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Added new leveling command. Hold the trainer swicth - ch7- in and the copter will adjust the ADC_OFFSET based on the roll and pitch command needed to straighten the copter.

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no roll and pitch input means no change. Flicking will still update the throttle cruise value. Please check I have the signs correct!!!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1499 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-16 02:37:35 +00:00
parent 91efbeac56
commit 3558567aad
1 changed files with 29 additions and 24 deletions
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53
ArduCopterMega/control_modes.pde
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@ -61,14 +61,15 @@ unsigned long trim_timer;
void read_trim_switch()
{
// switch is engaged
if (rc_7.radio_in > 1500){
if (rc_7.control_in > 500){
if(trim_flag == false){
// called once
trim_timer = millis();
}
trim_flag = true;
//trim_accel();
//Serial.println("trim_accels");
trim_accel();
}else{ // switch is disengaged
@ -76,34 +77,38 @@ void read_trim_switch()
// switch was just released
if((millis() - trim_timer) > 2000){
///*
if(rc_3.control_in == 0){
imu.init_accel();
imu.print_accel_offsets();
}
/*
if(rc_3.control_in == 0){
imu.zero_accel();
}else{
Serial.printf("r: %d, p: %d\n", rc_1.control_in, rc_2.control_in);
// set new accel offset values
imu.ax(((long)rc_1.control_in * -15) / 100);
imu.ay(((long)rc_2.control_in * -15) / 100);
imu.print_accel_offsets();
}*/
// not being used
} else {
// set the throttle nominal
if(rc_3.control_in > 50){
throttle_cruise = rc_3.control_in;
Serial.print("tnom ");
Serial.println(throttle_cruise, DEC);
//Serial.print("tnom ");
//Serial.println(throttle_cruise, DEC);
save_EEPROM_throttle_cruise();
}
}
trim_flag = false;
}
}
}
}
void trim_accel()
{
if(rc_1.control_in > 0){
imu.ay(imu.ay() + 1);
}else if (rc_1.control_in < 0){
imu.ay(imu.ay() - 1);
}
if(rc_2.control_in > 0){
imu.ax(imu.ax() + 1);
}else if (rc_2.control_in < 0){
imu.ax(imu.ax() - 1);
}
Serial.printf("r:%ld p:%ld ax:%d, ay:%d, az:%d\n", dcm.roll_sensor, dcm.pitch_sensor, imu.ax(), imu.ay(), imu.az());
}