mirror of https://github.com/ArduPilot/ardupilot
AM Mode, Green LED optimization
git-svn-id: https://arducopter.googlecode.com/svn/trunk@75 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc
parent
84fb1f015d
commit
2fdceb1b78
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@ -24,18 +24,18 @@
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/*
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**** Switch Functions *****
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AUX1 ON = Stable Mode
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AUX1 OFF = Acro Mode
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GEAR ON = GPS Hold
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GEAR OFF = Flight Assist (Stable Mode)
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**** LED Feedback ****
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Green LED On = APM Initialization Finished
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Yellow LED On = GPS Hold Mode
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Yellow LED Off = Flight Assist Mode (No GPS)
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Red LED On = GPS Fix
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Red LED Off = No GPS Fix
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*/
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AUX1 ON = Stable Mode
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AUX1 OFF = Acro Mode
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GEAR ON = GPS Hold
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GEAR OFF = Flight Assist (Stable Mode)
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**** LED Feedback ****
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Green LED On = APM Initialization Finished
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Yellow LED On = GPS Hold Mode
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Yellow LED Off = Flight Assist Mode (No GPS)
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Red LED On = GPS Fix
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Red LED Off = No GPS Fix
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*/
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#include <Wire.h>
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#include <APM_ADC.h>
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@ -60,6 +60,16 @@ Red LED Off = No GPS Fix
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#define SW2_pin 40
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/* *** */
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/* AM PIN Definitions */
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/* Can be changed in future to AN extension ports */
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#define FR_LED 3 // Mega PE4 pin
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#define RE_LED 2 // Mega PE5 pin
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#define RI_LED 7 // Mega PH4 pin
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#define LE_LED 8 // Mega PH5 pin
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/* AM PIN Definitions - END */
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/* ***************************************************************************** */
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/* CONFIGURATION PART */
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/* ***************************************************************************** */
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@ -86,10 +96,12 @@ Red LED Off = No GPS Fix
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#define OUTPUTMODE 1 //If value = 1 will print the corrected data, 0 will print uncorrected data of the gyros (with drift), 2 Accel only data
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//Sensor: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ
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uint8_t sensors[6] = {1,2,0,4,5,6}; // For ArduPilot Mega Sensor Shield Hardware
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uint8_t sensors[6] = {
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1,2,0,4,5,6}; // For ArduPilot Mega Sensor Shield Hardware
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//Sensor: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ
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int SENSOR_SIGN[]={1,-1,-1,-1,1,1,-1,-1,-1}; //{-1,1,-1,1,-1,1,-1,-1,-1};
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int SENSOR_SIGN[]={
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1,-1,-1,-1,1,1,-1,-1,-1}; //{-1,1,-1,1,-1,1,-1,-1,-1};
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int AN[6]; //array that store the 6 ADC channels
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int AN_OFFSET[6]; //Array that store the Offset of the gyros and accelerometers
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@ -98,18 +110,27 @@ int gyro_temp;
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float G_Dt=0.02; // Integration time for the gyros (DCM algorithm)
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float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
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float Accel_Vector_unfiltered[3]= {0,0,0}; //Store the acceleration in a vector
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float Accel_Vector[3]= {
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0,0,0}; //Store the acceleration in a vector
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float Accel_Vector_unfiltered[3]= {
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0,0,0}; //Store the acceleration in a vector
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//float Accel_magnitude;
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//float Accel_weight;
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float Gyro_Vector[3]= {0,0,0};//Store the gyros rutn rate in a vector
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float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
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float Omega_P[3]= {0,0,0};//Omega Proportional correction
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float Omega_I[3]= {0,0,0};//Omega Integrator
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float Omega[3]= {0,0,0};
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float Gyro_Vector[3]= {
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0,0,0};//Store the gyros rutn rate in a vector
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float Omega_Vector[3]= {
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0,0,0}; //Corrected Gyro_Vector data
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float Omega_P[3]= {
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0,0,0};//Omega Proportional correction
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float Omega_I[3]= {
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0,0,0};//Omega Integrator
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float Omega[3]= {
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0,0,0};
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float errorRollPitch[3]= {0,0,0};
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float errorYaw[3]= {0,0,0};
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float errorRollPitch[3]= {
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0,0,0};
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float errorYaw[3]= {
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0,0,0};
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float errorCourse=0;
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float COGX=0; //Course overground X axis
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float COGY=1; //Course overground Y axis
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@ -121,16 +142,29 @@ float yaw=0;
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unsigned int counter=0;
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float DCM_Matrix[3][3]= {
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{1,0,0}
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,{0,1,0}
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,{0,0,1}
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{
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1,0,0 }
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,{
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0,1,0 }
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,{
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0,0,1 }
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};
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float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
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float Update_Matrix[3][3]={
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{
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0,1,2 }
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,{
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3,4,5 }
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,{
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6,7,8 }
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}; //Gyros here
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float Temporary_Matrix[3][3]={
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{0,0,0}
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,{0,0,0}
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,{0,0,0}
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{
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0,0,0 }
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,{
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0,0,0 }
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,{
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0,0,0 }
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};
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// GPS variables
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@ -195,7 +229,12 @@ int Sonar_value=0;
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int Sonar_Counter=0;
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// AP_mode : 1=> Position hold 2=>Stabilization assist mode (normal mode)
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byte AP_mode = 2;
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byte AP_mode = 2;
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// Mode LED timers and variables, used to blink LED_Green
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byte gled_status = HIGH;
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long gled_timer;
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int gled_speed;
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long t0;
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int num_iter;
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@ -251,32 +290,32 @@ void Position_control(long lat_dest, long lon_dest)
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long Lat_diff;
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float gps_err_roll;
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float gps_err_pitch;
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Lon_diff = lon_dest - GPS.Longitude;
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Lat_diff = lat_dest - GPS.Lattitude;
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// ROLL
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gps_err_roll_old = gps_err_roll;
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//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0]
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gps_err_roll = (float)Lon_diff*GEOG_CORRECTION_FACTOR*DCM_Matrix[0][0] - (float)Lat_diff*DCM_Matrix[1][0];
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gps_roll_D = (gps_err_roll-gps_err_roll_old)/G_Dt;
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gps_roll_I += gps_err_roll*G_Dt;
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gps_roll_I = constrain(gps_roll_I,-500,500);
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command_gps_roll = KP_GPS_ROLL*gps_err_roll + KD_GPS_ROLL*gps_roll_D + KI_GPS_ROLL*gps_roll_I;
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command_gps_roll = constrain(command_gps_roll,-GPS_MAX_ANGLE,GPS_MAX_ANGLE); // Limit max command
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// PITCH
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gps_err_pitch_old = gps_err_pitch;
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gps_err_pitch = -(float)Lat_diff*DCM_Matrix[0][0]- (float)Lon_diff*GEOG_CORRECTION_FACTOR*DCM_Matrix[1][0];
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gps_pitch_D = (gps_err_pitch-gps_err_pitch_old)/G_Dt;
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gps_pitch_I += gps_err_pitch*G_Dt;
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gps_pitch_I = constrain(gps_pitch_I,-500,500);
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command_gps_pitch = KP_GPS_PITCH*gps_err_pitch + KD_GPS_PITCH*gps_pitch_D + KI_GPS_PITCH*gps_pitch_I;
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command_gps_pitch = constrain(command_gps_pitch,-GPS_MAX_ANGLE,GPS_MAX_ANGLE); // Limit max command
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}
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@ -291,64 +330,65 @@ void Attitude_control_v2()
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float err_pitch_rate;
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float roll_rate;
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float pitch_rate;
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// ROLL CONTROL
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if (AP_mode==2) // Normal Mode => Stabilization mode
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err_roll = command_rx_roll - ToDeg(roll);
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else
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err_roll = (command_rx_roll + command_gps_roll) - ToDeg(roll); // Position control
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err_roll = constrain(err_roll,-25,25); // to limit max roll command...
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err_roll = constrain(err_roll,-25,25); // to limit max roll command...
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// New control term...
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roll_rate = ToDeg(Omega[0]); // Omega[] is the raw gyro reading plus Omega_I, so it´s bias corrected
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err_roll_rate = ((ch_roll-1500)>>1) - roll_rate;
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roll_I += err_roll*G_Dt;
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roll_I = constrain(roll_I,-20,20);
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// D term implementation => two parts: gyro part and command part
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// To have a better (faster) response we can use the Gyro reading directly for the Derivative term...
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// We also add a part that takes into account the command from user (stick) to make the system more responsive to user inputs
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roll_D = - roll_rate; // Take into account Angular velocity of the stick (command)
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// PID control
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K_aux = KP_QUAD_ROLL; // Comment this out if you want to use transmitter to adjust gain
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control_roll = K_aux*err_roll + KD_QUAD_ROLL*roll_D + KI_QUAD_ROLL*roll_I + STABLE_MODE_KP_RATE*err_roll_rate; ;
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control_roll = K_aux*err_roll + KD_QUAD_ROLL*roll_D + KI_QUAD_ROLL*roll_I + STABLE_MODE_KP_RATE*err_roll_rate;
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;
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// PITCH CONTROL
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if (AP_mode==2) // Normal mode => Stabilization mode
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err_pitch = command_rx_pitch - ToDeg(pitch);
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else
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err_pitch = (command_rx_pitch + command_gps_pitch) - ToDeg(pitch); // Position Control
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err_pitch = constrain(err_pitch,-25,25); // to limit max pitch command...
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// New control term...
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pitch_rate = ToDeg(Omega[1]);
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err_pitch_rate = ((ch_pitch-1500)>>1) - pitch_rate;
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pitch_I += err_pitch*G_Dt;
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pitch_I = constrain(pitch_I,-20,20);
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// D term
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pitch_D = - pitch_rate;
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// PID control
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K_aux = KP_QUAD_PITCH; // Comment this out if you want to use transmitter to adjust gain
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control_pitch = K_aux*err_pitch + KD_QUAD_PITCH*pitch_D + KI_QUAD_PITCH*pitch_I + STABLE_MODE_KP_RATE*err_pitch_rate;
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// YAW CONTROL
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err_yaw = command_rx_yaw - ToDeg(yaw);
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if (err_yaw > 180) // Normalize to -180,180
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err_yaw -= 360;
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err_yaw -= 360;
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else if(err_yaw < -180)
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err_yaw += 360;
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err_yaw = constrain(err_yaw,-60,60); // to limit max yaw command...
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yaw_I += err_yaw*G_Dt;
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yaw_I = constrain(yaw_I,-20,20);
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yaw_D = - ToDeg(Omega[2]);
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// PID control
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control_yaw = KP_QUAD_YAW*err_yaw + KD_QUAD_YAW*yaw_D + KI_QUAD_YAW*yaw_I;
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}
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@ -358,44 +398,44 @@ void Rate_control()
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{
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static float previousRollRate, previousPitchRate, previousYawRate;
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float currentRollRate, currentPitchRate, currentYawRate;
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// ROLL CONTROL
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currentRollRate = read_adc(0); // I need a positive sign here
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err_roll = ((ch_roll-1500) * xmitFactor) - currentRollRate;
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roll_I += err_roll*G_Dt;
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roll_I = constrain(roll_I,-20,20);
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roll_D = currentRollRate - previousRollRate;
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previousRollRate = currentRollRate;
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// PID control
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control_roll = Kp_RateRoll*err_roll + Kd_RateRoll*roll_D + Ki_RateRoll*roll_I;
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// PITCH CONTROL
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currentPitchRate = read_adc(1);
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err_pitch = ((ch_pitch-1500) * xmitFactor) - currentPitchRate;
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pitch_I += err_pitch*G_Dt;
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pitch_I = constrain(pitch_I,-20,20);
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pitch_D = currentPitchRate - previousPitchRate;
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previousPitchRate = currentPitchRate;
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// PID control
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control_pitch = Kp_RatePitch*err_pitch + Kd_RatePitch*pitch_D + Ki_RatePitch*pitch_I;
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// YAW CONTROL
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currentYawRate = read_adc(2);
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err_yaw = ((ch_yaw-1500)* xmitFactor) - currentYawRate;
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yaw_I += err_yaw*G_Dt;
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yaw_I = constrain(yaw_I,-20,20);
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yaw_D = currentYawRate - previousYawRate;
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previousYawRate = currentYawRate;
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// PID control
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K_aux = KP_QUAD_YAW; // Comment this out if you want to use transmitter to adjust gain
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control_yaw = Kp_RateYaw*err_yaw + Kd_RateYaw*yaw_D + Ki_RateYaw*yaw_I;
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@ -405,20 +445,20 @@ void Rate_control()
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int channel_filter(int ch, int ch_old)
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{
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int diff_ch_old;
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if (ch_old==0) // ch_old not initialized
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return(ch);
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diff_ch_old = ch - ch_old; // Difference with old reading
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if (diff_ch_old<0)
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{
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if (diff_ch_old<-40)
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return(ch_old-40); // We limit the max difference between readings
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}
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{
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if (diff_ch_old<-40)
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return(ch_old-40); // We limit the max difference between readings
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}
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else
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{
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if (diff_ch_old>40)
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return(ch_old+40);
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}
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{
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if (diff_ch_old>40)
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return(ch_old+40);
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}
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return((ch+ch_old)>>1); // Small filtering
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//return(ch);
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}
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@ -429,23 +469,23 @@ void setup()
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{
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int i;
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float aux_float[3];
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pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
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pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
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pinMode(LED_Green,OUTPUT); //Green LED C (PC0)
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pinMode(SW1_pin,INPUT); //Switch SW1 (pin PG0)
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pinMode(RELE_pin,OUTPUT); // Rele output
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digitalWrite(RELE_pin,LOW);
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delay(250);
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APM_RC.Init(); // APM Radio initialization
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APM_ADC.Init(); // APM ADC library initialization
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DataFlash.Init(); // DataFlash log initialization
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GPS.Init(); // GPS Initialization
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readUserConfig(); // Load user configurable items from EEPROM
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// RC channels Initialization (Quad motors)
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@ -453,31 +493,31 @@ void setup()
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APM_RC.OutputCh(1,MIN_THROTTLE);
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APM_RC.OutputCh(2,MIN_THROTTLE);
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APM_RC.OutputCh(3,MIN_THROTTLE);
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if (MAGNETOMETER == 1)
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APM_Compass.Init(); // I2C initialization
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DataFlash.StartWrite(1); // Start a write session on page 1
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//Serial.begin(57600);
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//Serial.begin(57600);
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Serial.begin(115200);
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//Serial.println();
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//Serial.println("ArduCopter Quadcopter v1.0");
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// Check if we enable the DataFlash log Read Mode (switch)
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// If we press switch 1 at startup we read the Dataflash eeprom
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while (digitalRead(SW1_pin)==0)
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{
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{
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Serial.println("Entering Log Read Mode...");
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Log_Read(1,1000);
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delay(30000);
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}
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}
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//delay(3000);
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Read_adc_raw();
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delay(20);
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// Offset values for accels and gyros...
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AN_OFFSET[3] = acc_offset_x;
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AN_OFFSET[4] = acc_offset_y;
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@ -485,73 +525,78 @@ void setup()
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aux_float[0] = gyro_offset_roll;
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aux_float[1] = gyro_offset_pitch;
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aux_float[2] = gyro_offset_yaw;
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// Take the gyro offset values
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for(i=0;i<300;i++)
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{
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{
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Read_adc_raw();
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for(int y=0; y<=2; y++) // Read initial ADC values for gyro offset.
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{
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{
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aux_float[y]=aux_float[y]*0.8 + AN[y]*0.2;
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//Serial.print(AN[y]);
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//Serial.print(",");
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}
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}
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//Serial.println();
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Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],ch_throttle);
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delay(10);
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}
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}
|
||||
for(int y=0; y<=2; y++)
|
||||
AN_OFFSET[y]=aux_float[y];
|
||||
|
||||
|
||||
Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
|
||||
#ifndef CONFIGURATOR
|
||||
#ifndef CONFIGURATOR
|
||||
for(i=0;i<6;i++)
|
||||
{
|
||||
{
|
||||
Serial.print("AN[]:");
|
||||
Serial.println(AN_OFFSET[i]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Serial.print("Yaw neutral value:");
|
||||
Serial.println(Neutro_yaw);
|
||||
#endif
|
||||
|
||||
#if (RADIO_TEST_MODE) // RADIO TEST MODE TO TEST RADIO CHANNELS
|
||||
#endif
|
||||
|
||||
#if (RADIO_TEST_MODE) // RADIO TEST MODE TO TEST RADIO CHANNELS
|
||||
while(1)
|
||||
{
|
||||
if (APM_RC.GetState()==1)
|
||||
{
|
||||
Serial.print("AIL:");
|
||||
Serial.print(APM_RC.InputCh(0));
|
||||
Serial.print("ELE:");
|
||||
Serial.print(APM_RC.InputCh(1));
|
||||
Serial.print("THR:");
|
||||
Serial.print(APM_RC.InputCh(2));
|
||||
Serial.print("YAW:");
|
||||
Serial.print(APM_RC.InputCh(3));
|
||||
Serial.print("AUX(mode):");
|
||||
Serial.print(APM_RC.InputCh(4));
|
||||
Serial.print("AUX2:");
|
||||
Serial.print(APM_RC.InputCh(5));
|
||||
Serial.println();
|
||||
delay(200);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
{
|
||||
if (APM_RC.GetState()==1)
|
||||
{
|
||||
Serial.print("AIL:");
|
||||
Serial.print(APM_RC.InputCh(0));
|
||||
Serial.print("ELE:");
|
||||
Serial.print(APM_RC.InputCh(1));
|
||||
Serial.print("THR:");
|
||||
Serial.print(APM_RC.InputCh(2));
|
||||
Serial.print("YAW:");
|
||||
Serial.print(APM_RC.InputCh(3));
|
||||
Serial.print("AUX(mode):");
|
||||
Serial.print(APM_RC.InputCh(4));
|
||||
Serial.print("AUX2:");
|
||||
Serial.print(APM_RC.InputCh(5));
|
||||
Serial.println();
|
||||
delay(200);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
delay(1000);
|
||||
|
||||
|
||||
DataFlash.StartWrite(1); // Start a write session on page 1
|
||||
timer = millis();
|
||||
tlmTimer = millis();
|
||||
Read_adc_raw(); // Initialize ADC readings...
|
||||
delay(20);
|
||||
|
||||
// Switch Left & Right lights on
|
||||
digitalWrite(RI_LED, HIGH);
|
||||
digitalWrite(LE_LED, HIGH);
|
||||
|
||||
motorArmed = 0;
|
||||
digitalWrite(LED_Green,HIGH); // Ready to go...
|
||||
}
|
||||
|
||||
/* ***** MAIN LOOP ***** */
|
||||
void loop(){
|
||||
|
||||
|
||||
int aux;
|
||||
int i;
|
||||
float aux_float;
|
||||
|
|
@ -560,56 +605,56 @@ void loop(){
|
|||
int log_pitch;
|
||||
int log_yaw;
|
||||
|
||||
|
||||
|
||||
if((millis()-timer)>=10) // Main loop 100Hz
|
||||
{
|
||||
counter++;
|
||||
timer_old = timer;
|
||||
timer=millis();
|
||||
G_Dt = (timer-timer_old)/1000.0; // Real time of loop run
|
||||
|
||||
|
||||
// IMU DCM Algorithm
|
||||
Read_adc_raw();
|
||||
if (MAGNETOMETER == 1) {
|
||||
if (counter > 10) // Read compass data at 10Hz... (10 loop runs)
|
||||
{
|
||||
{
|
||||
counter=0;
|
||||
APM_Compass.Read(); // Read magnetometer
|
||||
APM_Compass.Calculate(roll,pitch); // Calculate heading
|
||||
}
|
||||
}
|
||||
}
|
||||
Matrix_update();
|
||||
Normalize();
|
||||
Drift_correction();
|
||||
Euler_angles();
|
||||
// *****************
|
||||
|
||||
|
||||
// Output data
|
||||
log_roll = ToDeg(roll)*10;
|
||||
log_pitch = ToDeg(pitch)*10;
|
||||
log_yaw = ToDeg(yaw)*10;
|
||||
|
||||
#ifndef CONFIGURATOR
|
||||
#ifndef CONFIGURATOR
|
||||
Serial.print(log_roll);
|
||||
Serial.print(",");
|
||||
Serial.print(log_pitch);
|
||||
Serial.print(",");
|
||||
Serial.print(log_yaw);
|
||||
|
||||
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
{
|
||||
Serial.print(AN[i]);
|
||||
Serial.print(",");
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
// Write Sensor raw data to DataFlash log
|
||||
Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],gyro_temp);
|
||||
// Write attitude to DataFlash log
|
||||
Log_Write_Attitude(log_roll,log_pitch,log_yaw);
|
||||
|
||||
|
||||
if (APM_RC.GetState()==1) // New radio frame?
|
||||
{
|
||||
{
|
||||
// Commands from radio Rx...
|
||||
// Stick position defines the desired angle in roll, pitch and yaw
|
||||
ch_roll = channel_filter(APM_RC.InputCh(0),ch_roll);
|
||||
|
|
@ -631,7 +676,7 @@ void loop(){
|
|||
command_rx_yaw -= 360.0;
|
||||
else if (command_rx_yaw < -180)
|
||||
command_rx_yaw += 360.0;
|
||||
|
||||
|
||||
// Read through comments in Attitude_control() if you wish to use transmitter to adjust P gains
|
||||
// I use K_aux (channel 6) to adjust gains linked to a knob in the radio... [not used now]
|
||||
//K_aux = K_aux*0.8 + ((ch_aux-1500)/100.0 + 0.6)*0.2;
|
||||
|
|
@ -639,38 +684,38 @@ void loop(){
|
|||
|
||||
if (K_aux < 0)
|
||||
K_aux = 0;
|
||||
|
||||
|
||||
//Serial.print(",");
|
||||
//Serial.print(K_aux);
|
||||
|
||||
|
||||
// We read the Quad Mode from Channel 5
|
||||
if (ch_aux < 1200)
|
||||
{
|
||||
{
|
||||
AP_mode = 1; // Position hold mode (GPS position control)
|
||||
digitalWrite(LED_Yellow,HIGH); // Yellow LED On
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
AP_mode = 2; // Normal mode (Stabilization assist mode)
|
||||
digitalWrite(LED_Yellow,LOW); // Yellow LED off
|
||||
}
|
||||
}
|
||||
// Write Radio data to DataFlash log
|
||||
Log_Write_Radio(ch_roll,ch_pitch,ch_throttle,ch_yaw,int(K_aux*100),(int)AP_mode);
|
||||
} // END new radio data
|
||||
|
||||
} // END new radio data
|
||||
|
||||
if (AP_mode==1) // Position Control
|
||||
{
|
||||
{
|
||||
if (target_position==0) // If this is the first time we switch to Position control, actual position is our target position
|
||||
{
|
||||
{
|
||||
target_lattitude = GPS.Lattitude;
|
||||
target_longitude = GPS.Longitude;
|
||||
#ifndef CONFIGURATOR
|
||||
#ifndef CONFIGURATOR
|
||||
Serial.println();
|
||||
Serial.print("* Target:");
|
||||
Serial.print(target_longitude);
|
||||
Serial.print(",");
|
||||
Serial.println(target_lattitude);
|
||||
#endif
|
||||
#endif
|
||||
target_position=1;
|
||||
//target_sonar_altitude = sonar_value;
|
||||
//Initial_Throttle = ch3;
|
||||
|
|
@ -678,57 +723,60 @@ void loop(){
|
|||
altitude_I = 0;
|
||||
gps_roll_I = 0;
|
||||
gps_pitch_I = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
target_position=0;
|
||||
|
||||
|
||||
//Read GPS
|
||||
GPS.Read();
|
||||
if (GPS.NewData) // New GPS data?
|
||||
{
|
||||
{
|
||||
GPS.NewData=0; // We Reset the flag...
|
||||
|
||||
|
||||
//Output GPS data
|
||||
//Serial.print(",");
|
||||
//Serial.print(GPS.Lattitude);
|
||||
//Serial.print(",");
|
||||
//Serial.print(GPS.Longitude);
|
||||
|
||||
|
||||
// Write GPS data to DataFlash log
|
||||
Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
|
||||
|
||||
|
||||
if (GPS.Fix)
|
||||
digitalWrite(LED_Red,HIGH); // GPS Fix => Blue LED
|
||||
else
|
||||
digitalWrite(LED_Red,LOW);
|
||||
|
||||
|
||||
if (AP_mode==1)
|
||||
{
|
||||
{
|
||||
if ((target_position==1)&&(GPS.Fix))
|
||||
{
|
||||
{
|
||||
Position_control(target_lattitude,target_longitude); // Call position hold routine
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
//Serial.print("NOFIX");
|
||||
command_gps_roll=0;
|
||||
command_gps_pitch=0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Control methodology selected using AUX2
|
||||
if (ch_aux2 < 1200)
|
||||
if (ch_aux2 < 1200) {
|
||||
gled_speed = 1200;
|
||||
Attitude_control_v2();
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
gled_speed = 400;
|
||||
Rate_control();
|
||||
// Reset yaw, so if we change to stable mode we continue with the actual yaw direction
|
||||
command_rx_yaw = ToDeg(yaw);
|
||||
command_rx_yaw_diff = 0;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Arm motor output : Throttle down and full yaw right for more than 2 seconds
|
||||
if (ch_throttle < 1200) {
|
||||
control_yaw = 0;
|
||||
|
|
@ -760,24 +808,29 @@ void loop(){
|
|||
Arming_counter=0;
|
||||
Disarming_counter=0;
|
||||
}
|
||||
|
||||
|
||||
// Quadcopter mix
|
||||
// Ask Jose if we still need this IF statement, and if we want to do an ESC calibration
|
||||
if (motorArmed == 1) {
|
||||
#ifdef FLIGHT_MODE_+
|
||||
rightMotor = constrain(ch_throttle - control_roll - control_yaw, minThrottle, 2000);
|
||||
leftMotor = constrain(ch_throttle + control_roll - control_yaw, minThrottle, 2000);
|
||||
frontMotor = constrain(ch_throttle + control_pitch + control_yaw, minThrottle, 2000);
|
||||
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
|
||||
#endif
|
||||
if (motorArmed == 1) {
|
||||
digitalWrite(FR_LED, HIGH); // AM-Mode
|
||||
|
||||
#ifdef FLIGHT_MODE_+
|
||||
rightMotor = constrain(ch_throttle - control_roll - control_yaw, minThrottle, 2000);
|
||||
leftMotor = constrain(ch_throttle + control_roll - control_yaw, minThrottle, 2000);
|
||||
frontMotor = constrain(ch_throttle + control_pitch + control_yaw, minThrottle, 2000);
|
||||
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
|
||||
#endif
|
||||
}
|
||||
if (motorArmed == 0) {
|
||||
digitalWrite(FR_LED, LOW); // AM-Mode
|
||||
digitalWrite(LED_Green,HIGH); // Ready LED on
|
||||
|
||||
rightMotor = MIN_THROTTLE;
|
||||
leftMotor = MIN_THROTTLE;
|
||||
frontMotor = MIN_THROTTLE;
|
||||
|
|
@ -797,15 +850,34 @@ void loop(){
|
|||
APM_RC.Force_Out0_Out1();
|
||||
APM_RC.Force_Out2_Out3();
|
||||
|
||||
#ifndef CONFIGURATOR
|
||||
#ifndef CONFIGURATOR
|
||||
Serial.println(); // Line END
|
||||
#endif
|
||||
}
|
||||
#ifdef CONFIGURATOR
|
||||
#endif
|
||||
}
|
||||
#ifdef CONFIGURATOR
|
||||
if((millis()-tlmTimer)>=100) {
|
||||
readSerialCommand();
|
||||
sendSerialTelemetry();
|
||||
tlmTimer = millis();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
// AM and Mode lights
|
||||
if(millis() - gled_timer > gled_speed) {
|
||||
gled_timer = millis();
|
||||
if(gled_status == HIGH) {
|
||||
digitalWrite(LED_Green, LOW);
|
||||
digitalWrite(RE_LED, LOW);
|
||||
gled_status = LOW;
|
||||
}
|
||||
else {
|
||||
digitalWrite(LED_Green, HIGH);
|
||||
if(motorArmed) digitalWrite(RE_LED, HIGH);
|
||||
gled_status = HIGH;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue