet
static void Log_Read_Performance()
{
Serial.printf_P(PSTR( "PM, %d, %d, %d, "
Serial.printf_P(PSTR( "PM, %d, %d, "
"%d, %d, %d, "
"%d, %ld\n"),
// Control
//DataFlash.ReadLong(),
//DataFlash.ReadInt(),
DataFlash.ReadInt(), //1
DataFlash.ReadByte(), //2
DataFlash.ReadByte(), //3

9
ArduCopter/flip.pde
View File

@ -28,11 +28,10 @@ void roll_flip()
AAP_timer = 0;
AAP_state++;
break;
case 1: // Step 2 : Increase throttle to start maneuver
if (AAP_timer < 95){ // .5 seconds
g.rc_1.servo_out = get_stabilize_roll(0);
g.rc_3.servo_out = get_throttle(g.rc_3.control_in + AAP_THR_INC);
g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
//g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
AAP_timer++;
}else{
@ -45,7 +44,7 @@ void roll_flip()
if (dcm.roll_sensor < 4500){
// Roll control
g.rc_1.servo_out = AAP_ROLL_OUT; //get_rate_roll(AAP_ROLL_RATE);
g.rc_3.servo_out = get_throttle(g.rc_3.control_in - AAP_THR_DEC);
g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
}else{
AAP_state++;
}
@ -54,7 +53,7 @@ void roll_flip()
case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45º])
if ((dcm.roll_sensor >= 4500) || (dcm.roll_sensor < -4500)){
g.rc_1.servo_out = 150; //get_rate_roll(AAP_ROLL_RATE);
g.rc_3.servo_out = get_throttle(g.rc_3.control_in - AAP_THR_DEC);
g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
}else{
AAP_state++;
}
@ -63,7 +62,7 @@ void roll_flip()
case 4: // Step 5 : Increase throttle to stop the descend
if (AAP_timer < 90){ // .5 seconds
g.rc_1.servo_out = get_stabilize_roll(0);
g.rc_3.servo_out = get_throttle(g.rc_3.control_in + AAP_THR_INC);
g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
AAP_timer++;
}else{
AAP_state++;

8
ArduCopter/system.pde
View File

@ -470,14 +470,6 @@ static void set_failsafe(boolean mode)
}
static void resetPerfData(void) {
//mainLoop_count = 0;
G_Dt_max = 0;
gps_fix_count = 0;
perf_mon_timer = millis();
}
static void
init_compass()
{