diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index b5f31dba77..9b4698aa62 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1914,11 +1914,11 @@ adjust_altitude() static void tuning(){ tuning_value = (float)g.rc_6.control_in / 1000.0; + g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1 switch(g.radio_tuning){ case CH6_DAMP: - g.rc_6.set_range(0,300); // 0 to 1 g.stabilize_d.set(tuning_value); //tuning_value = (float)g.rc_6.control_in / 100000.0; @@ -1928,105 +1928,105 @@ static void tuning(){ break; case CH6_STABILIZE_KP: - g.rc_6.set_range(0,8000); // 0 to 8 + //g.rc_6.set_range(0,8000); // 0 to 8 g.pi_stabilize_roll.kP(tuning_value); g.pi_stabilize_pitch.kP(tuning_value); break; case CH6_STABILIZE_KI: - g.rc_6.set_range(0,300); // 0 to .3 - tuning_value = (float)g.rc_6.control_in / 1000.0; + //g.rc_6.set_range(0,300); // 0 to .3 + //tuning_value = (float)g.rc_6.control_in / 1000.0; g.pi_stabilize_roll.kI(tuning_value); g.pi_stabilize_pitch.kI(tuning_value); break; case CH6_RATE_KP: - g.rc_6.set_range(40,300); // 0 to .3 + //g.rc_6.set_range(40,300); // 0 to .3 g.pid_rate_roll.kP(tuning_value); g.pid_rate_pitch.kP(tuning_value); break; case CH6_RATE_KI: - g.rc_6.set_range(0,500); // 0 to .5 + //g.rc_6.set_range(0,500); // 0 to .5 g.pid_rate_roll.kI(tuning_value); g.pid_rate_pitch.kI(tuning_value); break; case CH6_YAW_KP: - g.rc_6.set_range(0,1000); + //g.rc_6.set_range(0,1000); g.pi_stabilize_yaw.kP(tuning_value); break; case CH6_YAW_RATE_KP: - g.rc_6.set_range(0,1000); + //g.rc_6.set_range(0,1000); g.pid_rate_yaw.kP(tuning_value); break; case CH6_THROTTLE_KP: - g.rc_6.set_range(0,1000); // 0 to 1 + //g.rc_6.set_range(0,1000); // 0 to 1 g.pid_throttle.kP(tuning_value); break; case CH6_TOP_BOTTOM_RATIO: - g.rc_6.set_range(800,1000); // .8 to 1 + //g.rc_6.set_range(800,1000); // .8 to 1 g.top_bottom_ratio = tuning_value; break; case CH6_RELAY: - g.rc_6.set_range(0,1000); + //g.rc_6.set_range(0,1000); if (g.rc_6.control_in > 525) relay.on(); if (g.rc_6.control_in < 475) relay.off(); break; case CH6_TRAVERSE_SPEED: - g.rc_6.set_range(0,1000); + //g.rc_6.set_range(0,1000); g.waypoint_speed_max = g.rc_6.control_in; break; case CH6_LOITER_P: - g.rc_6.set_range(0,2000); + //g.rc_6.set_range(0,2000); g.pi_loiter_lat.kP(tuning_value); g.pi_loiter_lon.kP(tuning_value); break; case CH6_NAV_P: - g.rc_6.set_range(0,4000); + //g.rc_6.set_range(0,4000); g.pid_nav_lat.kP(tuning_value); g.pid_nav_lon.kP(tuning_value); break; case CH6_NAV_I: - g.rc_6.set_range(0,500); + //g.rc_6.set_range(0,500); g.pid_nav_lat.kI(tuning_value); g.pid_nav_lon.kI(tuning_value); break; #if FRAME_CONFIG == HELI_FRAME case CH6_HELI_EXTERNAL_GYRO: - g.rc_6.set_range(1000,2000); + //g.rc_6.set_range(1000,2000); g.heli_ext_gyro_gain = tuning_value * 1000; break; #endif case CH6_THR_HOLD_KP: - g.rc_6.set_range(0,1000); // 0 to 1 + //g.rc_6.set_range(0,1000); // 0 to 1 g.pi_alt_hold.kP(tuning_value); break; case CH6_OPTFLOW_KP: - g.rc_6.set_range(0,5000); // 0 to 5 + //g.rc_6.set_range(0,5000); // 0 to 5 g.pid_optflow_roll.kP(tuning_value); g.pid_optflow_pitch.kP(tuning_value); break; case CH6_OPTFLOW_KI: - g.rc_6.set_range(0,10000); // 0 to 10 + //g.rc_6.set_range(0,10000); // 0 to 10 g.pid_optflow_roll.kI(tuning_value); g.pid_optflow_pitch.kI(tuning_value); break; case CH6_OPTFLOW_KD: - g.rc_6.set_range(0,200); // 0 to 0.2 + //g.rc_6.set_range(0,200); // 0 to 0.2 g.pid_optflow_roll.kD(tuning_value); g.pid_optflow_pitch.kD(tuning_value); break;