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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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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**** 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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@ -197,6 +231,11 @@ 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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// 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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float aux_debug;
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@ -313,7 +352,8 @@ void Attitude_control_v2()
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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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@ -504,7 +544,7 @@ void setup()
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AN_OFFSET[y]=aux_float[y];
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Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
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#ifndef CONFIGURATOR
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#ifndef CONFIGURATOR
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for(i=0;i<6;i++)
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{
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Serial.print("AN[]:");
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@ -513,9 +553,9 @@ void setup()
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Serial.print("Yaw neutral value:");
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Serial.println(Neutro_yaw);
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#endif
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#endif
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#if (RADIO_TEST_MODE) // RADIO TEST MODE TO TEST RADIO CHANNELS
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#if (RADIO_TEST_MODE) // RADIO TEST MODE TO TEST RADIO CHANNELS
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while(1)
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{
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if (APM_RC.GetState()==1)
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@ -536,7 +576,7 @@ void setup()
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delay(200);
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}
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}
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#endif
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#endif
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delay(1000);
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@ -545,6 +585,11 @@ void setup()
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tlmTimer = millis();
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Read_adc_raw(); // Initialize ADC readings...
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delay(20);
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// Switch Left & Right lights on
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digitalWrite(RI_LED, HIGH);
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digitalWrite(LE_LED, HIGH);
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motorArmed = 0;
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digitalWrite(LED_Green,HIGH); // Ready to go...
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}
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@ -589,7 +634,7 @@ void loop(){
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log_pitch = ToDeg(pitch)*10;
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log_yaw = ToDeg(yaw)*10;
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#ifndef CONFIGURATOR
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#ifndef CONFIGURATOR
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Serial.print(log_roll);
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Serial.print(",");
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Serial.print(log_pitch);
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@ -601,7 +646,7 @@ void loop(){
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Serial.print(AN[i]);
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Serial.print(",");
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}
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#endif
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#endif
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// Write Sensor raw data to DataFlash log
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Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],gyro_temp);
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@ -664,13 +709,13 @@ void loop(){
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{
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target_lattitude = GPS.Lattitude;
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target_longitude = GPS.Longitude;
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#ifndef CONFIGURATOR
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#ifndef CONFIGURATOR
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Serial.println();
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Serial.print("* Target:");
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Serial.print(target_longitude);
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Serial.print(",");
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Serial.println(target_lattitude);
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#endif
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#endif
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target_position=1;
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//target_sonar_altitude = sonar_value;
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//Initial_Throttle = ch3;
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@ -719,10 +764,13 @@ void loop(){
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}
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// Control methodology selected using AUX2
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if (ch_aux2 < 1200)
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if (ch_aux2 < 1200) {
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gled_speed = 1200;
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Attitude_control_v2();
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}
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else
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{
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gled_speed = 400;
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Rate_control();
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// Reset yaw, so if we change to stable mode we continue with the actual yaw direction
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command_rx_yaw = ToDeg(yaw);
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@ -764,20 +812,25 @@ void loop(){
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// Quadcopter mix
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// Ask Jose if we still need this IF statement, and if we want to do an ESC calibration
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if (motorArmed == 1) {
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#ifdef FLIGHT_MODE_+
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digitalWrite(FR_LED, HIGH); // AM-Mode
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#ifdef FLIGHT_MODE_+
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rightMotor = constrain(ch_throttle - control_roll - control_yaw, minThrottle, 2000);
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leftMotor = constrain(ch_throttle + control_roll - control_yaw, minThrottle, 2000);
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frontMotor = constrain(ch_throttle + control_pitch + control_yaw, minThrottle, 2000);
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backMotor = constrain(ch_throttle - control_pitch + control_yaw, minThrottle, 2000);
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#endif
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#ifdef FLIGHT_MODE_X
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#endif
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#ifdef FLIGHT_MODE_X
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frontMotor = constrain(ch_throttle + control_roll + control_pitch - control_yaw, minThrottle, 2000); // front left motor
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rightMotor = constrain(ch_throttle - control_roll + control_pitch + control_yaw, minThrottle, 2000); // front right motor
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leftMotor = constrain(ch_throttle + control_roll - control_pitch + control_yaw, minThrottle, 2000); // rear left motor
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backMotor = constrain(ch_throttle - control_roll - control_pitch - control_yaw, minThrottle, 2000); // rear right motor
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#endif
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#endif
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}
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if (motorArmed == 0) {
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digitalWrite(FR_LED, LOW); // AM-Mode
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digitalWrite(LED_Green,HIGH); // Ready LED on
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rightMotor = MIN_THROTTLE;
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leftMotor = MIN_THROTTLE;
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frontMotor = MIN_THROTTLE;
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@ -797,15 +850,34 @@ void loop(){
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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#ifndef CONFIGURATOR
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#ifndef CONFIGURATOR
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Serial.println(); // Line END
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#endif
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#endif
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}
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#ifdef CONFIGURATOR
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#ifdef CONFIGURATOR
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if((millis()-tlmTimer)>=100) {
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readSerialCommand();
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sendSerialTelemetry();
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tlmTimer = millis();
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}
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#endif
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#endif
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// AM and Mode lights
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if(millis() - gled_timer > gled_speed) {
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gled_timer = millis();
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if(gled_status == HIGH) {
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digitalWrite(LED_Green, LOW);
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digitalWrite(RE_LED, LOW);
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gled_status = LOW;
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}
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else {
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digitalWrite(LED_Green, HIGH);
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if(motorArmed) digitalWrite(RE_LED, HIGH);
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gled_status = HIGH;
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}
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}
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}
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