cleaning up the instructions for use

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1519 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/Attitude.pde

@@ -5,10 +5,7 @@ void init_pids()
 	// this creates symmetry with the P gain value preventing oscillations
 	
 	max_stabilize_dampener 	= pid_stabilize_roll.kP() * 2500;	// = 0.6 * 2500 = 1500 or 15°	
-	//max_stabilize_dampener += pid_stabilize_roll.imax();		// = 0.1 * 300 = 1500 or 15°
-	
 	max_yaw_dampener		= pid_yaw.kP() * 6000;				// = .5 * 6000  = 3000
-	//max_yaw_dampener 	   += pid_yaw.imax();					// = 0.6 * 2500 = 1500 or 15°
 }
 
 

ArduCopterMega/radio.pde

@@ -194,52 +194,29 @@ void set_servos_4(void)
 		motor_out[FRONT]	= constrain(motor_out[FRONT], 	out_min, rc_3.radio_max);
 		motor_out[BACK] 	= constrain(motor_out[BACK], 	out_min, rc_3.radio_max);
 				
-		/*
-		int r_out = ((long)(motor_out[RIGHT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
-		int l_out = ((long)(motor_out[LEFT]  - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
-		int f_out = ((long)(motor_out[FRONT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
-		int b_out = ((long)(motor_out[BACK]  - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
-		//*/
 		
-		//
-		
-		/* debugging and dynamic kP
 		num++;
 		if (num > 50){
 			num = 0;
 			
-			hold_yaw_dampener = (float)rc_6.control_in;
+			//debugging with Channel 6
-			//pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
-			//stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.25;
-			//init_pids();
-			
-			//Serial.print("nav_yaw: ");
-			//Serial.println(nav_yaw,DEC);
-			
-			//Serial.print("kP: ");
-			//Serial.println(pid_stabilize_roll.kP(),3);
-		}
-		// out: 41 38 39 39
- 		// pwm: 358, 1412 1380 1395 1389
-		//*/
-		
-		//Serial.printf("set: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);		
-		//Serial.printf("s: %d %d %d\t\t", (int)roll_sensor, (int)pitch_sensor, (int)yaw_sensor);
-		///Serial.printf("outmin: %d\n", out_min);
 			
 			/*
-		write_int(r_out);
+			// ROLL and PITCH 
-		write_int(l_out);
+			// make sure you init_pids() after changing the kP
-		write_int(f_out);
+			pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
-		write_int(b_out);
+			init_pids();
-		write_int((int)(roll_sensor / 100));
+			//Serial.print("kP: ");
-		write_int((int)(pitch_sensor / 100));
+			//Serial.println(pid_stabilize_roll.kP(),3);
-		write_int((int)(yaw_sensor / 100));
+			*/
-		write_int((int)(yaw_error / 100));
+
-		write_int((int)(current_loc.alt));
+			/*
-		write_int((int)(altitude_error));
+			// YAW
-		flush(10);
+			// make sure you init_pids() after changing the kP
-		//*/
+			pid_yaw.kP((float)rc_6.control_in / 1000);
+			init_pids();
+			*/			
+		}
 		
 		// Send commands to motors
 		if(rc_3.servo_out > 0){

ArduCopterMega/read_me.text

@@ -1,41 +1,67 @@
 Make sure you update the libraries from the arducopter trunk and the latest code from the ardupilotmega branch.
 I have a lot of setup commands now. I may reduce and consolidate these soon.
 
-Radio:
+Radio setup:
 ch1 = roll
 ch2 = pitch
 ch3 = throttle
 ch4 = yaw
 ch5 = mode switch - use your 3 position switch
-ch6 = used for tuning - not currently active, search for "rc_6" to enable
+ch6 = used for in-air tuning - not currently active, look for "debugging with Channel 6" in radio.pde to enable
-ch7 = use to set throttle hold value while hovering (quick toggle), hold > 5 seconds on ground to reset the accelerometer offsets.
+ch7 = use to set throttle hold value while hovering (quick toggle), hold to trim in air values - don't use your radio's trims!
-ch8 = not used
+ch8 = not used - this is the hardware manual - it's dangerous to use for quads
 
-setup:
+CLI interactive setup - You must go through each item and set the values to match your hardware
-erase  			- run this first, just in case
-reset  			- run this second
-radio  			- run this third
-esc 			- just ignore this for now
-level  			- optional - sets accelerometer offsets
-flat   			- optional - sets accelerometer offsets to 0
-modes  			- interactive setup for flight modes
-pid    			- optional - writes default PID values to eeprom
-frame  			- optional - default is "+"
-enable_mag 		- enables the compass
-disable_mag 	- disables the compass
-compass      	- interactive setup for compass offsets
-declination  	- usage: "declination 14.25"
-show 			- shows all values
 
-Flight modes to try:
+"setup" menu:
-stabilize  - yay
+erase			- run this first! erases bad values from EEPROMS just in case
-Alt_hold   - You need to set your throttle_cruise value by toggling ch_7 for less than 1 second. (Mine is 330), altitude is controlled by the throttle lever.
+reset			- Performs factory reset and initialization of EEPROM values 
+radio			- records the limits of ALL radio channels - very important!
+pid				- restores default PID values
+frame			- sets your frame config: [x, +, tri]
+motors			- interactive setup of your ESC and motors, enter this mode, then plug-in battery, 
+					point at motors to make them spin
+					throttle will output full range to each motor - this is good for esc calibration
+level			- sets initial value of accelerometers - hold copter level
+modes			- sets the flight modes assigned to each switch position (you have 5 available)
+current			- enables an Attopilot current sensor: [on, off, milliamp hours]
+compass			- enables the compass [on, off]
+mag_offset		- interactive mode to set the limits of your compass
+declination		- look up your declination online for accuracy [decimal degrees]
+show			- a formatted output of all the settings
+
+"test" menu:
+
+pwm				- outputs the pwm values of all 8 radio channels
+radio			- outputs the control values of all 8 radio channels in degrees * 100 or other value (see radio.pde)
+stabilize		- lets you test the stabilization with debugging output to the terminal - may spin the props
+fbw				- developers only
+gps				- outputs GPS data
+adc				- outputs raw adc values
+imu				- outputs euler angles
+dcm				- outputs DCM matrix values
+battery			- outputs voltage readings to analog in 0-3
+current			- outputs voltage and current from an AttoPilot current sensor
+relay			- toggles the relay
+waypoints		- dumps stored waypoint commands
+airpressure		- raw output of absolute presure sensor
+compass			- outputs compass angles in degrees * 100
+xbee			- outputs an XBEE sequence used for range testing
+eedump			- raw output of bytes in eeprom
+
+Flight modes:
+stabilize  - copter will hold -45 to 45° angle, throttle is manual.
+Alt_hold   - You need to set your throttle_cruise value by toggling ch_7 for less than 1 second. (Mine is 330),
+			 altitude is controlled by the throttle lever using absolute position - from 0 to 40 meters.
+			 this control method will change after testing.
 FBW 	   - Simulates GPS Hold with the sticks being the position offset. Manual Throttle.
-position_hold - When selected, it will hold the current altitude, position and yaw. Yaw is user controllable. roll and pitch can be overridden with the radio.
+position_hold 
-RTL 		- not tested yet, will try and fly back to home at the current altitude.
+			- When selected, it will hold the current altitude, position and yaw. Yaw is user controllable. roll and pitch can be overridden temporarily with the radio.
-Auto 		- not tested yet, i'm finishing a waypoint writing sketch and will be ready to test soon
+RTL 		- Will try and fly back to home at the current altitude.
+Auto 		- Will fly the mission loaded by the Waypoint writer
 
-- what's new
+
+what's new to commands for ACM:
 - CMD_ANGLE - will set the desired yaw with control of angle/second and direction.
 - CMD_ALTITUDE - will send the copter up from current position to desired altitude
 - CMD_R_WAYPOINT - is just like a waypoint but relative to home

ArduCopterMega/test.pde

@@ -7,7 +7,6 @@ static int8_t	test_fbw(uint8_t argc,			const Menu::arg *argv);
 static int8_t	test_gps(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_adc(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_imu(uint8_t argc, 			const Menu::arg *argv);
-static int8_t	test_gyro(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_dcm(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_omega(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_battery(uint8_t argc, 		const Menu::arg *argv);
@@ -15,7 +14,6 @@ static int8_t	test_current(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_relay(uint8_t argc,	 	const Menu::arg *argv);
 static int8_t	test_wp(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_pressure(uint8_t argc, 	const Menu::arg *argv);
-static int8_t	test_nav_out(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_mag(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_xbee(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_eedump(uint8_t argc, 		const Menu::arg *argv);
@@ -47,7 +45,6 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"gps",			test_gps},
 	{"adc", 		test_adc},
 	{"imu",			test_imu},
-	{"gyro",		test_gyro},
 	{"dcm",			test_dcm},
 	{"omega",		test_omega},
 	{"battery",		test_battery},
@@ -55,7 +52,6 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"relay",		test_relay},
 	{"waypoints",	test_wp},
 	{"airpressure",	test_pressure},
-	{"nav",			test_nav_out},
 	{"compass",		test_mag},
 	{"xbee",		test_xbee},
 	{"eedump",		test_eedump},	
@@ -456,27 +452,6 @@ test_gps(uint8_t argc, const Menu::arg *argv)
 	}
 }
 
-static int8_t
-test_gyro(uint8_t argc, const Menu::arg *argv)
-{
-	print_hit_enter();
-	delay(1000);
-	Serial.printf_P(PSTR("Gyro | Accel\n"));
-	delay(1000);
-	
-	while(1){
-		Vector3f gyros 	= imu.get_gyro();
-		Vector3f accels = imu.get_accel();
-		Serial.printf_P(PSTR("%d\t%d\t%d\t|\t%d\t%d\t%d\n"), (int)gyros.x, (int)gyros.y, (int)gyros.z, (int)accels.x, (int)accels.y, (int)accels.z);
-		delay(100);
-
-		if(Serial.available() > 0){
-			return (0);
-		}
-	}
-}
-
-
 static int8_t
 test_dcm(uint8_t argc, const Menu::arg *argv)
 {
@@ -774,31 +749,6 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
 	}
 }
 
-static int8_t
-test_nav_out(uint8_t argc, const Menu::arg *argv)
-{
-	Serial.printf_P(PSTR("Nav test\n"));
-	print_hit_enter();
-	
-	wp_distance = 100;
-	dTnav 		= 50;
-	
-	while(1){
-		delay(50);
-		//bearing_error += 100;
-		//bearing_error = wrap_360(bearing_error);
-		//calc_nav_pid();
-		//calc_nav_pitch();
-		//calc_nav_roll();
-		
-		//Serial.printf("error %ld,\troll %ld,\tpitch %ld\n", bearing_error, nav_roll, nav_pitch);
-		
-		if(Serial.available() > 0){
-			return (0);
-		}
-	}
-}
-
 static int8_t
 test_mag(uint8_t argc, const Menu::arg *argv)
 {