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RC_Channel Dead zone 

Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
This commit is contained in:
Jason Short 2011-10-27 11:34:00 -07:00
parent 6fd7c1dcda
commit 76bf784f8c
4 changed files with 17 additions and 9 deletions
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4
ArduCopter/control_modes.pde
View File

@ -139,8 +139,12 @@ static void auto_trim()
led_mode = NORMAL_LEDS; led_mode = NORMAL_LEDS;
clear_leds(); clear_leds();
imu.save(); imu.save();
//Serial.println("Done"); //Serial.println("Done");
auto_level_counter = 0; auto_level_counter = 0;
// set TC
init_throttle_cruise();
} }
} }
} }

12
ArduCopter/radio.pde
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@ -4,6 +4,13 @@
// ---------------------------------------------------------------------------- // ----------------------------------------------------------------------------
static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
static void default_dead_zones()
{
g.rc_1.set_dead_zone(60);
g.rc_2.set_dead_zone(60);
g.rc_3.set_dead_zone(60);
g.rc_4.set_dead_zone(200);
}
static void init_rc_in() static void init_rc_in()
{ {
@ -29,14 +36,9 @@ static void init_rc_in()
g.rc_4.dead_zone = 300; g.rc_4.dead_zone = 300;
*/ */
g.rc_1.set_dead_zone(60);
g.rc_2.set_dead_zone(60);
g.rc_3.set_dead_zone(60);
g.rc_4.set_dead_zone(200);
//set auxiliary ranges //set auxiliary ranges
g.rc_5.set_range(0,1000); g.rc_5.set_range(0,1000);
g.rc_5.set_filter(false);
g.rc_6.set_range(0,1000); g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000); g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000); g.rc_8.set_range(0,1000);

2
libraries/RC_Channel/RC_Channel.cpp
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@ -38,7 +38,7 @@ RC_Channel::set_angle(int angle)
void void
RC_Channel::set_dead_zone(int dzone) RC_Channel::set_dead_zone(int dzone)
{ {
_dead_zone = abs(dzone >>1); _dead_zone.set_and_save(abs(dzone >>1));
} }
void void

8
libraries/RC_Channel/RC_Channel.h
View File

@ -26,9 +26,10 @@ class RC_Channel{
radio_trim(&_group, 1, 1500, name ? PSTR("TRIM") : 0), radio_trim(&_group, 1, 1500, name ? PSTR("TRIM") : 0),
radio_max (&_group, 2, 1900, name ? PSTR("MAX") : 0), radio_max (&_group, 2, 1900, name ? PSTR("MAX") : 0),
_high(1), _high(1),
_filter(true), _filter(false),
_reverse (&_group, 3, 1, name ? PSTR("REV") : 0), _reverse (&_group, 3, 1, name ? PSTR("REV") : 0),
_dead_zone(0), _dead_zone (&_group, 4, 0, name ? PSTR("DZ") : 0),
//_dead_zone(0),
scale_output(1.0) scale_output(1.0)
{} {}
@ -97,7 +98,8 @@ class RC_Channel{
bool _filter; bool _filter;
AP_Int8 _reverse; AP_Int8 _reverse;
int16_t _dead_zone; // used to keep noise down and create a dead zone. AP_Int16 _dead_zone;
//int16_t _dead_zone; // used to keep noise down and create a dead zone.
uint8_t _type; uint8_t _type;
int16_t _high; int16_t _high;
int16_t _low; int16_t _low;