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Incorporated dcm changes from arducopter into apo.

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This commit is contained in:
James Goppert 2011-10-18 22:00:24 -04:00
parent 4b7d52b233
commit 4653ea7629
2 changed files with 28 additions and 3 deletions
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13
libraries/APO/AP_HardwareAbstractionLayer.h
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@ -80,6 +80,19 @@ public:
pinMode(slideSwitchPin, INPUT);
pinMode(pushButtonPin, INPUT);
DDRL |= B00000100; // set port L, pint 2 to output for the relay
} else if (board == BOARD_ARDUPILOTMEGA_2) {
slideSwitchPin = 40;
pushButtonPin = 41;
aLedPin = 37;
bLedPin = 36;
cLedPin = 35;
eepromMaxAddr = 2048;
pinMode(aLedPin, OUTPUT); // extra led
pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
pinMode(cLedPin, OUTPUT); // gps led
pinMode(slideSwitchPin, INPUT);
pinMode(pushButtonPin, INPUT);
DDRL |= B00000100; // set port L, pint 2 to output for the relay
}
}

18
libraries/APO/AP_Navigator.cpp
View File

@ -69,13 +69,25 @@ DcmNavigator::DcmNavigator(AP_HardwareAbstractionLayer * hal) :
}
if (_hal->getMode() == MODE_LIVE) {
if (_hal->adc)
if (_hal->adc) {
_hal->imu = new AP_IMU_Oilpan(_hal->adc, k_sensorCalib);
if (_hal->imu)
}
if (_hal->imu) {
_dcm = new AP_DCM(_hal->imu, _hal->gps, _hal->compass);
// tune down dcm
_dcm->kp_roll_pitch(0.030000);
_dcm->ki_roll_pitch(0.00001278), // 50 hz I term
// tune down compass in dcm
_dcm->kp_yaw(0.08);
_dcm->ki_yaw(0);
}
if (_hal->compass) {
_dcm->set_compass(_hal->compass);
}
}
}