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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

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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
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12
Arducopter/ArduCopter.h
View File

@ -30,10 +30,6 @@
/**************************************************************/ /**************************************************************/
// Special features that might disapear in future releases // 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 */ /* APM Hardware definitions */
#define LED_Yellow 36 #define LED_Yellow 36
#define LED_Red 35 #define LED_Red 35
@ -54,17 +50,9 @@
uint8_t sensors[6] = {1, 2, 0, 4, 5, 6}; // For ArduPilot Mega Sensor Shield Hardware 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 // 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[]={ int SENSOR_SIGN[]={
1, -1, 1, -1, 1, 1, -1, -1, -1}; 1, -1, 1, -1, 1, 1, -1, -1, -1};
//{-1,1,-1,1,-1,1,-1,-1,-1}; //{-1,1,-1,1,-1,1,-1,-1,-1};
#endif
/* APM Hardware definitions, END */ /* APM Hardware definitions, END */
/* General definitions */ /* General definitions */

21
Arducopter/Arducopter.pde
View File

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