mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
cleaning up the instructions for use
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1519 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
02fae1d48d
commit
64d061a79f
@ -4,11 +4,8 @@ void init_pids()
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// create limits to how much dampening we'll allow
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// this creates symmetry with the P gain value preventing oscillations
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max_stabilize_dampener = pid_stabilize_roll.kP() * 2500; // = 0.6 * 2500 = 1500 or 15°
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//max_stabilize_dampener += pid_stabilize_roll.imax(); // = 0.1 * 300 = 1500 or 15°
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max_stabilize_dampener = pid_stabilize_roll.kP() * 2500; // = 0.6 * 2500 = 1500 or 15°
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max_yaw_dampener = pid_yaw.kP() * 6000; // = .5 * 6000 = 3000
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//max_yaw_dampener += pid_yaw.imax(); // = 0.6 * 2500 = 1500 or 15°
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}
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@ -193,53 +193,30 @@ void set_servos_4(void)
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motor_out[LEFT] = constrain(motor_out[LEFT], out_min, rc_3.radio_max);
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motor_out[FRONT] = constrain(motor_out[FRONT], out_min, rc_3.radio_max);
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motor_out[BACK] = constrain(motor_out[BACK], out_min, rc_3.radio_max);
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/*
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int r_out = ((long)(motor_out[RIGHT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int l_out = ((long)(motor_out[LEFT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int f_out = ((long)(motor_out[FRONT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int b_out = ((long)(motor_out[BACK] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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//*/
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//
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/* debugging and dynamic kP
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num++;
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if (num > 50){
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num = 0;
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hold_yaw_dampener = (float)rc_6.control_in;
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//pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
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//stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.25;
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//init_pids();
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//Serial.print("nav_yaw: ");
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//Serial.println(nav_yaw,DEC);
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//debugging with Channel 6
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/*
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// ROLL and PITCH
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// make sure you init_pids() after changing the kP
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pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
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init_pids();
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//Serial.print("kP: ");
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//Serial.println(pid_stabilize_roll.kP(),3);
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*/
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/*
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// YAW
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// make sure you init_pids() after changing the kP
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pid_yaw.kP((float)rc_6.control_in / 1000);
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init_pids();
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*/
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}
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// out: 41 38 39 39
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// pwm: 358, 1412 1380 1395 1389
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//*/
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//Serial.printf("set: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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//Serial.printf("s: %d %d %d\t\t", (int)roll_sensor, (int)pitch_sensor, (int)yaw_sensor);
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///Serial.printf("outmin: %d\n", out_min);
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/*
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write_int(r_out);
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write_int(l_out);
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write_int(f_out);
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write_int(b_out);
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write_int((int)(roll_sensor / 100));
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write_int((int)(pitch_sensor / 100));
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write_int((int)(yaw_sensor / 100));
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write_int((int)(yaw_error / 100));
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write_int((int)(current_loc.alt));
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write_int((int)(altitude_error));
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flush(10);
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//*/
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// Send commands to motors
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if(rc_3.servo_out > 0){
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@ -1,41 +1,67 @@
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Make sure you update the libraries from the arducopter trunk and the latest code from the ardupilotmega branch.
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I have a lot of setup commands now. I may reduce and consolidate these soon.
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Radio:
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Radio setup:
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ch1 = roll
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ch2 = pitch
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ch3 = throttle
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ch4 = yaw
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ch5 = mode switch - use your 3 position switch
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ch6 = used for tuning - not currently active, search for "rc_6" to enable
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ch7 = use to set throttle hold value while hovering (quick toggle), hold > 5 seconds on ground to reset the accelerometer offsets.
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ch8 = not used
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ch6 = used for in-air tuning - not currently active, look for "debugging with Channel 6" in radio.pde to enable
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ch7 = use to set throttle hold value while hovering (quick toggle), hold to trim in air values - don't use your radio's trims!
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ch8 = not used - this is the hardware manual - it's dangerous to use for quads
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setup:
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erase - run this first, just in case
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reset - run this second
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radio - run this third
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esc - just ignore this for now
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level - optional - sets accelerometer offsets
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flat - optional - sets accelerometer offsets to 0
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modes - interactive setup for flight modes
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pid - optional - writes default PID values to eeprom
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frame - optional - default is "+"
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enable_mag - enables the compass
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disable_mag - disables the compass
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compass - interactive setup for compass offsets
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declination - usage: "declination 14.25"
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show - shows all values
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CLI interactive setup - You must go through each item and set the values to match your hardware
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Flight modes to try:
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stabilize - yay
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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.
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"setup" menu:
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erase - run this first! erases bad values from EEPROMS just in case
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reset - Performs factory reset and initialization of EEPROM values
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radio - records the limits of ALL radio channels - very important!
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pid - restores default PID values
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frame - sets your frame config: [x, +, tri]
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motors - interactive setup of your ESC and motors, enter this mode, then plug-in battery,
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point at motors to make them spin
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throttle will output full range to each motor - this is good for esc calibration
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level - sets initial value of accelerometers - hold copter level
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modes - sets the flight modes assigned to each switch position (you have 5 available)
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current - enables an Attopilot current sensor: [on, off, milliamp hours]
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compass - enables the compass [on, off]
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mag_offset - interactive mode to set the limits of your compass
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declination - look up your declination online for accuracy [decimal degrees]
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show - a formatted output of all the settings
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"test" menu:
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pwm - outputs the pwm values of all 8 radio channels
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radio - outputs the control values of all 8 radio channels in degrees * 100 or other value (see radio.pde)
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stabilize - lets you test the stabilization with debugging output to the terminal - may spin the props
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fbw - developers only
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gps - outputs GPS data
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adc - outputs raw adc values
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imu - outputs euler angles
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dcm - outputs DCM matrix values
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battery - outputs voltage readings to analog in 0-3
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current - outputs voltage and current from an AttoPilot current sensor
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relay - toggles the relay
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waypoints - dumps stored waypoint commands
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airpressure - raw output of absolute presure sensor
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compass - outputs compass angles in degrees * 100
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xbee - outputs an XBEE sequence used for range testing
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eedump - raw output of bytes in eeprom
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Flight modes:
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stabilize - copter will hold -45 to 45° angle, throttle is manual.
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Alt_hold - You need to set your throttle_cruise value by toggling ch_7 for less than 1 second. (Mine is 330),
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altitude is controlled by the throttle lever using absolute position - from 0 to 40 meters.
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this control method will change after testing.
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FBW - Simulates GPS Hold with the sticks being the position offset. Manual Throttle.
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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.
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RTL - not tested yet, will try and fly back to home at the current altitude.
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Auto - not tested yet, i'm finishing a waypoint writing sketch and will be ready to test soon
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position_hold
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- 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.
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RTL - Will try and fly back to home at the current altitude.
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Auto - Will fly the mission loaded by the Waypoint writer
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- what's new
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what's new to commands for ACM:
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- CMD_ANGLE - will set the desired yaw with control of angle/second and direction.
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- CMD_ALTITUDE - will send the copter up from current position to desired altitude
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- CMD_R_WAYPOINT - is just like a waypoint but relative to home
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@ -7,7 +7,6 @@ static int8_t test_fbw(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
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static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
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static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gyro(uint8_t argc, const Menu::arg *argv);
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static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
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static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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@ -15,7 +14,6 @@ static int8_t test_current(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
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static int8_t test_nav_out(uint8_t argc, const Menu::arg *argv);
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
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static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
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@ -47,7 +45,6 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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{"gps", test_gps},
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{"adc", test_adc},
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{"imu", test_imu},
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{"gyro", test_gyro},
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{"dcm", test_dcm},
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{"omega", test_omega},
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{"battery", test_battery},
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@ -55,7 +52,6 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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{"relay", test_relay},
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{"waypoints", test_wp},
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{"airpressure", test_pressure},
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{"nav", test_nav_out},
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{"compass", test_mag},
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{"xbee", test_xbee},
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{"eedump", test_eedump},
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@ -456,27 +452,6 @@ test_gps(uint8_t argc, const Menu::arg *argv)
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}
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}
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static int8_t
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test_gyro(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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Serial.printf_P(PSTR("Gyro | Accel\n"));
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delay(1000);
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while(1){
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Vector3f gyros = imu.get_gyro();
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Vector3f accels = imu.get_accel();
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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);
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delay(100);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_dcm(uint8_t argc, const Menu::arg *argv)
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{
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@ -774,31 +749,6 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
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}
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}
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static int8_t
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test_nav_out(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("Nav test\n"));
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print_hit_enter();
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wp_distance = 100;
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dTnav = 50;
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while(1){
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delay(50);
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//bearing_error += 100;
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//bearing_error = wrap_360(bearing_error);
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//calc_nav_pid();
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//calc_nav_pitch();
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//calc_nav_roll();
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//Serial.printf("error %ld,\troll %ld,\tpitch %ld\n", bearing_error, nav_roll, nav_pitch);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_mag(uint8_t argc, const Menu::arg *argv)
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{
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