From 21886104a63b59ec5f1d0a889841f00bd8a89547 Mon Sep 17 00:00:00 2001 From: Adam M Rivera Date: Thu, 26 Apr 2012 18:26:14 -0500 Subject: [PATCH] Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. --- ArduCopter/Parameters.pde | 4 +- libraries/AP_Motors/AP_MotorsHeli.cpp | 100 ++++++++++++++++++++++++++ 2 files changed, 103 insertions(+), 1 deletion(-) diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde index 3ad356fa97..e59c1e8dfb 100644 --- a/ArduCopter/Parameters.pde +++ b/ArduCopter/Parameters.pde @@ -127,7 +127,7 @@ static const AP_Param::Info var_info[] PROGMEM = { // @DisplayName: ESC Update Speed // @Description: This is the speed in Hertz that your ESCs will receive updates // @Units: Hertz (Hz) - // @Values: 400,490 + // @Values: 125,400,490 // @User: Advanced GSCALAR(rc_speed, "RC_SPEED"), @@ -195,6 +195,8 @@ static const AP_Param::Info var_info[] PROGMEM = { GOBJECT(ahrs, "AHRS_", AP_AHRS), #if FRAME_CONFIG == HELI_FRAME + // @Group: H_ + // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp GOBJECT(motors, "H_", AP_MotorsHeli), #else GOBJECT(motors, "MOT_", AP_Motors), diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp index 61216dbf7f..9678ea1145 100644 --- a/libraries/AP_Motors/AP_MotorsHeli.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli.cpp @@ -12,19 +12,119 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = { AP_NESTEDGROUPINFO(AP_Motors, 0), + + // @Param: SV1_POS + // @DisplayName: Servo 1 Position + // @Description: This is the angular location of swash servo #1. + // @Range: -180 180 + // @Units: Degrees + // @User: Standard + // @Increment: 1 AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli, servo1_pos), + + // @Param: SV2_POS + // @DisplayName: Servo 2 Position + // @Description: This is the angular location of swash servo #2. + // @Range: -180 180 + // @Units: Degrees + // @User: Standard + // @Increment: 1 AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli, servo2_pos), + + // @Param: SV3_POS + // @DisplayName: Servo 3 Position + // @Description: This is the angular location of swash servo #3. + // @Range: -180 180 + // @Units: Degrees + // @User: Standard + // @Increment: 1 AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli, servo3_pos), + + // @Param: ROL_MAX + // @DisplayName: Maximum Roll Angle + // @Description: This is the maximum allowable aircraft roll angle in Stabilize Mode. + // @Range: 0 18000 + // @Units: Degrees + // @Increment: 1 + // @User: Advanced AP_GROUPINFO("ROL_MAX", 4, AP_MotorsHeli, roll_max), + + // @Param: PIT_MAX + // @DisplayName: Maximum Pitch Angle + // @Description: This is the maximum allowable aircraft pitch angle in Stabilize Mode. + // @Range: 0 18000 + // @Units: Degrees + // @Increment: 1 + // @User: Advanced AP_GROUPINFO("PIT_MAX", 5, AP_MotorsHeli, pitch_max), + + // @Param: COL_MIN + // @DisplayName: Collective Pitch Minimum + // @Description: This controls the lowest possible servo position for the swashplate. + // @Range: 1000 2000 + // @Units: PWM + // @Increment: 1 + // @User: Standard AP_GROUPINFO("COL_MIN", 6, AP_MotorsHeli, collective_min), + + // @Param: COL_MAX + // @DisplayName: Collective Pitch Maximum + // @Description: This controls the highest possible servo position for the swashplate. + // @Range: 1000 2000 + // @Units: PWM + // @Increment: 1 + // @User: Standard AP_GROUPINFO("COL_MAX", 7, AP_MotorsHeli, collective_max), + + // @Param: COL_MID + // @DisplayName: Collective Pitch Mid-Point + // @Description: This is the swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades). + // @Range: 1000 2000 + // @Units: PWM + // @Increment: 1 + // @User: Standard AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, collective_mid), + + // @Param: GYR_ENABLE + // @DisplayName: External Gyro Enabled + // @Description: Setting this to true (1) will enable an external rudder gyro control. Setting this to false(0) will disable the external gyro control and will revert to internal rudder control. + // @User: Standard AP_GROUPINFO("GYR_ENABLE", 9, AP_MotorsHeli, ext_gyro_enabled), + + // @Param: SWASH_TYPE + // @DisplayName: Swash Plate Type + // @Description: Setting this to 0 will configure for a 3-servo CCPM. Setting this to 1 will configure for mechanically mixed "H1". + // @User: Standard AP_GROUPINFO("SWASH_TYPE", 10, AP_MotorsHeli, swash_type), // changed from trunk + + // @Param: GYR_GAIM + // @DisplayName: External Gyro Gain + // @Description: This is the PWM which is passed to the external gyro when external gyro is enabled. + // @Range: 1000 2000 + // @Units: PWM + // @Increment: 1 + // @User: Standard AP_GROUPINFO("GYR_GAIN", 11, AP_MotorsHeli, ext_gyro_gain), + + // @Param: SV_MAN + // @DisplayName: Manual Servo Mode + // @Description: Setting this to true (1) will pass radio inputs directly to servos. Setting this to false(0) will enable Arducopter control of servos. + // @User: Standard AP_GROUPINFO("SV_MAN", 12, AP_MotorsHeli, servo_manual), + + // @Param: PHANG + // @DisplayName: Swashplate Phase Angle Compensation + // @Description: This corrects for phase angle errors of the helicopter main rotor head. + // @Range: -90 90 + // @Units: Degrees + // @User: Advanced + // @Increment: 1 AP_GROUPINFO("PHANG", 13, AP_MotorsHeli, phase_angle), // changed from trunk + + // @Param: COLYAW + // @DisplayName: Collective-Yaw Mixing + // @Description: This is a feed-forward compensation to automatically add rudder input when collective pitch is increased. + // @Range: 0 5 AP_GROUPINFO("COLYAW", 14, AP_MotorsHeli, collective_yaw_effect), // changed from trunk AP_GROUPEND };