From 3dea060983579e18780882b9098e52a9abdf2758 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 6 May 2011 22:46:57 +0000
Subject: [PATCH] new ESC calibration routine
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2121 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
ArduCopterMega/Parameters.h | 6 ++++-
ArduCopterMega/radio.pde | 6 +++--
ArduCopterMega/setup.pde | 49 +++++++++++++++++++++++++++++++------
ArduCopterMega/system.pde | 22 ++++++++++-------
ArduCopterMega/test.pde | 5 +---
5 files changed, 65 insertions(+), 23 deletions(-)
diff --git a/ArduCopterMega/Parameters.h b/ArduCopterMega/Parameters.h
index 29c3a9639a..e734e849e3 100644
--- a/ArduCopterMega/Parameters.h
+++ b/ArduCopterMega/Parameters.h
@@ -91,6 +91,7 @@ public:
k_param_throttle_cruise,
k_param_flight_mode_channel,
k_param_flight_modes,
+ k_param_esc_calibrate,
//
// 220: Waypoint data
@@ -180,7 +181,7 @@ public:
AP_Int8 current_enabled;
AP_Int16 milliamp_hours;
AP_Int8 compass_enabled;
-
+ AP_Int8 esc_calibrate;
// RC channels
RC_Channel rc_1;
@@ -264,6 +265,9 @@ public:
rc_camera_pitch (k_param_rc_9, PSTR("RC9_")),
rc_camera_roll (k_param_rc_10, PSTR("RC10_")),
+ esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
+
+
// PID controller group key name initial P initial I initial D initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX * 100),
diff --git a/ArduCopterMega/radio.pde b/ArduCopterMega/radio.pde
index d129506d71..6145f61106 100644
--- a/ArduCopterMega/radio.pde
+++ b/ArduCopterMega/radio.pde
@@ -7,8 +7,6 @@ byte failsafeCounter = 0; // we wait a second to take over the throttle and sen
void init_rc_in()
{
- //read_EEPROM_radio(); // read Radio limits
-
// set rc channel ranges
g.rc_1.set_angle(4500);
g.rc_2.set_angle(4500);
@@ -66,6 +64,10 @@ void init_rc_out()
OCR4B = 0xFFFF; // PH4, OUT6
OCR4C = 0xFFFF; // PH5, OUT5
+ // don't fuss if we are calibrating
+ if(g.esc_calibrate == 1)
+ return;
+
if(g.rc_3.radio_min <= 1200){
output_min();
}
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index 5d82b3e869..5829e3be55 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -13,6 +13,7 @@ static int8_t setup_current (uint8_t argc, const Menu::arg *argv);
static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
+static int8_t setup_esc (uint8_t argc, const Menu::arg *argv);
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
// Command/function table for the setup menu
@@ -24,6 +25,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
{"pid", setup_pid},
{"radio", setup_radio},
{"motors", setup_motors},
+ {"esc", setup_esc},
{"level", setup_accel},
{"modes", setup_flightmodes},
{"frame", setup_frame},
@@ -195,21 +197,53 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
return(0);
}
+static int8_t
+setup_esc(uint8_t argc, const Menu::arg *argv)
+{
+ Serial.printf_P(PSTR("\nUnplug battery, calibrate as usual.\n Press Enter to cancel.\n"));
+
+ g.esc_calibrate.set_and_save(1);
+
+ while(1){
+ delay(20);
+
+ if(Serial.available() > 0){
+ g.esc_calibrate.set_and_save(0);
+ break;
+ }
+ }
+}
+
+void
+init_esc()
+{
+ Serial.printf_P(PSTR("\nCalibrate ESC\nRestart when done."));
+
+ g.esc_calibrate.set_and_save(0);
+
+ while(1){
+ read_radio();
+ delay(20);
+
+ APM_RC.OutputCh(CH_1, g.rc_3.radio_in);
+ APM_RC.OutputCh(CH_2, g.rc_3.radio_in);
+ APM_RC.OutputCh(CH_3, g.rc_3.radio_in);
+ APM_RC.OutputCh(CH_4, g.rc_3.radio_in);
+
+ }
+}
+
static int8_t
setup_motors(uint8_t argc, const Menu::arg *argv)
{
- report_frame();
-
- init_rc_in();
-
print_hit_enter();
- delay(1000);
+ report_frame();
+ //init_rc_in();
+ //delay(1000);
int out_min = g.rc_3.radio_min + 70;
-
-
while(1){
delay(20);
read_radio();
@@ -316,6 +350,7 @@ setup_accel(uint8_t argc, const Menu::arg *argv)
return(0);
}
+
static int8_t
setup_pid(uint8_t argc, const Menu::arg *argv)
{
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 1343ea0eb3..c07b89627d 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -186,15 +186,19 @@ void init_ardupilot()
// menu; they must reset in order to fly.
//
if (digitalRead(SLIDE_SWITCH_PIN) == 0) {
- digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
- Serial.printf_P(PSTR("\n"
- "Entering interactive setup mode...\n"
- "\n"
- "Type 'help' to list commands, 'exit' to leave a submenu.\n"
- "Visit the 'setup' menu for first-time configuration.\n\n"));
- for (;;) {
- //Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
- main_menu.run();
+ if(g.esc_calibrate == 1){
+ init_esc();
+ }else{
+ digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
+ Serial.printf_P(PSTR("\n"
+ "Entering interactive setup mode...\n"
+ "\n"
+ "Type 'help' to list commands, 'exit' to leave a submenu.\n"
+ "Visit the 'setup' menu for first-time configuration.\n\n"));
+ for (;;) {
+ //Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
+ main_menu.run();
+ }
}
}
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 77ed185225..9dd8e44da3 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -166,10 +166,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
while(1){
delay(20);
read_radio();
- //output_manual_throttle();
- //g.rc_1.calc_pwm();
- //g.rc_2.calc_pwm();
- //g.rc_4.calc_pwm();
+
Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"),
g.rc_1.control_in,