Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

disabled Flash logs in 1280 by default 

Added stability patch I values and limits
This commit is contained in:
Jason Short 2011-12-03 15:38:46 -08:00
parent c99da66506
commit 5ed300db7e
1 changed files with 28 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

62
ArduCopter/config.h
View File

@ -369,8 +369,6 @@
#ifndef THROTTLE_FAILSAFE_ACTION
# define THROTTLE_FAILSAFE_ACTION 2
#endif
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130
#endif
@ -485,11 +483,11 @@
// and charachteristics changes.
#ifdef MOTORS_JD880
# define STABILIZE_ROLL_P 3.6
# define STABILIZE_ROLL_I 0.06
# define STABILIZE_ROLL_IMAX 2.0 // degrees
# define STABILIZE_ROLL_I 0.08
# define STABILIZE_ROLL_IMAX 40.0 // degrees
# define STABILIZE_PITCH_P 3.6
# define STABILIZE_PITCH_I 0.06
# define STABILIZE_PITCH_IMAX 2.0 // degrees
# define STABILIZE_PITCH_I 0.08
# define STABILIZE_PITCH_IMAX 40.0 // degrees
#endif
// Jasons default values that are good for smaller payload motors.
@ -497,20 +495,20 @@
# define STABILIZE_ROLL_P 4.6
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_I 0.08
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 1.5 // degrees
# define STABILIZE_ROLL_IMAX 40 // degrees
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.6
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_I 0.08
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 1.5 // degrees
# define STABILIZE_PITCH_IMAX 40 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
@ -583,15 +581,6 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// how much to we pitch towards the target
#ifndef PITCH_MAX
# define PITCH_MAX 22 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
@ -670,15 +659,20 @@
# define DEBUG_LEVEL SEVERITY_LOW
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#ifdef LOGGING_ENABLED
#undef LOGGING_ENABLED
#endif
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
#define LOGGING_ENABLED ENABLED
#else
#define LOGGING_ENABLED DISABLED
#endif
#ifndef LOG_ATTITUDE_FAST
# define LOG_ATTITUDE_FAST DISABLED
#endif
@ -723,17 +717,17 @@
#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0)
#define DEFAULT_LOG_BITMASK \
LOGBIT(ATTITUDE_FAST) | \
LOGBIT(ATTITUDE_MED) | \
LOGBIT(GPS) | \
LOGBIT(PM) | \
LOGBIT(CTUN) | \
LOGBIT(NTUN) | \
LOGBIT(MODE) | \
LOGBIT(RAW) | \
LOGBIT(CMD) | \
LOGBIT(CUR) | \
LOGBIT(MOTORS) | \
LOGBIT(ATTITUDE_FAST) | \
LOGBIT(ATTITUDE_MED) | \
LOGBIT(GPS) | \
LOGBIT(PM) | \
LOGBIT(CTUN) | \
LOGBIT(NTUN) | \
LOGBIT(MODE) | \
LOGBIT(RAW) | \
LOGBIT(CMD) | \
LOGBIT(CUR) | \
LOGBIT(MOTORS) | \
LOGBIT(OPTFLOW)
// if we are using fast, Disable Medium