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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@ -298,7 +337,7 @@ void Attitude_control_v2()
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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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@ -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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@ -339,7 +379,7 @@ void Attitude_control_v2()
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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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@ -410,15 +450,15 @@ int channel_filter(int ch, int ch_old)
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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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@ -459,7 +499,7 @@ void setup()
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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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@ -467,11 +507,11 @@ void setup()
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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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@ -488,55 +528,55 @@ void setup()
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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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}
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for(int y=0; y<=2; y++)
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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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{
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Serial.print("AN[]:");
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Serial.println(AN_OFFSET[i]);
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}
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}
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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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{
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Serial.print("AIL:");
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Serial.print(APM_RC.InputCh(0));
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Serial.print("ELE:");
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Serial.print(APM_RC.InputCh(1));
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Serial.print("THR:");
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Serial.print(APM_RC.InputCh(2));
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Serial.print("YAW:");
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Serial.print(APM_RC.InputCh(3));
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Serial.print("AUX(mode):");
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Serial.print(APM_RC.InputCh(4));
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Serial.print("AUX2:");
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Serial.print(APM_RC.InputCh(5));
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Serial.println();
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delay(200);
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}
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}
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#endif
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{
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if (APM_RC.GetState()==1)
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{
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Serial.print("AIL:");
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Serial.print(APM_RC.InputCh(0));
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Serial.print("ELE:");
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Serial.print(APM_RC.InputCh(1));
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Serial.print("THR:");
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Serial.print(APM_RC.InputCh(2));
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Serial.print("YAW:");
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Serial.print(APM_RC.InputCh(3));
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Serial.print("AUX(mode):");
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Serial.print(APM_RC.InputCh(4));
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Serial.print("AUX2:");
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Serial.print(APM_RC.InputCh(5));
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Serial.println();
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delay(200);
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}
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}
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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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@ -572,11 +617,11 @@ void loop(){
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Read_adc_raw();
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if (MAGNETOMETER == 1) {
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if (counter > 10) // Read compass data at 10Hz... (10 loop runs)
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{
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{
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counter=0;
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APM_Compass.Read(); // Read magnetometer
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APM_Compass.Calculate(roll,pitch); // Calculate heading
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}
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}
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}
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Matrix_update();
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Normalize();
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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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@ -597,11 +642,11 @@ void loop(){
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Serial.print(log_yaw);
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for (int i=0;i<6;i++)
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{
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{
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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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}
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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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@ -609,7 +654,7 @@ void loop(){
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Log_Write_Attitude(log_roll,log_pitch,log_yaw);
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if (APM_RC.GetState()==1) // New radio frame?
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{
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{
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// Commands from radio Rx...
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// Stick position defines the desired angle in roll, pitch and yaw
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ch_roll = channel_filter(APM_RC.InputCh(0),ch_roll);
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@ -645,32 +690,32 @@ void loop(){
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// We read the Quad Mode from Channel 5
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if (ch_aux < 1200)
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{
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{
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AP_mode = 1; // Position hold mode (GPS position control)
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digitalWrite(LED_Yellow,HIGH); // Yellow LED On
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}
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}
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else
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{
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{
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AP_mode = 2; // Normal mode (Stabilization assist mode)
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digitalWrite(LED_Yellow,LOW); // Yellow LED off
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}
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}
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// Write Radio data to DataFlash log
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Log_Write_Radio(ch_roll,ch_pitch,ch_throttle,ch_yaw,int(K_aux*100),(int)AP_mode);
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} // END new radio data
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} // END new radio data
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if (AP_mode==1) // Position Control
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{
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{
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if (target_position==0) // If this is the first time we switch to Position control, actual position is our target position
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{
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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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@ -678,15 +723,15 @@ void loop(){
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altitude_I = 0;
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gps_roll_I = 0;
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gps_pitch_I = 0;
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}
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}
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}
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else
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target_position=0;
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//Read GPS
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GPS.Read();
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if (GPS.NewData) // New GPS data?
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{
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{
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GPS.NewData=0; // We Reset the flag...
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//Output GPS data
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@ -704,30 +749,33 @@ void loop(){
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digitalWrite(LED_Red,LOW);
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if (AP_mode==1)
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{
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{
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if ((target_position==1)&&(GPS.Fix))
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{
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{
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Position_control(target_lattitude,target_longitude); // Call position hold routine
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}
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}
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else
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{
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{
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//Serial.print("NOFIX");
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command_gps_roll=0;
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command_gps_pitch=0;
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}
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}
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}
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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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{
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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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command_rx_yaw_diff = 0;
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}
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}
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// Arm motor output : Throttle down and full yaw right for more than 2 seconds
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if (ch_throttle < 1200) {
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@ -764,20 +812,25 @@ void loop(){
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// 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
|
||||
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