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removed some unused vars,

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formatting, made loop speed same as PIDT1 to eliminate variable.
This commit is contained in:
Jason Short 2012-02-16 22:07:00 -08:00
parent 79d622939a
commit 36a120d8df
1 changed files with 7 additions and 23 deletions
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30
ArduCopter/ArduCopter.pde
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@ -32,9 +32,9 @@ Oliver :Piezo support
Guntars :Arming safety suggestion Guntars :Arming safety suggestion
Igor van Airde :Control Law optimization Igor van Airde :Control Law optimization
Jean-Louis Naudin :Auto Landing Jean-Louis Naudin :Auto Landing
Sandro Benigno : Camera support Sandro Benigno :Camera support
Olivier Adler : PPM Encoder Olivier Adler :PPM Encoder
John Arne Birkeland: PPM Encoder John Arne Birkeland :PPM Encoder
And much more so PLEASE PM me on DIYDRONES to add your contribution to the List And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
@ -659,11 +659,6 @@ static int32_t auto_pitch;
static int16_t nav_lat; static int16_t nav_lat;
// The desired bank towards East (Positive) or West (Negative) // The desired bank towards East (Positive) or West (Negative)
static int16_t nav_lon; static int16_t nav_lon;
// This may go away, but for now I'm tracking the desired bank before we apply the Wind compensation I term
// This is mainly for debugging
//static int16_t nav_lat_p;
//static int16_t nav_lon_p;
// The Commanded ROll from the autopilot based on optical flow sensor. // The Commanded ROll from the autopilot based on optical flow sensor.
static int32_t of_roll = 0; static int32_t of_roll = 0;
// The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward. // The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward.
@ -829,7 +824,9 @@ void loop()
uint32_t timer = micros(); uint32_t timer = micros();
// We want this to execute fast // We want this to execute fast
// ---------------------------- // ----------------------------
if ((timer - fast_loopTimer) >= 4500) { if ((timer - fast_loopTimer) >= 5000) {
Log_Write_Data(13, (int32_t)(timer - fast_loopTimer));
//PORTK |= B00010000; //PORTK |= B00010000;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
fast_loopTimer = timer; fast_loopTimer = timer;
@ -1426,26 +1423,13 @@ void update_roll_pitch_mode(void)
g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in); g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
break; break;
/* case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform
if(do_simple && new_radio_frame){
update_simple_mode();
}
// mix in user control with Nav control
control_roll = g.rc_1.control_mix(nav_roll);
control_pitch = g.rc_2.control_mix(nav_pitch);
g.rc_1.servo_out = get_stabilize_roll(control_roll);
g.rc_2.servo_out = get_stabilize_pitch(control_pitch);
break;
*/
case ROLL_PITCH_AUTO: case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform // apply SIMPLE mode transform
if(do_simple && new_radio_frame){ if(do_simple && new_radio_frame){
update_simple_mode(); update_simple_mode();
} }
// mix in user control with Nav control // mix in user control with Nav control
nav_roll += constrain(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second nav_roll += constrain(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_pitch += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second nav_pitch += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
control_roll = g.rc_1.control_mix(nav_roll); control_roll = g.rc_1.control_mix(nav_roll);