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2.0.25

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changed Yaw to be offset from current angle to avoid the kick back.
Made minimum motor speed user settable, upped to 13% (130)
tweaked alt hold D to be higher and P to be slightly lower.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2579 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-19 05:31:33 +00:00
parent b70d2d4c29
commit 645d2fa333
8 changed files with 15 additions and 11 deletions
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4
ArduCopterMega/Attitude.pde
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@ -289,8 +289,8 @@ output_yaw_with_hold(boolean hold)
// re-define nav_yaw if we have stick input // re-define nav_yaw if we have stick input
if(g.rc_4.control_in != 0){ if(g.rc_4.control_in != 0){
// set nav_yaw + or - the current location // set nav_yaw + or - the current location
//nav_yaw = (long)g.rc_4.control_in + dcm.yaw_sensor; nav_yaw = (long)g.rc_4.control_in + dcm.yaw_sensor;
nav_yaw += (long)(g.rc_4.control_in / 90); //nav_yaw += (long)(g.rc_4.control_in / 90);
} }
// we need to wrap our value so we can be 0 to 360 (*100) // we need to wrap our value so we can be 0 to 360 (*100)

10
ArduCopterMega/config.h
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@ -246,6 +246,10 @@
#endif #endif
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR // STARTUP BEHAVIOUR
@ -424,13 +428,13 @@
// Throttle control gains // Throttle control gains
// //
#ifndef THROTTLE_BARO_P #ifndef THROTTLE_BARO_P
# define THROTTLE_BARO_P 0.35 // trying a lower val # define THROTTLE_BARO_P 0.3 // trying a lower val
#endif #endif
#ifndef THROTTLE_BARO_I #ifndef THROTTLE_BARO_I
# define THROTTLE_BARO_I 0.05 //with 4m error, 12.5s windup # define THROTTLE_BARO_I 0.04 //with 4m error, 12.5s windup
#endif #endif
#ifndef THROTTLE_BARO_D #ifndef THROTTLE_BARO_D
# define THROTTLE_BARO_D 0.3 // upped with filter # define THROTTLE_BARO_D 0.35 // upped with filter
#endif #endif
#ifndef THROTTLE_BARO_IMAX #ifndef THROTTLE_BARO_IMAX
# define THROTTLE_BARO_IMAX 30 # define THROTTLE_BARO_IMAX 30

2
ArduCopterMega/motors_hexa.pde
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@ -11,7 +11,7 @@ void output_motors_armed()
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000); g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0) if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + 90; out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
g.rc_1.calc_pwm(); g.rc_1.calc_pwm();
g.rc_2.calc_pwm(); g.rc_2.calc_pwm();

2
ArduCopterMega/motors_octa.pde
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@ -11,7 +11,7 @@ void output_motors_armed()
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000); g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0) if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + 90; out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
g.rc_1.calc_pwm(); g.rc_1.calc_pwm();
g.rc_2.calc_pwm(); g.rc_2.calc_pwm();

2
ArduCopterMega/motors_quad.pde
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@ -11,7 +11,7 @@ void output_motors_armed()
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000); g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0) if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + 90; out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
g.rc_1.calc_pwm(); g.rc_1.calc_pwm();
g.rc_2.calc_pwm(); g.rc_2.calc_pwm();

2
ArduCopterMega/motors_tri.pde
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@ -9,7 +9,7 @@ void output_motors_armed()
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000); g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0) if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + 90; out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
g.rc_1.calc_pwm(); g.rc_1.calc_pwm();
g.rc_2.calc_pwm(); g.rc_2.calc_pwm();

2
ArduCopterMega/motors_y6.pde
View File

@ -10,7 +10,7 @@ void output_motors_armed()
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000); g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0) if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + 90; out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
g.rc_1.calc_pwm(); g.rc_1.calc_pwm();
g.rc_2.calc_pwm(); g.rc_2.calc_pwm();

2
ArduCopterMega/system.pde
View File

@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
}; };
// Create the top-level menu object. // Create the top-level menu object.
MENU(main_menu, "AC 2.0.24 Beta", main_menu_commands); MENU(main_menu, "AC 2.0.25 Beta", main_menu_commands);
void init_ardupilot() void init_ardupilot()
{ {