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APMrover V2.0b - updates about Save_WP

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Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
This commit is contained in:
Jean-Louis Naudin 2012-05-02 13:57:19 +02:00 committed by Andrew Tridgell
parent 2dd655d87d
commit 53cbbfaaa4
5 changed files with 18 additions and 11 deletions
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4
APMrover2/APM_Config_Rover.h
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@ -12,7 +12,7 @@
#define AIRSPEED_SENSOR DISABLED
#define MAGNETOMETER ENABLED
#define LOGGING_ENABLED DISABLED
#define LOGGING_ENABLED ENABLED
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
@ -413,7 +413,7 @@
// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow
// users to start using the APM without running the WaypointWriter first.
//
#define WP_RADIUS_DEFAULT 3 // meters
#define WP_RADIUS_DEFAULT 5 // meters
#define LOITER_RADIUS_DEFAULT 10 // 60
#define USE_CURRENT_ALT TRUE
#define ALT_HOLD_HOME 0

5
APMrover2/APMrover2.pde
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@ -16,7 +16,7 @@ License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
//
// JLN updates: last update 2012-04-30
// JLN updates: last update 2012-05-01
//
// DOLIST:
//
@ -24,6 +24,7 @@ version 2.1 of the License, or (at your option) any later version.
//-------------------------------------------------------------------------------------------------------------------------
// Dev Startup : 2012-04-21
//
// 2012-04-30: Successfully tested in autonomous nav with a waypoints list recorded in live mode
// 2012-04-30: Now a full version for APM v1 or APM v2 with magnetometer
// 2012-04-27: Cosmetic changes
// 2012-04-26: Only one PID (pidNavRoll) for steering the wheel with nav_roll
@ -48,7 +49,7 @@ version 2.1 of the License, or (at your option) any later version.
// Ch3: to the motor ESC
// Ch4: not used
//
// more infos this experimental version: http://diydrones.com/profile/JeanLouisNaudin
// more infos about this experimental version: http://diydrones.com/profile/JeanLouisNaudin
// =======================================================================================================
*/

10
APMrover2/control_modes.pde
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@ -66,7 +66,10 @@ if (g.ch7_option == CH7_SAVE_WP){ // set to 1
if(control_mode == MANUAL){ // if SW7 is ON in MANUAL = Erase the Flight Plan
// reset the mission
CH7_wp_index = 0;
g.command_total.set_and_save(CH7_wp_index);
g.command_total.set_and_save(CH7_wp_index);
g.command_total = 0;
g.command_index =0;
nav_command_index = 0;
#if X_PLANE == ENABLED
Serial.printf_P(PSTR("*** RESET the FPL\n"));
#endif
@ -81,7 +84,10 @@ if (g.ch7_option == CH7_SAVE_WP){ // set to 1
// store the index
g.command_total.set_and_save(CH7_wp_index);
g.command_total = CH7_wp_index;
g.command_index = CH7_wp_index;
nav_command_index = 0;
// save command
set_cmd_with_index(current_loc, CH7_wp_index);

4
APMrover2/navigation.pde
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@ -63,7 +63,7 @@ static void navigate()
// Disabled for now
void calc_distance_error()
{
distance_estimate += (float)g_gps->ground_speed * .0002 * cos(radians(bearing_error * .01));
distance_estimate += (float)ground_speed * .0002 * cos(radians(bearing_error * .01));
distance_estimate -= DST_EST_GAIN * (float)(distance_estimate - GPS_wp_distance);
wp_distance = max(distance_estimate,10);
}
@ -118,7 +118,7 @@ static long wrap_180(long error)
static void calc_turn_radius() // JLN update - adjut automaticaly the wp_radius Vs the speed and the turn angle
{
wp_radius = g_gps->ground_speed * 150 / g.roll_limit.get();
wp_radius = ground_speed * 150 / g.roll_limit.get();
//Serial.println(wp_radius, DEC);
}

6
APMrover2/system.pde
View File

@ -349,8 +349,8 @@ static void set_mode(byte mode)
break;
case AUTO:
reload_commands();
update_auto();
change_command(1); // restart to the 1st stored wp
//update_auto();
break;
case RTL:
@ -366,7 +366,7 @@ static void set_mode(byte mode)
break;
default:
//do_RTL();
do_RTL();
break;
}