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AC 2.0.33 Beta 

Slighted tuned down D term in Loiter PIDs after testing, tuned up P slightly
fixed alt hold bug cause when gaining 3D lock in alt hold.
Mavlink now reports correct throttle scaling value in mavlink


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2745 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-04 06:37:29 +00:00
parent 4015e7f91a
commit 659b520912
6 changed files with 16 additions and 16 deletions
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11
ArduCopterMega/ArduCopterMega.pde
View File

@ -852,11 +852,11 @@ void slow_loop()
#if AUTO_RESET_LOITER == 1
if(control_mode == LOITER){
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 1500){
// reset LOITER to current position
long temp = next_WP.alt;
//long temp = next_WP.alt;
next_WP = current_loc;
next_WP.alt = temp;
//next_WP.alt = temp;
}
}
#endif
@ -981,13 +981,14 @@ void update_GPS(void)
init_home();
// init altitude
current_loc.alt = home.alt;
// commented out because we aren't using absolute altitude
// current_loc.alt = home.alt;
ground_start_count = 0;
}
}
current_loc.lng = g_gps->longitude; // Lon * 10 * *7
current_loc.lat = g_gps->latitude; // Lat * 10 * *7
current_loc.lat = g_gps->latitude; // Lat * 10 * *7
if (g.log_bitmask & MASK_LOG_GPS){
Log_Write_GPS();

2
ArduCopterMega/Mavlink_Common.h
View File

@ -214,7 +214,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
(float)airspeed / 100.0,
(float)g_gps->ground_speed / 100.0,
(dcm.yaw_sensor / 100) % 360,
g.rc_3.servo_out,
g.rc_3.servo_out/10,
current_loc.alt / 100.0,
climb_rate);
break;

7
ArduCopterMega/Parameters.h
View File

@ -262,8 +262,8 @@ public:
sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")),
sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")),
crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRACK_ANGLE")),
crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")),
sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
@ -275,7 +275,7 @@ public:
waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")),
command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
@ -291,7 +291,6 @@ public:
log_bitmask (MASK_LOG_SET_DEFAULTS, k_param_log_bitmask, PSTR("LOG_BITMASK")),
RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
#if FRAME_CONFIG == HELI_FRAME

2
ArduCopterMega/commands.pde
View File

@ -233,7 +233,7 @@ void init_home()
print_wp(&home, 0);
// Save prev loc this makes the calcs look better before commands are loaded
next_WP = prev_WP = home;
prev_WP = home;
}

8
ArduCopterMega/config.h
View File

@ -403,16 +403,16 @@
// Navigation control gains
//
#ifndef NAV_LOITER_P
# define NAV_LOITER_P 1.2 // upped to be a bit more aggressive
# define NAV_LOITER_P 1.4 //
#endif
#ifndef NAV_LOITER_I
# define NAV_LOITER_I 0.08 // upped a bit to deal with wind faster
# define NAV_LOITER_I 0.1 //
#endif
#ifndef NAV_LOITER_D
# define NAV_LOITER_D 0.8 //
# define NAV_LOITER_D 0.4 //
#endif
#ifndef NAV_LOITER_IMAX
# define NAV_LOITER_IMAX 15 // 20°
# define NAV_LOITER_IMAX 15 // degrees°
#endif

2
ArduCopterMega/system.pde
View File

@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
};
// Create the top-level menu object.
MENU(main_menu, "AC 2.0.32 Beta", main_menu_commands);
MENU(main_menu, "AC 2.0.33 Beta", main_menu_commands);
void init_ardupilot()
{