Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

changed SENSOR_SIGN to match Jani's setup, updated limits to arm/disarm motors from transmitter, removed #define for Jani's frame (will just use his setup), updated X mode motor control to match new gyro setup 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@289 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
CaranchoEngineering 2010-08-24 08:47:31 +00:00
parent bb2f1dfcc1
commit 26f8fb800f
2 changed files with 10 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Arducopter/ArduCopter.h
View File

@ -30,10 +30,6 @@
/**************************************************************/
// Special features that might disapear in future releases
//#define jpframe // This is only Jani's special frame, you should never use unless you know what you are doing
// As default this should be always checked off.
/* APM Hardware definitions */
#define LED_Yellow 36
#define LED_Red 35
@ -54,17 +50,9 @@
uint8_t sensors[6] = {1, 2, 0, 4, 5, 6}; // For ArduPilot Mega Sensor Shield Hardware
// Sensor: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ, MAGX, MAGY, MAGZ
#ifndef jpframe
int SENSOR_SIGN[]={
1, -1, -1, -1, 1, 1, -1, -1, -1};
//{-1,1,-1,1,-1,1,-1,-1,-1};
#else
int SENSOR_SIGN[]={
1, -1, 1, -1, 1, 1, -1, -1, -1};
//{-1,1,-1,1,-1,1,-1,-1,-1};
#endif
/* APM Hardware definitions, END */
/* General definitions */
@ -265,4 +253,4 @@ long tlmTimer = 0;
// Arming/Disarming
uint8_t Arming_counter=0;
uint8_t Disarming_counter=0;
uint8_t Disarming_counter=0;

21
Arducopter/Arducopter.pde
View File

@ -57,8 +57,6 @@
#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
/**********************************************/
// Not in use yet, starting to work with battery monitors and pressure sensors.
// Added 19-08-2010
@ -72,8 +70,8 @@
/* User definable modules - END */
// Frame build condiguration
//#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
/* ****************************************************************************** */
@ -99,7 +97,7 @@
#include "UserConfig.h"
/* Software version */
#define VER 1.32 // Current software version (only numeric values)
#define VER 1.33 // Current software version (only numeric values)
/* ***************************************************************************** */
@ -631,7 +629,7 @@ void loop(){
control_yaw = 0;
command_rx_yaw = ToDeg(yaw);
command_rx_yaw_diff = 0;
if (ch_yaw > 1800) {
if (ch_yaw < 1200) {
if (Arming_counter > ARM_DELAY){
motorArmed = 1;
minThrottle = 1100;
@ -642,7 +640,7 @@ void loop(){
else
Arming_counter=0;
// To Disarm motor output : Throttle down and full yaw left for more than 2 seconds
if (ch_yaw < 1200) {
if (ch_yaw > 1800) {
if (Disarming_counter > DISARM_DELAY){
motorArmed = 0;
minThrottle = MIN_THROTTLE;
@ -659,7 +657,6 @@ void loop(){
}
// Quadcopter mix
// Ask Jose if we still need this IF statement, and if we want to do an ESC calibration
if (motorArmed == 1) {
#ifdef IsAM
digitalWrite(FR_LED, HIGH); // AM-Mode
@ -671,10 +668,10 @@ void loop(){
backMotor = constrain(ch_throttle - control_pitch + control_yaw, minThrottle, 2000);
#endif
#ifdef FLIGHT_MODE_X
frontMotor = constrain(ch_throttle + control_roll + control_pitch - control_yaw, minThrottle, 2000); // front left motor
rightMotor = constrain(ch_throttle - control_roll + control_pitch + control_yaw, minThrottle, 2000); // front right motor
leftMotor = constrain(ch_throttle + control_roll - control_pitch + control_yaw, minThrottle, 2000); // rear left motor
backMotor = constrain(ch_throttle - control_roll - control_pitch - control_yaw, minThrottle, 2000); // rear right motor
rightMotor = constrain(ch_throttle - control_roll + control_pitch - control_yaw, minThrottle, 2000); // front right motor
leftMotor = constrain(ch_throttle + control_roll - control_pitch - control_yaw, minThrottle, 2000); // rear left motor
frontMotor = constrain(ch_throttle + control_roll + control_pitch + control_yaw, minThrottle, 2000); // front left motor
backMotor = constrain(ch_throttle - control_roll - control_pitch + control_yaw, minThrottle, 2000); // rear right motor
#endif
}
if (motorArmed == 0) {