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undid accidentical commit of local changes 

sorry about that!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1806 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-03-21 07:35:54 +00:00
parent 5820e19696
commit 53549f14a6
6 changed files with 42 additions and 101 deletions
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29
ArduCopterMega/APM_Config.h
View File

@ -1,3 +1,28 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
// GPS is auto-selected
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
# define SERIAL0_BAUD 38400
//# define STABILIZE_ROLL_P 0.4
//# define STABILIZE_PITCH_P 0.4
//# define STABILIZE_DAMPENER 0.1
//#define ACRO_RATE_TRIGGER 4200
// if you want full ACRO mode, set value to 0
// if you want safe ACRO mode, set value to 100
// if you want mostly stabilize with flips, set value to 4200
// Logging
//#define LOG_CURRENT ENABLED
#include "configs/tridge.h"

13
ArduCopterMega/config.h
View File

@ -558,16 +558,3 @@
#ifndef ALLOW_RC_OVERRIDE
# define ALLOW_RC_OVERRIDE DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Motor arming
//
// The default is for MODE2 setups. We wait for throttle to reach
// zero, and rudder to be at maximum extent.
#ifndef MOTOR_ARM_CONDITION
# define MOTOR_ARM_CONDITION (g.rc_3.control_in == 0 && g.rc_4.control_in > 2700)
#endif
#ifndef MOTOR_DISARM_CONDITION
# define MOTOR_DISARM_CONDITION (g.rc_3.control_in == 0 && g.rc_4.control_in < -2700)
#endif

49
ArduCopterMega/configs/tridge.h
View File

@ -1,49 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
// GPS is auto-selected
#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#define SERIAL0_BAUD 115200
#define SERIAL3_BAUD 115200
// Hardware in the loop protocol
#if 0
# define HIL_MODE HIL_MODE_NONE
#else
# define HIL_MODE HIL_MODE_ATTITUDE
# define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
# define HIL_PORT 0
#endif
// You can set your gps protocol here for your actual
// hardware and leave it without affecting the hardware
// in the loop simulation
// Ground control station comms
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#define GCS_PORT 0
//#define RADIO_OVERRIDE_DEFAULTS { 1500, 1500, 1000, 1500, 1000, 1000, 1000, 1815 }
#define FLIGHT_MODE_CHANNEL CH_8
#define FLIGHT_MODE_1 STABILIZE
#define FLIGHT_MODE_2 ALT_HOLD
#define FLIGHT_MODE_3 ACRO
#define FLIGHT_MODE_4 STABILIZE
#define FLIGHT_MODE_5 STABILIZE
#define FLIGHT_MODE_6 STABILIZE
//#define ALWAYS_RESET_RADIO_RANGE 1
//#define ALWAYS_RESET_MODES 1
#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX
// Use MODE1 arming
#define MOTOR_ARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in > 2700)
#define MOTOR_DISARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in < -2700)

4
ArduCopterMega/control_modes.pde
View File

@ -6,14 +6,12 @@ void read_control_switch()
//motor_armed = (switchPosition < 5);
if (oldSwitchPosition != switchPosition){
set_mode(g.flight_modes[switchPosition]);
oldSwitchPosition = switchPosition;
prev_WP = current_loc;
Serial.print("Changed to flight mode: ");
Serial.println(flight_mode_strings[g.flight_modes[switchPosition]]);
// reset navigation integrators
// -------------------------
reset_I();

32
ArduCopterMega/motors.pde
View File

@ -6,28 +6,24 @@
void arm_motors()
{
static byte arming_counter;
// Serial.printf("rc3: %u rc4: %u\n", g.rc_3.control_in, g.rc_4.control_in);
// Arm motor output : Throttle down and full yaw right for more than 2 seconds
if (MOTOR_ARM_CONDITION) {
if (arming_counter > ARM_DELAY) {
if (!motor_armed) {
gcs.send_text(SEVERITY_MEDIUM, "Arming motors");
if (g.rc_3.control_in == 0){
if (g.rc_4.control_in > 2700) {
if (arming_counter > ARM_DELAY) {
motor_armed = true;
} else{
arming_counter++;
}
motor_armed = true;
} else{
arming_counter++;
}
} else if (MOTOR_DISARM_CONDITION) {
if (arming_counter > DISARM_DELAY){
if (motor_armed) {
gcs.send_text(SEVERITY_MEDIUM, "Dis-arming motors");
}else if (g.rc_4.control_in < -2700) {
if (arming_counter > DISARM_DELAY){
motor_armed = false;
}else{
arming_counter++;
}
motor_armed = false;
} else {
arming_counter++;
}else{
arming_counter = 0;
}
} else {
arming_counter = 0;
}
}

16
ArduCopterMega/system.pde
View File

@ -123,22 +123,6 @@ void init_ardupilot()
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
#ifdef ALWAYS_RESET_RADIO_RANGE
{
RC_Channel *rcp = &g.rc_1;
for (unsigned char i=0; i<8; i++) {
rcp[i].radio_min = 1000;
rcp[i].radio_max = 2000;
rcp[i].save_eeprom();
}
}
#endif
#ifdef ALWAYS_RESET_MODES
default_flight_modes();
#endif
init_camera();
#if HIL_MODE != HIL_MODE_ATTITUDE
adc.Init(); // APM ADC library initialization