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Added Sonar throttle PID, renamed old throttle PID

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1472 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-10 02:15:24 +00:00
parent e902e8cd19
commit 5b3830694d
1 changed files with 14 additions and 9 deletions
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23
ArduCopterMega/ArduCopterMega.pde
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@ -160,7 +160,8 @@ boolean rate_yaw_flag;
// Nav
PID pid_nav (EE_GAIN_7);
PID pid_throttle (EE_GAIN_8);
PID pid_baro_throttle (EE_GAIN_8);
PID pid_sonar_throttle (EE_GAIN_9);
// GPS variables
// -------------
@ -182,7 +183,7 @@ float x_track_gain;
int x_track_angle;
long alt_to_hold; // how high we should be for RTL
long nav_angle;
long nav_angle; // how much to pitch towards target
long pitch_max;
byte command_must_index; // current command memory location
@ -252,6 +253,8 @@ float roll; // radians
float pitch; // radians
float yaw; // radians
byte altitude_sensor = SONAR; // used to know whic sensor is active, BARO or SONAR
// flight mode specific
// --------------------
boolean takeoff_complete = false; // Flag for using take-off controls
@ -321,12 +324,12 @@ long delay_start; // used to delay commands
// 3D Location vectors
// -------------------
struct Location home; // home location
struct Location prev_WP; // last waypoint
struct Location current_loc; // current location
struct Location next_WP; // next waypoint
struct Location tell_command; // command for telemetry
struct Location next_command; // command preloaded
struct Location home; // home location
struct Location prev_WP; // last waypoint
struct Location current_loc; // current location
struct Location next_WP; // next waypoint
struct Location tell_command; // command for telemetry
struct Location next_command; // command preloaded
long target_altitude; // used for
long offset_altitude; // used for
boolean home_is_set = false; // Flag for if we have gps lock and have set the home location
@ -780,13 +783,15 @@ void update_current_flight_mode(void)
break;
case FBW:
// we are currently using manual throttle for testing.
// we are currently using manual throttle during alpha testing.
fbw_timer++;
//call at 5 hz
if(fbw_timer > 20){
fbw_timer = 0;
if(home_is_set == false){
// we are not using GPS
// reset the location, RTL won't function
current_loc.lat = home.lat = 0;
current_loc.lng = home.lng = 0;
}