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AntennaTracker: added YAW_TRIM and PITCH_TRIM

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This commit is contained in:
Andrew Tridgell 2014-08-03 18:16:37 +10:00
parent 02e173b094
commit 671708d11d
3 changed files with 27 additions and 5 deletions
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4
Tools/AntennaTracker/Parameters.h
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@ -86,6 +86,8 @@ public:
k_param_onoff_pitch_rate, k_param_onoff_pitch_rate,
k_param_onoff_yaw_mintime, k_param_onoff_yaw_mintime,
k_param_onoff_pitch_mintime, k_param_onoff_pitch_mintime,
k_param_yaw_trim,
k_param_pitch_trim,
k_param_channel_yaw = 200, k_param_channel_yaw = 200,
k_param_channel_pitch, k_param_channel_pitch,
@ -128,6 +130,8 @@ public:
AP_Float onoff_pitch_rate; AP_Float onoff_pitch_rate;
AP_Float onoff_yaw_mintime; AP_Float onoff_yaw_mintime;
AP_Float onoff_pitch_mintime; AP_Float onoff_pitch_mintime;
AP_Float yaw_trim;
AP_Float pitch_trim;
// Waypoints // Waypoints
// //

16
Tools/AntennaTracker/Parameters.pde
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@ -161,6 +161,22 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 2 // @Range: 0 2
GSCALAR(onoff_pitch_mintime, "ONOFF_PITCH_MINT", 0.1f), GSCALAR(onoff_pitch_mintime, "ONOFF_PITCH_MINT", 0.1f),
// @Param: YAW_TRIM
// @DisplayName: Yaw trim
// @Description: Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass.
// @Units: degrees
// @Increment: 0.1
// @Range: -10 10
GSCALAR(yaw_trim, "YAW_TRIM", 0),
// @Param: PITCH_TRIM
// @DisplayName: Pitch trim
// @Description: Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer.
// @Units: degrees
// @Increment: 0.1
// @Range: -10 10
GSCALAR(pitch_trim, "PITCH_TRIM", 0),
// barometer ground calibration. The GND_ prefix is chosen for // barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane // compatibility with previous releases of ArduPlane
// @Group: GND_ // @Group: GND_

12
Tools/AntennaTracker/tracking.pde
View File

@ -254,16 +254,16 @@ static void update_yaw_onoff_servo(float yaw)
/** /**
update the yaw (azimuth) servo. update the yaw (azimuth) servo.
*/ */
static void update_yaw_servo(float pitch) static void update_yaw_servo(float yaw)
{ {
switch ((enum ServoType)g.servo_type.get()) { switch ((enum ServoType)g.servo_type.get()) {
case SERVO_TYPE_ONOFF: case SERVO_TYPE_ONOFF:
update_yaw_onoff_servo(pitch); update_yaw_onoff_servo(yaw);
break; break;
case SERVO_TYPE_POSITION: case SERVO_TYPE_POSITION:
default: default:
update_yaw_position_servo(pitch); update_yaw_position_servo(yaw);
break; break;
} }
channel_yaw.calc_pwm(); channel_yaw.calc_pwm();
@ -280,8 +280,10 @@ static void update_auto(void)
hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) { hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
return; return;
} }
update_pitch_servo(nav_status.pitch); float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
update_yaw_servo(nav_status.bearing); float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
update_pitch_servo(pitch);
update_yaw_servo(yaw);
} }