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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Chris Anderson 2012-02-01 18:15:55 -08:00
parent 6dcba35c45 b65eb110bd
commit 57f18e3325
4 changed files with 25 additions and 22 deletions
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11
ArduCopter/ArduCopter.pde
View File

@ -1,10 +1,10 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V2.2 b6" #define THISFIRMWARE "ArduCopter V2.3"
/* /*
ArduCopter Version 2.2 ArduCopter Version 2.3
Authors: Jason Short Authors: Jason Short
Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen
Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier
This firmware is free software; you can redistribute it and/or This firmware is free software; you can redistribute it and/or
@ -32,6 +32,9 @@ Oliver :Piezo support
Guntars :Arming safety suggestion Guntars :Arming safety suggestion
Igor van Airde :Control Law optimization Igor van Airde :Control Law optimization
Jean-Louis Naudin :Auto Landing Jean-Louis Naudin :Auto Landing
Sandro Benigno : Camera support
Olivier Adler : PPM Encoder
John Arne Birkeland: PPM Encoder
And much more so PLEASE PM me on DIYDRONES to add your contribution to the List And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
@ -547,7 +550,7 @@ static bool low_batt = false;
static int32_t ground_pressure; static int32_t ground_pressure;
// The ground temperature at home location - calibrated at arming // The ground temperature at home location - calibrated at arming
static int16_t ground_temperature; static int16_t ground_temperature;
// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP // The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
static int32_t altitude_error; static int32_t altitude_error;
// The cm/s we are moving up or down - Positive = UP // The cm/s we are moving up or down - Positive = UP
static int16_t climb_rate; static int16_t climb_rate;

4
ArduCopter/Attitude.pde
View File

@ -441,7 +441,7 @@ get_of_roll(int32_t control_roll)
// only stop roll if caller isn't modifying roll // only stop roll if caller isn't modifying roll
if( control_roll == 0 && current_loc.alt < 1500) { if( control_roll == 0 && current_loc.alt < 1500) {
//new_roll = g.pid_optflow_roll.get_pid(-tot_x_cm, 1.0, 1.0); // we could use the last update time to calculate the time change new_roll = g.pid_optflow_roll.get_pid(-tot_x_cm, 1.0); // we could use the last update time to calculate the time change
}else{ }else{
g.pid_optflow_roll.reset_I(); g.pid_optflow_roll.reset_I();
tot_x_cm = 0; tot_x_cm = 0;
@ -475,7 +475,7 @@ get_of_pitch(int32_t control_pitch)
// only stop roll if caller isn't modifying pitch // only stop roll if caller isn't modifying pitch
if( control_pitch == 0 && current_loc.alt < 1500 ) { if( control_pitch == 0 && current_loc.alt < 1500 ) {
//new_pitch = g.pid_optflow_pitch.get_pid(tot_y_cm, 1.0, 1.0); // we could use the last update time to calculate the time change new_pitch = g.pid_optflow_pitch.get_pid(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
}else{ }else{
tot_y_cm = 0; tot_y_cm = 0;
g.pid_optflow_pitch.reset_I(); g.pid_optflow_pitch.reset_I();

4
ArduCopter/config.h
View File

@ -324,7 +324,7 @@
#define OPTFLOW_ROLL_P 2.5 #define OPTFLOW_ROLL_P 2.5
#endif #endif
#ifndef OPTFLOW_ROLL_I #ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 6.2 #define OPTFLOW_ROLL_I 3.2
#endif #endif
#ifndef OPTFLOW_ROLL_D #ifndef OPTFLOW_ROLL_D
#define OPTFLOW_ROLL_D 0.12 #define OPTFLOW_ROLL_D 0.12
@ -333,7 +333,7 @@
#define OPTFLOW_PITCH_P 2.5 #define OPTFLOW_PITCH_P 2.5
#endif #endif
#ifndef OPTFLOW_PITCH_I #ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 6.2 #define OPTFLOW_PITCH_I 3.2
#endif #endif
#ifndef OPTFLOW_PITCH_D #ifndef OPTFLOW_PITCH_D
#define OPTFLOW_PITCH_D 0.12 #define OPTFLOW_PITCH_D 0.12

28
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -47,68 +47,68 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Quad</name> <name>ArduCopter V2.3 Quad</name>
<desc> <desc>
#define FRAME_CONFIG QUAD_FRAME #define FRAME_CONFIG QUAD_FRAME
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Tri</name> <name>ArduCopter V2.3 Tri</name>
<desc> <desc>
#define FRAME_CONFIG TRI_FRAME #define FRAME_CONFIG TRI_FRAME
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Hexa X</name> <name>ArduCopter V2.3 Hexa X</name>
<desc> <desc>
#define FRAME_CONFIG HEXA_FRAME #define FRAME_CONFIG HEXA_FRAME
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Y6</name> <name>ArduCopter V2.3 Y6</name>
<desc> <desc>
#define FRAME_CONFIG Y6_FRAME #define FRAME_CONFIG Y6_FRAME
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa V</name> <name>ArduCopter V2.3 Octa V</name>
<desc> <desc>
#define FRAME_CONFIG OCTA_FRAME #define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION V_FRAME #define FRAME_ORIENTATION V_FRAME
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa X</name> <name>ArduCopter V2.3 Octa X</name>
<desc> <desc>
#define FRAME_CONFIG OCTA_FRAME #define FRAME_CONFIG OCTA_FRAME
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
@ -162,7 +162,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Quad Hil</name> <name>ArduCopter V2.3 Quad Hil</name>
<desc> <desc>
#define FRAME_CONFIG QUAD_FRAME #define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME #define FRAME_ORIENTATION PLUS_FRAME
@ -172,7 +172,7 @@
</desc> </desc>
<format_version>114</format_version> <format_version>115</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>