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Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster.

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This commit is contained in:
Jason Short 2011-09-23 13:52:10 -07:00
parent f65390920a
commit 7c72f13702
3 changed files with 9 additions and 5 deletions
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2
ArduCopter/APM_Config.h
View File

@ -29,7 +29,7 @@
*/ */
# define CH7_OPTION CH7_RTL # define CH7_OPTION CH7_DO_NOTHING
/* /*
CH7_DO_NOTHING CH7_DO_NOTHING
CH7_SET_HOVER CH7_SET_HOVER

4
ArduCopter/commands_logic.pde
View File

@ -350,6 +350,10 @@ static bool verify_land()
if(g.sonar_enabled){ if(g.sonar_enabled){
// decide which sensor we're using // decide which sensor we're using
if(sonar_alt < 300){
next_WP = current_loc; // don't pitch or roll
next_WP.alt = -200; // force us down
}
if(sonar_alt < 40){ if(sonar_alt < 40){
land_complete = true; land_complete = true;
//Serial.println("Y"); //Serial.println("Y");

4
ArduCopter/motors.pde
View File

@ -39,7 +39,7 @@ static void arm_motors()
// Tune down DCM // Tune down DCM
// ------------------- // -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.030000); dcm.kp_roll_pitch(0.120000);
dcm.ki_roll_pitch(0.00001278), // 50 hz I term dcm.ki_roll_pitch(0.00001278), // 50 hz I term
//dcm.ki_roll_pitch(0.000006); //dcm.ki_roll_pitch(0.000006);
#endif #endif
@ -104,7 +104,7 @@ static void arm_motors()
// Tune down DCM // Tune down DCM
// ------------------- // -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.12); // higher for fast recovery //dcm.kp_roll_pitch(0.12); // higher for fast recovery
//dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop //dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop
#endif #endif