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Made save WP the default 

Cosmetic updates
This commit is contained in:
Jason Short 2011-11-20 12:49:00 -08:00
parent 477d26eb52
commit 57f3eafb52
2 changed files with 8 additions and 9 deletions
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15
ArduCopter/ArduCopter.pde
View File

@ -1080,20 +1080,20 @@ void update_throttle_mode(void)
// calculate angle boost // calculate angle boost
angle_boost = get_angle_boost(g.throttle_cruise); angle_boost = get_angle_boost(g.throttle_cruise);
// manual command up or down? // manual command up or down?
if(manual_boost != 0){ if(manual_boost != 0){
//remove alt_hold_velocity when implemented //remove alt_hold_velocity when implemented
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping()); g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping());
#else #else
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping(); g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
#endif #endif
// reset next_WP.alt // reset next_WP.alt
next_WP.alt = max(current_loc.alt, 100); next_WP.alt = max(current_loc.alt, 100);
}else{ }else{
// 10hz, don't run up i term // 10hz, don't run up i term
if(invalid_throttle && motor_auto_armed == true){ if(invalid_throttle && motor_auto_armed == true){
@ -1102,13 +1102,12 @@ void update_throttle_mode(void)
altitude_error = get_altitude_error(); altitude_error = get_altitude_error();
// get the AP throttle // get the AP throttle
nav_throttle = get_nav_throttle(altitude_error);//, 250); //150 = target speed of 1.5m/s nav_throttle = get_nav_throttle(altitude_error);
//Serial.printf("in:%d, cr:%d, NT:%d, I:%1.4f\n", g.rc_3.control_in,altitude_error, nav_throttle, g.pi_throttle.get_integrator());
// clear the new data flag // clear the new data flag
invalid_throttle = false; invalid_throttle = false;
} }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping()); g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
#else #else
@ -1443,7 +1442,7 @@ static void tuning(){
g.heli_ext_gyro_gain = tuning_value * 1000; g.heli_ext_gyro_gain = tuning_value * 1000;
break; break;
#endif #endif
case CH6_THR_HOLD_KP: case CH6_THR_HOLD_KP:
g.rc_6.set_range(0,1000); // 0 to 1 g.rc_6.set_range(0,1000); // 0 to 1
g.pi_alt_hold.kP(tuning_value); g.pi_alt_hold.kP(tuning_value);

2
ArduCopter/config.h
View File

@ -71,7 +71,7 @@
// //
#ifndef CH7_OPTION #ifndef CH7_OPTION
# define CH7_OPTION CH7_SET_HOVER # define CH7_OPTION CH7_SAVE_WP
#endif #endif