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Added param option for Simple mode reset

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This commit is contained in:
Jason Short 2011-12-12 10:20:15 -08:00
parent f5a54f3da8
commit 6bac318def
3 changed files with 12 additions and 3 deletions
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7
ArduCopter/ArduCopter.pde
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@ -568,6 +568,8 @@ AP_Relay relay;
static bool usb_connected; static bool usb_connected;
#endif #endif
static float roll_I;
static float pitch_I;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Top-level logic // Top-level logic
@ -1261,10 +1263,9 @@ static void update_navigation()
} }
// are we in SIMPLE mode? // are we in SIMPLE mode?
if(do_simple){ if(do_simple && g.reset_simple){
// get distance to home // get distance to home
if(home_distance > 10){ if(home_distance > 10){ // 10m from home
// 10m
// we reset the angular offset to be a vector from home to the quad // we reset the angular offset to be a vector from home to the quad
initial_simple_bearing = home_to_copter_bearing; initial_simple_bearing = home_to_copter_bearing;
//Serial.printf("ISB: %d\n", initial_simple_bearing); //Serial.printf("ISB: %d\n", initial_simple_bearing);

4
ArduCopter/Parameters.h
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@ -106,6 +106,7 @@ public:
k_param_low_voltage, k_param_low_voltage,
k_param_ch7_option, k_param_ch7_option,
k_param_sonar_type, // 153 k_param_sonar_type, // 153
k_param_reset_simple,
// //
// 160: Navigation parameters // 160: Navigation parameters
@ -200,6 +201,8 @@ public:
AP_Int8 optflow_enabled; AP_Int8 optflow_enabled;
AP_Float input_voltage; AP_Float input_voltage;
AP_Float low_voltage; AP_Float low_voltage;
AP_Int8 reset_simple;
// Waypoints // Waypoints
// //
@ -315,6 +318,7 @@ public:
optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")), optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")), input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")),
low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")), low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
reset_simple (RESET_SIMPLE, k_param_reset_simple, PSTR("RST_SIMPL")),
waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
command_total (0, k_param_command_total, PSTR("WP_TOTAL")), command_total (0, k_param_command_total, PSTR("WP_TOTAL")),

4
ArduCopter/config.h
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@ -468,6 +468,10 @@
# define RTL_THR THROTTLE_HOLD # define RTL_THR THROTTLE_HOLD
#endif #endif
#ifndef RESET_SIMPLE
# define RESET_SIMPLE DISABLED
#endif