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Corrected bug on yaw sensor sign 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@654 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-10-11 20:43:25 +00:00
parent af74cb32c5
commit 7667214987
3 changed files with 21 additions and 12 deletions
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8
ArducopterNG/Arducopter.h
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@ -157,7 +157,7 @@ uint8_t sensors[6] = {1, 2, 0, 4, 5, 6}; // For ArduPilot Mega Sensor Shield Ha
// Sensor: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ, MAGX, MAGY, MAGZ
int SENSOR_SIGN[]={
1, -1, 1, -1, 1, 1, -1, -1, -1};
1, -1, -1, -1, 1, 1, -1, -1, -1};
//{-1,1,-1,1,-1,1,-1,-1,-1};
/* APM Hardware definitions, END */
@ -181,8 +181,8 @@ int SENSOR_SIGN[]={
// IDG500 Sensitivity (from datasheet) => 2.0mV/º/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
// Tested values :
#define Gyro_Gain_X 0.4 //X axis Gyro gain
#define Gyro_Gain_Y 0.41 //Y axis Gyro gain
#define Gyro_Gain_Z 0.41 //Z axis Gyro gain
#define Gyro_Gain_Y 0.4 //Y axis Gyro gain
#define Gyro_Gain_Z 0.4 //Z axis Gyro gain
#define Gyro_Scaled_X(x) x*ToRad(Gyro_Gain_X) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Y(x) x*ToRad(Gyro_Gain_Y) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Z(x) x*ToRad(Gyro_Gain_Z) //Return the scaled ADC raw data of the gyro in radians for second
@ -388,4 +388,4 @@ int mainLoop_count = 0;
unsigned long elapsedTime = 0; // for doing custom events
//unsigned int GPS_timer = 0;

21
ArducopterNG/ArducopterNG.pde
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@ -51,6 +51,8 @@
//#define UseBMP
//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
#define CONFIGURATOR
// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
#define Ser0 // FTDI/USB Port Either one
//#define Ser3 // Telemetry port
@ -197,13 +199,13 @@ void loop()
Attitude_control_v3(command_rx_roll,command_rx_pitch,command_rx_yaw);
else // Automatic mode : GPS position hold mode
Attitude_control_v3(command_rx_roll+command_gps_roll,command_rx_pitch+command_gps_pitch,command_rx_yaw);
}
}
else { // ACRO Mode
gled_speed = 400;
Rate_control_v2();
// Reset yaw, so if we change to stable mode we continue with the actual yaw direction
command_rx_yaw = ToDeg(yaw);
}
}
// Send output commands to motors...
motor_output();
@ -221,7 +223,18 @@ void loop()
}
#endif
#ifdef UseBMP
#endif
}
#endif
// Slow loop (10Hz)
if((millis()-tlmTimer)>=100) {
//#if BATTERY_EVENT == 1
// read_battery(); // Battery monitor
//#endif
#ifdef CONFIGURATOR
readSerialCommand();
sendSerialTelemetry();
#endif
tlmTimer = millis();
}
}
}

4
ArducopterNG/DCM.pde
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@ -112,10 +112,6 @@ void Matrix_update(void)
Gyro_Vector[1]=Gyro_Scaled_Y(read_adc(1)); //gyro y pitch
Gyro_Vector[2]=Gyro_Scaled_Z(read_adc(2)); //gyro Z yaw
//Accel_Vector[0]=read_adc(3); // acc x
//Accel_Vector[1]=read_adc(4); // acc y
//Accel_Vector[2]=read_adc(5); // acc z
// Low pass filter on accelerometer data (to filter vibrations)
Accel_Vector[0]=Accel_Vector[0]*0.6 + (float)read_adc(3)*0.4; // acc x
Accel_Vector[1]=Accel_Vector[1]*0.6 + (float)read_adc(4)*0.4; // acc y