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ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission

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This commit is contained in:
rmackay9 2012-12-09 18:04:31 +09:00
parent 0f7bb79d89
commit 56ceb230cb
4 changed files with 18 additions and 0 deletions
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2
ArduCopter/Parameters.h
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@ -72,6 +72,7 @@ public:
k_param_crosstrack_min_distance, k_param_crosstrack_min_distance,
k_param_rssi_pin, k_param_rssi_pin,
k_param_throttle_accel_enabled, k_param_throttle_accel_enabled,
k_param_yaw_override_behaviour,
// 65: AP_Limits Library // 65: AP_Limits Library
k_param_limits = 65, k_param_limits = 65,
@ -271,6 +272,7 @@ public:
AP_Int8 battery_curr_pin; AP_Int8 battery_curr_pin;
AP_Int8 rssi_pin; AP_Int8 rssi_pin;
AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller
AP_Int8 yaw_override_behaviour; // controls when autopilot takes back normal control of yaw after pilot overrides
// Waypoints // Waypoints
// //

7
ArduCopter/Parameters.pde
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@ -151,6 +151,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(throttle_accel_enabled, "THR_ACC_ENABLE", 1), GSCALAR(throttle_accel_enabled, "THR_ACC_ENABLE", 1),
// @Param: YAW_OVR_BEHAVE
// @DisplayName: Yaw override behaviour
// @Description: Controls when autopilot takes back normal control of yaw after pilot overrides
// @Values: 0:At Next WP, 1:On Mission Restart
// @User: Advanced
GSCALAR(yaw_override_behaviour, "YAW_OVR_BEHAVE", YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT),
GSCALAR(waypoint_mode, "WP_MODE", 0), GSCALAR(waypoint_mode, "WP_MODE", 0),
GSCALAR(command_total, "WP_TOTAL", 0), GSCALAR(command_total, "WP_TOTAL", 0),
GSCALAR(command_index, "WP_INDEX", 0), GSCALAR(command_index, "WP_INDEX", 0),

5
ArduCopter/commands_logic.pde
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@ -284,6 +284,11 @@ static void do_nav_wp()
if((next_WP.options & WP_OPTION_ALT_REQUIRED) == false) { if((next_WP.options & WP_OPTION_ALT_REQUIRED) == false) {
wp_verify_byte |= NAV_ALTITUDE; wp_verify_byte |= NAV_ALTITUDE;
} }
// reset control of yaw
if( g.yaw_override_behaviour == YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT ) {
set_yaw_mode(YAW_LOOK_AT_NEXT_WP);
}
} }
// do_land - initiate landing procedure // do_land - initiate landing procedure

4
ArduCopter/defines.h
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@ -192,6 +192,10 @@
#define CIRCLE_MODE 3 #define CIRCLE_MODE 3
#define NO_NAV_MODE 4 #define NO_NAV_MODE 4
// Yaw override behaviours - used for setting yaw_override_behaviour
#define YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT 0 // auto pilot takes back yaw control at next waypoint
#define YAW_OVERRIDE_BEHAVIOUR_AT_MISSION_RESTART 1 // auto pilot tkaes back control only when mission is restarted
// TOY mixing options // TOY mixing options
#define TOY_LOOKUP_TABLE 0 #define TOY_LOOKUP_TABLE 0
#define TOY_LINEAR_MIXER 1 #define TOY_LINEAR_MIXER 1