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Sub: Update stale references to Copter

This commit is contained in:
Jacob Walser 2017-02-10 12:46:54 -05:00 committed by Andrew Tridgell
parent 65cd28cc6c
commit 1990aa7829
18 changed files with 39 additions and 39 deletions
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2
ArduSub/ArduSub.cpp
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@ -316,7 +316,7 @@ void Sub::ten_hz_logging_loop()
void Sub::twentyfive_hz_logging()
{
#if HIL_MODE != HIL_MODE_DISABLED
// HIL for a copter needs very fast update of the servo values
// HIL needs very fast update of the servo values
gcs_send_message(MSG_RADIO_OUT);
#endif

2
ArduSub/Attitude.cpp
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@ -130,7 +130,7 @@ float Sub::get_pilot_desired_climb_rate(float throttle_control)
return desired_rate;
}
// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
// get_surface_tracking_climb_rate - hold vehicle at the desired distance above the ground
// returns climb rate (in cm/s) which should be passed to the position controller
float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
{

2
ArduSub/GCS_Mavlink.cpp
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@ -212,7 +212,7 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
// To-Do: restore unhealthy terrain status reporting once terrain is used in Sub
//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
//break;

12
ArduSub/Parameters.cpp
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@ -313,42 +313,42 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
// @Param: CH9_OPT
// @DisplayName: Channel 9 option
// @Description: Select which function if performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
// @Param: CH10_OPT
// @DisplayName: Channel 10 option
// @Description: Select which function if performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
// @Param: CH11_OPT
// @DisplayName: Channel 11 option
// @Description: Select which function if performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
// @Param: CH12_OPT
// @DisplayName: Channel 12 option
// @Description: Select which function if performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),
#endif

6
ArduSub/Sub.h
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@ -69,10 +69,10 @@
#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_InertialNav/AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <AC_WPNav/AC_WPNav.h> // ArduCopter waypoint navigation library
#include <AC_WPNav/AC_WPNav.h> // Waypoint navigation library
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AC_Fence/AC_Fence.h> // ArduCopter Fence library
#include <AC_Fence/AC_Fence.h> // Fence library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Notify/AP_Notify.h> // Notify library
@ -106,7 +106,7 @@
#endif
#if AVOIDANCE_ENABLED == ENABLED
#include <AC_Avoidance/AC_Avoid.h> // Arducopter stop at fence library
#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
#endif
// Local modules

4
ArduSub/commands_logic.cpp
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@ -92,7 +92,7 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_SET_ROI: // 201
// point the copter and camera at a region of interest (ROI)
// point the vehicle and camera at a region of interest (ROI)
do_roi(cmd);
break;
@ -782,7 +782,7 @@ void Sub::do_set_home(const AP_Mission::Mission_Command& cmd)
// do_roi - starts actions required by MAV_CMD_NAV_ROI
// this involves either moving the camera to point at the ROI (region of interest)
// and possibly rotating the copter to point at the ROI if our mount type does not support a yaw feature
// and possibly rotating the vehicle to point at the ROI if our mount type does not support a yaw feature
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint
void Sub::do_roi(const AP_Mission::Mission_Command& cmd)
{

4
ArduSub/config.h
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@ -35,7 +35,7 @@
//////////////////////////////////////////////////////////////////////////////
#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build ArduCopter
#error CONFIG_HAL_BOARD must be defined to build ArduSub
#endif
//////////////////////////////////////////////////////////////////////////////
@ -452,7 +452,7 @@
#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before vehicle is aimed at ground course
#endif
// Super Simple mode

2
ArduSub/control_acro.cpp
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@ -90,7 +90,7 @@ void Sub::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16
// calculate yaw rate request
rate_bf_request.z = yaw_in * g.acro_yaw_p;
// calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
// calculate earth frame rate corrections to pull the vehicle back to level while in ACRO mode
if (g.acro_trainer != ACRO_TRAINER_DISABLED) {
// Calculate trainer mode earth frame rate command for roll

2
ArduSub/control_althold.cpp
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@ -39,7 +39,7 @@ void Sub::althold_run()
if (!motors.armed() || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
last_pilot_heading = ahrs.yaw_sensor;

14
ArduSub/control_auto.cpp
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@ -124,10 +124,10 @@ void Sub::auto_wp_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !motors.get_interlock()) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
// call attitude controller
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -211,9 +211,9 @@ void Sub::auto_spline_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
@ -283,7 +283,7 @@ void Sub::auto_land_run()
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// set target to current position
@ -433,7 +433,7 @@ void Sub::auto_loiter_run()
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
@ -655,7 +655,7 @@ float Sub::get_auto_heading(void)
case AUTO_YAW_LOOK_AT_NEXT_WP:
default:
// point towards next waypoint.
// we don't use wp_bearing because we don't want the copter to turn too much during flight
// we don't use wp_bearing because we don't want the vehicle to turn too much during flight
return wp_nav.get_yaw();
break;
}

2
ArduSub/control_circle.cpp
View File

@ -45,7 +45,7 @@ void Sub::circle_run()
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
// To-Do: add some initialisation of position controllers
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.set_alt_target_to_current_alt();

8
ArduSub/control_guided.cpp
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@ -282,7 +282,7 @@ void Sub::guided_pos_control_run()
// if not auto armed or motors not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
@ -326,7 +326,7 @@ void Sub::guided_vel_control_run()
// initialise velocity controller
pos_control.init_vel_controller_xyz();
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
@ -374,7 +374,7 @@ void Sub::guided_posvel_control_run()
pos_control.set_pos_target(inertial_nav.get_position());
pos_control.set_desired_velocity(Vector3f(0,0,0));
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
@ -440,7 +440,7 @@ void Sub::guided_angle_control_run()
// if not auto armed or motors not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(0.0f);

2
ArduSub/crash_check.cpp
View File

@ -1,6 +1,6 @@
#include "Sub.h"
// Code to detect a crash main ArduCopter code
// Code to detect a crash
#define CRASH_CHECK_TRIGGER_SEC 2 // 2 seconds inverted indicates a crash
#define CRASH_CHECK_ANGLE_DEVIATION_DEG 30.0f // 30 degrees beyond angle max is signal we are inverted
#define CRASH_CHECK_ACCEL_MAX 3.0f // vehicle must be accelerating less than 3m/s/s to be considered crashed

4
ArduSub/defines.h
View File

@ -19,7 +19,7 @@ enum autopilot_yaw_mode {
AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted)
AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted)
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the vehicle is moving
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
AUTO_YAW_CORRECT_XTRACK = 6 // steer the sub in order to correct for crosstrack error during line following
};
@ -75,7 +75,7 @@ enum aux_sw_func {
// No landing gear for sub, remove
// AUXSW_LANDING_GEAR = 29, // Landing gear controller
AUXSW_LOST_COPTER_SOUND = 30, // Play lost copter sound
AUXSW_LOST_VEHICLE_SOUND = 30, // Play lost vehicle sound
AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch
AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch
// AUXSW_BRAKE = 33, // Brake flight mode

2
ArduSub/fence.cpp
View File

@ -1,6 +1,6 @@
#include "Sub.h"
// Code to integrate AC_Fence library with main ArduCopter code
// Code to integrate AC_Fence library with main ArduSub code
#if AC_FENCE == ENABLED

4
ArduSub/motors.cpp
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@ -187,7 +187,7 @@ void Sub::lost_vehicle_check()
static uint8_t soundalarm_counter;
// disable if aux switch is setup to vehicle alarm as the two could interfere
if (check_if_auxsw_mode_used(AUXSW_LOST_COPTER_SOUND)) {
if (check_if_auxsw_mode_used(AUXSW_LOST_VEHICLE_SOUND)) {
return;
}
@ -196,7 +196,7 @@ void Sub::lost_vehicle_check()
if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true;
gcs_send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm");
gcs_send_text(MAV_SEVERITY_NOTICE,"Locate vehicle alarm");
}
} else {
soundalarm_counter++;

2
ArduSub/radio.cpp
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@ -126,7 +126,7 @@ void Sub::read_radio()
// set_throttle_zero_flag - set throttle_zero flag from debounced throttle control
// throttle_zero is used to determine if the pilot intends to shut down the motors
// Basically, this signals when we are not flying. We are either on the ground
// or the pilot has shut down the copter in the air and it is free-falling
// or the pilot has shut down the vehicle in the air and it is free-falling
void Sub::set_throttle_zero_flag(int16_t throttle_control)
{
static uint32_t last_nonzero_throttle_ms = 0;

4
ArduSub/switches.cpp
View File

@ -345,7 +345,7 @@ void Sub::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_LOST_COPTER_SOUND:
case AUXSW_LOST_VEHICLE_SOUND:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
AP_Notify::flags.vehicle_lost = true;
@ -388,7 +388,7 @@ void Sub::save_trim()
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
// meant to be called continuously while the pilot attempts to keep the copter level
// meant to be called continuously while the pilot attempts to keep the vehicle level
void Sub::auto_trim()
{
if (auto_trim_counter > 0) {