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Copter: early integration of AC_PosControl

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Randy Mackay 2013-12-29 15:42:58 +09:00 committed by Andrew Tridgell
parent dcac124105
commit 33552b63d8
1 changed files with 9 additions and 8 deletions
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17
ArduCopter/ArduCopter.pde
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@ -109,6 +109,7 @@
#include <APM_PI.h> // PI library
#include <AC_PID.h> // PID library
#include <AC_AttitudeControl.h> // Attitude control library
#include <AC_PosControl.h> // Position control library
#include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library
#include <AP_RangeFinder.h> // Range finder library
@ -491,13 +492,6 @@ static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.single_servo_1,
static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
// Attitude controller
////////////////////////////////////////////////////////////////////////////////
AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_roll, g.pi_stabilize_pitch, g.pi_stabilize_yaw,
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw,
g.rc_1.servo_out, g.rc_2.servo_out, g.rc_4.servo_out, g.rc_3.servo_out);
////////////////////////////////////////////////////////////////////////////////
// PIDs
////////////////////////////////////////////////////////////////////////////////
@ -751,9 +745,16 @@ static float G_Dt = 0.02;
static AP_InertialNav inertial_nav(&ahrs, &barometer, g_gps, gps_glitch);
////////////////////////////////////////////////////////////////////////////////
// Waypoint navigation object
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
////////////////////////////////////////////////////////////////////////////////
AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_roll, g.pi_stabilize_pitch, g.pi_stabilize_yaw,
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw,
g.rc_1.servo_out, g.rc_2.servo_out, g.rc_4.servo_out, g.rc_3.servo_out);
AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
g.pi_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel,
g.pi_loiter_lat, g.pi_loiter_lon, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon,
g.rc_3.servo_out);
static AC_WPNav wp_nav(&inertial_nav, &ahrs, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon);
////////////////////////////////////////////////////////////////////////////////