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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 -*-
#define THISFIRMWARE "ArduCopter V2.2 b6"
#define THISFIRMWARE "ArduCopter V2.3"
/*
ArduCopter Version 2.2
ArduCopter Version 2.3
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
This firmware is free software; you can redistribute it and/or
@ -32,6 +32,9 @@ Oliver :Piezo support
Guntars :Arming safety suggestion
Igor van Airde :Control Law optimization
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
@ -547,7 +550,7 @@ static bool low_batt = false;
static int32_t ground_pressure;
// The ground temperature at home location - calibrated at arming
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;
// The cm/s we are moving up or down - Positive = UP
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
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{
g.pid_optflow_roll.reset_I();
tot_x_cm = 0;
@ -475,7 +475,7 @@ get_of_pitch(int32_t control_pitch)
// only stop roll if caller isn't modifying pitch
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{
tot_y_cm = 0;
g.pid_optflow_pitch.reset_I();

4
ArduCopter/config.h
View File

@ -324,7 +324,7 @@
#define OPTFLOW_ROLL_P 2.5
#endif
#ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 6.2
#define OPTFLOW_ROLL_I 3.2
#endif
#ifndef OPTFLOW_ROLL_D
#define OPTFLOW_ROLL_D 0.12
@ -333,7 +333,7 @@
#define OPTFLOW_PITCH_P 2.5
#endif
#ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 6.2
#define OPTFLOW_PITCH_I 3.2
#endif
#ifndef OPTFLOW_PITCH_D
#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>
<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>
<name>ArduCopter V2.2 b4 Quad</name>
<name>ArduCopter V2.3 Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<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>
<url2560-2>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>
#define FRAME_CONFIG TRI_FRAME
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<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>
<url2560-2>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>
#define FRAME_CONFIG HEXA_FRAME
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<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>
<url2560-2>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>
#define FRAME_CONFIG Y6_FRAME
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<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>
<url2560-2>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>
#define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION V_FRAME
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<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>
<url2560-2>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>
#define FRAME_CONFIG OCTA_FRAME
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<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>
<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>
<name>ArduCopter V2.2 b4 Quad Hil</name>
<name>ArduCopter V2.3 Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
@ -172,7 +172,7 @@
</desc>
<format_version>114</format_version>
<format_version>115</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>