mirror of https://github.com/ArduPilot/ardupilot
cleaning up code and adding functions from APM main code
git-svn-id: https://arducopter.googlecode.com/svn/trunk@250 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc
parent
12d54e7e72
commit
36628eeb06
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@ -27,6 +27,12 @@
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// User configurable settings are on UserConfig.h
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/*******************************************************************/
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/**************************************************************/
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// Special features that might disapear in future releases
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//#define jpframe // This is only Jani's special frame, you should never use unless you know what you are doing
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// As default this should be always checked off.
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/* APM Hardware definitions */
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#define LED_Yellow 36
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@ -48,12 +54,16 @@
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uint8_t sensors[6] = {1, 2, 0, 4, 5, 6}; // For ArduPilot Mega Sensor Shield Hardware
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// Sensor: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ, MAGX, MAGY, MAGZ
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int SENSOR_SIGN[]={
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1, -1, -1, // GYROX, GYROY, GYROZ
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-1, 1, 1, // ACCELX, ACCELY, ACCELZ
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-1, -1, -1}; // MAGNETOX, MAGNETOY, MAGNETOZ
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//{-1,1,-1,1,-1,1,-1,-1,-1};
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#ifndef jpframe
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int SENSOR_SIGN[]={
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1, -1, -1, -1, 1, 1, -1, -1, -1};
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//{-1,1,-1,1,-1,1,-1,-1,-1};
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#else
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int SENSOR_SIGN[]={
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1, -1, 1, -1, 1, 1, -1, -1, -1};
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//{-1,1,-1,1,-1,1,-1,-1,-1};
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#endif
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/* APM Hardware definitions, END */
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@ -115,30 +125,18 @@ float yaw=0;
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unsigned int counter = 0;
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float DCM_Matrix[3][3]= {
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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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{ 1,0,0 },
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{ 0,1,0 },
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{ 0,0,1 }};
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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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{ 0,1,2 },
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{ 3,4,5 },
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{ 6,7,8 }}; //Gyros here
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float Temporary_Matrix[3][3]={
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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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{ 0,0,0 },
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{ 0,0,0 },
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{ 0,0,0 }};
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// GPS variables
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float speed_3d=0;
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@ -200,6 +198,30 @@ float command_altitude;
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float altitude_I;
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float altitude_D;
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//Pressure Sensor variables
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#ifdef UseBMP
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unsigned long abs_press = 0;
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unsigned long abs_press_filt = 0;
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unsigned long abs_press_gnd = 0;
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int ground_temperature = 0; //
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int temp_unfilt = 0;
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long ground_alt = 0; // Ground altitude from gps at startup in centimeters
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long press_alt = 0; // Pressure altitude
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#endif
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#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
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#define AIRSPEED_PIN 1 // Need to correct value
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#define BATTERY_PIN 1 // Need to correct value
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#define RELAY_PIN 47
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#define LOW_VOLTAGE 11.4 // Pack voltage at which to trigger alarm
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#define INPUT_VOLTAGE 5.2 // (Volts) voltage your power regulator is feeding your ArduPilot to have an accurate pressure and battery level readings. (you need a multimeter to measure and set this of course)
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#define VOLT_DIV_RATIO 1.0 // Voltage divider ratio set with thru-hole resistor (see manual)
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float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage, initialized above threshold for filter
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// Sonar variables
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int Sonar_value=0;
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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@ -30,6 +30,11 @@
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GEAR OFF = Flight Assist (Stable Mode)
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**** LED Feedback ****
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Bootup Sequence:
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1) A, B, C LED's blinking rapidly while waiting ESCs to bootup and initial shake to end from connecting battery
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2) A, B, C LED's have running light while calibrating Gyro/Acc's
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3) Green LED Solid after initialization finished
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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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@ -38,6 +43,7 @@
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Green LED blink slow = Motors armed, Stable mode
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Green LED blink rapid = Motors armed, Acro mode
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*/
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/* User definable modules */
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@ -51,6 +57,18 @@
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#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
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/**********************************************/
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// Not in use yet, starting to work with battery monitors and pressure sensors.
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// Added 19-08-2010
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//#define UseAirspeed
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//#define UseBMP
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
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/**********************************************/
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/* User definable modules - END */
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// Frame build condiguration
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@ -67,6 +85,9 @@
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#include <APM_RC.h>
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#include <DataFlash.h>
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#include <APM_Compass.h>
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#ifdef UseBMP
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#include <APM_BMP085.h>
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#endif
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//#include <GPS_NMEA.h> // General NMEA GPS
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#include <GPS_MTK.h> // MediaTEK DIY Drones GPS.
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@ -77,7 +98,8 @@
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#include "ArduCopter.h"
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#include "UserConfig.h"
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#define SWVER 1.31 // Current software version (only numeric values)
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/* Software version */
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#define VER 1.32 // Current software version (only numeric values)
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/* ***************************************************************************** */
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@ -85,7 +107,7 @@
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/* ***************************************************************************** */
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// Normal users does not need to edit anything below these lines. If you have
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// need, go and change them in FrameConfig.h
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// need, go and change them in UserConfig.h
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/* ************************************************************ */
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// STABLE MODE
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@ -234,7 +256,7 @@ int channel_filter(int ch, int ch_old)
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/* ************************************************************ */
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void setup()
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{
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int i;
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int i, j;
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float aux_float[3];
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pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
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@ -246,7 +268,17 @@ void setup()
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pinMode(RELE_pin,OUTPUT); // Rele output
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digitalWrite(RELE_pin,LOW);
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delay(1000); // Wait until frame is not moving after initial power cord has connected
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// delay(1000); // Wait until frame is not moving after initial power cord has connected
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for(i = 0; i <= 50; i++) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, HIGH);
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delay(20);
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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delay(20);
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}
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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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@ -269,7 +301,6 @@ void setup()
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if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500;
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if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500;
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// RC channels Initialization (Quad motors)
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APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
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APM_RC.OutputCh(1,MIN_THROTTLE);
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@ -306,6 +337,7 @@ void setup()
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aux_float[1] = gyro_offset_pitch;
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aux_float[2] = gyro_offset_yaw;
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j = 0;
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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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@ -319,7 +351,30 @@ void setup()
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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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// Runnings lights effect to let user know that we are taking mesurements
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if(j == 0) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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}
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else if (j == 1) {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, LOW);
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}
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else {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, HIGH);
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}
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if((i % 5) == 0) j++;
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if(j >= 3) j = 0;
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}
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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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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@ -330,7 +385,6 @@ void setup()
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Serial.print("AN[]:");
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Serial.println(AN_OFFSET[i]);
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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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Serial.print(yaw_mid);
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@ -367,9 +421,11 @@ void setup()
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Read_adc_raw(); // Initialize ADC readings...
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delay(20);
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#ifdef IsAM
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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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#endif
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motorArmed = 0;
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digitalWrite(LED_Green,HIGH); // Ready to go...
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@ -384,12 +440,12 @@ void loop(){
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int aux;
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int i;
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float aux_float;
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//Log variables
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int log_roll;
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int log_pitch;
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int log_yaw;
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if((millis()-timer)>=10) // Main loop 100Hz
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{
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counter++;
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@ -409,12 +465,13 @@ void loop(){
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}
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}
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#endif
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Matrix_update();
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Normalize();
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Drift_correction();
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Euler_angles();
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// *****************
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// *****************
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// Output data
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log_roll = ToDeg(roll) * 10;
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log_pitch = ToDeg(pitch) * 10;
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@ -604,8 +661,9 @@ 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 IsAM
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digitalWrite(FR_LED, HIGH); // AM-Mode
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#endif
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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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@ -620,7 +678,9 @@ void loop(){
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#endif
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}
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if (motorArmed == 0) {
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#ifdef IsAM
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digitalWrite(FR_LED, LOW); // AM-Mode
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#endif
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digitalWrite(LED_Green,HIGH); // Ready LED on
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rightMotor = MIN_THROTTLE;
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@ -674,7 +734,10 @@ void loop(){
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}
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}
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} // End of void loop()
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// END of Arducopter.pde
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}
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@ -135,8 +135,14 @@ void comma() {
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Serial.print(',');
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}
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#if BATTERY_EVENT == 1
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void low_battery_event(void)
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{
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// send_message(SEVERITY_HIGH,"Low Battery!");
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// set_mode(RTL);
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// throttle_cruise = THROTTLE_CRUISE;
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}
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#endif
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@ -375,7 +375,7 @@ void sendSerialTelemetry() {
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case 'X': // Stop sending messages
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break;
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case '!': // Send flight software version
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Serial.println(SWVER);
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Serial.println(VER);
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queryType = 'X';
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break;
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case '.': // Modify GPS settings
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@ -26,12 +26,13 @@ TODO:
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************************************************************* */
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/*************************************************************/
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// Safety & Security
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// Arm & Disarm delays
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#define ARM_DELAY 200
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#define DISARM_DELAY 100
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#define ARM_DELAY 200 // milliseconds of how long you need to keep rudder to max right for arming motors
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#define DISARM_DELAY 100 // milliseconds of how long you need to keep rudder to max left for disarming motors
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/*************************************************************/
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@ -57,10 +58,10 @@ TODO:
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//#define RADIO_TEST_MODE
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#define ROLL_MID 1478 // Radio Roll channel mid value
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#define PITCH_MID 1483 // Radio Pitch channel mid value
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#define ROLL_MID 1500 // Radio Roll channel mid value
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#define PITCH_MID 1500 // Radio Pitch channel mid value
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#define YAW_MID 1500 // Radio Yaw channel mid value
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#define THROTTLE_MID 1502 // Radio Throttle channel mid value
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#define THROTTLE_MID 1505 // Radio Throttle channel mid value
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#define AUX_MID 1500
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#define CHANN_CENTER 1500 // Channel center, legacy
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@ -68,25 +69,25 @@ TODO:
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// Following variables stored in EEPROM
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float KP_QUAD_ROLL;
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float KD_QUAD_ROLL;
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float KI_QUAD_ROLL;
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float KD_QUAD_ROLL;
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float KP_QUAD_PITCH;
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float KD_QUAD_PITCH;
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float KI_QUAD_PITCH;
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float KD_QUAD_PITCH;
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float KP_QUAD_YAW;
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float KD_QUAD_YAW;
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float KI_QUAD_YAW;
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float KD_QUAD_YAW;
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float STABLE_MODE_KP_RATE;
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float KP_GPS_ROLL;
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float KD_GPS_ROLL;
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float KI_GPS_ROLL;
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float KD_GPS_ROLL;
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float KP_GPS_PITCH;
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float KD_GPS_PITCH;
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float KI_GPS_PITCH;
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float KD_GPS_PITCH;
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float GPS_MAX_ANGLE;
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float KP_ALTITUDE;
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float KD_ALTITUDE;
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float KI_ALTITUDE;
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float KD_ALTITUDE;
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int acc_offset_x;
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int acc_offset_y;
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int acc_offset_z;
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@ -126,25 +127,25 @@ float ch_aux2_offset = 0;
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// when a "Default EEPROM Value" command is sent through serial interface
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void setUserConfig() {
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KP_QUAD_ROLL = 1.8;
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KD_QUAD_ROLL = 0.4; //0.48
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KI_QUAD_ROLL = 0.30; //0.4
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KD_QUAD_ROLL = 0.4; //0.48
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KP_QUAD_PITCH = 1.8;
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KD_QUAD_PITCH = 0.4; //0.48
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KI_QUAD_PITCH = 0.30; //0.4
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KD_QUAD_PITCH = 0.4; //0.48
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KP_QUAD_YAW = 3.6;
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KD_QUAD_YAW = 1.2;
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KI_QUAD_YAW = 0.15;
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KD_QUAD_YAW = 1.2;
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STABLE_MODE_KP_RATE = 0.2; // New param for stable mode
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KP_GPS_ROLL = 0.012;
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KD_GPS_ROLL = 0.005;
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KI_GPS_ROLL = 0.004;
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KP_GPS_PITCH = 0.012;
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KD_GPS_PITCH = 0.005;
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KI_GPS_PITCH = 0.004;
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GPS_MAX_ANGLE = 10;
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KP_GPS_ROLL = 0.02;
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KI_GPS_ROLL = 0.008;
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KD_GPS_ROLL = 0.006;
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KP_GPS_PITCH = 0.02;
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KI_GPS_PITCH = 0.008;
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KD_GPS_PITCH = 0.006;
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GPS_MAX_ANGLE = 18;
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KP_ALTITUDE = 0.8;
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KD_ALTITUDE = 0.2;
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KI_ALTITUDE = 0.2;
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KD_ALTITUDE = 0.2;
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acc_offset_x = 2073;
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acc_offset_y = 2056;
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acc_offset_z = 2010;
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@ -186,25 +187,25 @@ void setUserConfig() {
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// EEPROM storage addresses
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#define KP_QUAD_ROLL_ADR 0
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#define KD_QUAD_ROLL_ADR 4
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#define KI_QUAD_ROLL_ADR 8
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#define KD_QUAD_ROLL_ADR 4
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#define KP_QUAD_PITCH_ADR 12
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#define KD_QUAD_PITCH_ADR 16
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#define KI_QUAD_PITCH_ADR 20
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#define KD_QUAD_PITCH_ADR 16
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#define KP_QUAD_YAW_ADR 24
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#define KD_QUAD_YAW_ADR 28
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#define KI_QUAD_YAW_ADR 32
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#define KD_QUAD_YAW_ADR 28
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#define STABLE_MODE_KP_RATE_ADR 36
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#define KP_GPS_ROLL_ADR 40
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#define KD_GPS_ROLL_ADR 44
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#define KI_GPS_ROLL_ADR 48
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#define KD_GPS_ROLL_ADR 44
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#define KP_GPS_PITCH_ADR 52
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#define KD_GPS_PITCH_ADR 56
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#define KI_GPS_PITCH_ADR 60
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#define KD_GPS_PITCH_ADR 56
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#define GPS_MAX_ANGLE_ADR 64
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#define KP_ALTITUDE_ADR 68
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#define KD_ALTITUDE_ADR 72
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#define KI_ALTITUDE_ADR 76
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#define KD_ALTITUDE_ADR 72
|
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#define acc_offset_x_ADR 80
|
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#define acc_offset_y_ADR 84
|
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#define acc_offset_z_ADR 88
|
||||
|
|
@ -268,25 +269,25 @@ void writeEEPROM(float value, int address) {
|
|||
|
||||
void readUserConfig() {
|
||||
KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
|
||||
KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
|
||||
KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
|
||||
KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
|
||||
KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
|
||||
KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
|
||||
KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
|
||||
KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
|
||||
KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
|
||||
KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
|
||||
KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
|
||||
KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
|
||||
STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);
|
||||
KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
|
||||
KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
|
||||
KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
|
||||
KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
|
||||
KP_GPS_PITCH = readEEPROM(KP_GPS_PITCH_ADR);
|
||||
KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
|
||||
KI_GPS_PITCH = readEEPROM(KI_GPS_PITCH_ADR);
|
||||
KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
|
||||
GPS_MAX_ANGLE = readEEPROM(GPS_MAX_ANGLE_ADR);
|
||||
KP_ALTITUDE = readEEPROM(KP_ALTITUDE_ADR);
|
||||
KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
|
||||
KI_ALTITUDE = readEEPROM(KI_ALTITUDE_ADR);
|
||||
KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
|
||||
acc_offset_x = readEEPROM(acc_offset_x_ADR);
|
||||
acc_offset_y = readEEPROM(acc_offset_y_ADR);
|
||||
acc_offset_z = readEEPROM(acc_offset_z_ADR);
|
||||
|
|
|
|||
Loading…
Reference in New Issue