mirror of https://github.com/ArduPilot/ardupilot
Added second PI loop for alt hold.
Upped gains for default JDrones Frame added gains for second PI loop for alt removed some tests for 1280 space constraints
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@ -40,7 +40,7 @@
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CH7_ADC_FILTER (experimental)
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*/
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#define ACCEL_ALT_HOLD 0
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#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress
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#define ACCEL_ALT_HOLD_GAIN 12.0
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// ACCEL_ALT_HOLD 1 to enable experimental alt_hold_mode
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@ -260,16 +260,20 @@ static const char* flight_mode_strings[] = {
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*/
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// test
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#if ACCEL_ALT_HOLD == 1
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Vector3f accels_rot;
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//float accel_gain = 12;
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static int accels_rot_count;
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static float accels_rot_sum;
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static float alt_hold_gain = ACCEL_ALT_HOLD_GAIN;
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#endif
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// temp
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int y_actual_speed;
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int y_rate_error;
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static int y_actual_speed;
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static int y_rate_error;
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// calc the
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int x_actual_speed;
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int x_rate_error;
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static int x_actual_speed;
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static int x_rate_error;
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// Radio
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// -----
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@ -585,7 +589,7 @@ static void fast_loop()
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set_servos_4();
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//if(motor_armed)
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// Log_Write_Attitude();
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//Log_Write_Attitude();
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}
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static void medium_loop()
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@ -1078,7 +1082,7 @@ void update_throttle_mode(void)
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altitude_error = get_altitude_error();
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// get the AP throttle
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nav_throttle = get_nav_throttle(altitude_error, 250); //150 = target speed of 1.5m/s
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nav_throttle = get_nav_throttle(altitude_error);//, 250); //150 = target speed of 1.5m/s
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//Serial.printf("in:%d, cr:%d, NT:%d, I:%1.4f\n", g.rc_3.control_in,altitude_error, nav_throttle, g.pi_throttle.get_integrator());
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// clear the new data flag
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@ -1201,8 +1205,12 @@ static void update_trig(void){
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// 270 = cos_yaw: -1.00, sin_yaw: 0.00,
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#if ACCEL_ALT_HOLD == 1
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Vector3f accel_filt = imu.get_accel_filtered();
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accels_rot = dcm.get_dcm_matrix() * imu.get_accel_filtered();
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accels_rot_sum += accels_rot.z;
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accels_rot_count++;
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#endif
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}
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// updated at 10hz
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@ -1266,6 +1274,13 @@ static void tuning(){
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tuning_value = (float)g.rc_6.control_in / 1000.0;
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switch(g.radio_tuning){
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/*case CH6_STABILIZE_KP:
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g.rc_6.set_range(0,2000); // 0 to 8
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tuning_value = (float)g.rc_6.control_in / 100.0;
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alt_hold_gain = tuning_value;
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break;*/
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case CH6_STABILIZE_KP:
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g.rc_6.set_range(0,8000); // 0 to 8
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g.pi_stabilize_roll.kP(tuning_value);
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@ -83,19 +83,18 @@ get_stabilize_yaw(long target_angle)
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return (int)constrain(rate, -2500, 2500);
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}
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#define ALT_ERROR_MAX 300
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#define ALT_ERROR_MAX 400
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static int
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get_nav_throttle(long z_error, int target_speed)
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get_nav_throttle(long z_error)//, //int target_speed)
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{
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int rate_error;
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float scaler = (float)target_speed/(float)ALT_ERROR_MAX;
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// limit error to prevent I term run up
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z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
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target_speed = z_error * scaler;
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rate_error = target_speed - altitude_rate;
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rate_error = constrain(rate_error, -110, 110);
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int rate_error = g.pi_alt_hold.get_pi(z_error, .1); //_p = .85
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rate_error = rate_error - altitude_rate;
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// limit the rate
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rate_error = constrain(rate_error, -100, 120);
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return (int)g.pi_throttle.get_pi(rate_error, .1);
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}
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@ -187,20 +186,35 @@ get_nav_yaw_offset(int yaw_input, int reset)
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}
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}
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///*
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static int alt_hold_velocity()
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{
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#if ACCEL_ALT_HOLD == 1
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// subtract filtered Accel
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float error = abs(next_WP.alt - current_loc.alt);
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error -= 100;
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error = min(error, 200.0);
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error = max(error, 0.0);
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error = 1 - (error/ 200.0);
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return (accels_rot.z + 9.81) * ACCEL_ALT_HOLD_GAIN * error;
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float sum = accels_rot_sum / (float)accels_rot_count;
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accels_rot_sum = 0;
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accels_rot_count = 0;
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int output = (sum + 9.81) * alt_hold_gain * error;
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// fast rise
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//s: -17.6241, g:0.0000, e:1.0000, o:0
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//s: -18.4990, g:0.0000, e:1.0000, o:0
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//s: -19.3193, g:0.0000, e:1.0000, o:0
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//s: -13.1310, g:47.8700, e:1.0000, o:-158
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//Serial.printf("s: %1.4f, g:%1.4f, e:%1.4f, o:%d\n",sum, alt_hold_gain, error, output);
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return output;
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#else
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return 0;
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#endif
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}
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//*/
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static int get_angle_boost()
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{
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@ -164,6 +164,7 @@ public:
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k_param_pi_loiter_lon,
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k_param_pi_nav_lat,
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k_param_pi_nav_lon,
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k_param_pi_alt_hold,
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k_param_pi_throttle,
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k_param_pi_crosstrack,
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@ -277,6 +278,7 @@ public:
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APM_PI pi_nav_lat;
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APM_PI pi_nav_lon;
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APM_PI pi_alt_hold;
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APM_PI pi_throttle;
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APM_PI pi_crosstrack;
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@ -381,7 +383,8 @@ public:
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pi_nav_lat (k_param_pi_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_IMAX * 100),
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pi_nav_lon (k_param_pi_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_IMAX * 100),
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pi_throttle (k_param_pi_throttle, PSTR("THR_HOLD_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
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pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), THR_HOLD_P, THR_HOLD_I, THR_HOLD_IMAX),
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pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
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pi_crosstrack (k_param_pi_crosstrack, PSTR("XTRACK_"), XTRACK_P, XTRACK_I, XTRACK_IMAX),
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junk(0) // XXX just so that we can add things without worrying about the trailing comma
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@ -482,7 +482,7 @@ static void do_wait_delay()
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//Serial.print("dwd ");
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condition_start = millis();
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condition_value = next_command.lat * 1000; // convert to milliseconds
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Serial.println(condition_value,DEC);
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//Serial.println(condition_value,DEC);
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}
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static void do_change_alt()
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@ -388,7 +388,7 @@
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// Attitude Control
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//
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#ifndef STABILIZE_ROLL_P
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# define STABILIZE_ROLL_P 4.0
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# define STABILIZE_ROLL_P 4.6
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#endif
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#ifndef STABILIZE_ROLL_I
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# define STABILIZE_ROLL_I 0.001
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@ -398,7 +398,7 @@
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#endif
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#ifndef STABILIZE_PITCH_P
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# define STABILIZE_PITCH_P 4.0
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# define STABILIZE_PITCH_P 4.6
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#endif
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#ifndef STABILIZE_PITCH_I
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# define STABILIZE_PITCH_I 0.001
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// Rate Control
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//
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#ifndef RATE_ROLL_P
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# define RATE_ROLL_P .13
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# define RATE_ROLL_P 0.145
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#endif
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#ifndef RATE_ROLL_I
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# define RATE_ROLL_I 0.0
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#endif
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#ifndef RATE_PITCH_P
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# define RATE_PITCH_P 0.13
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# define RATE_PITCH_P 0.145
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#endif
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#ifndef RATE_PITCH_I
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# define RATE_PITCH_I 0 //0.18
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@ -500,6 +500,16 @@
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# define THROTTLE_CRUISE 350 //
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#endif
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#ifndef THR_HOLD_P
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# define THR_HOLD_P 0.80 //
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#endif
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#ifndef THR_HOLD_I
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# define THR_HOLD_I 0.00 // with 4m error, 12.5s windup
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#endif
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#ifndef THR_HOLD_IMAX
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# define THR_HOLD_IMAX 00
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#endif
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#ifndef THROTTLE_P
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# define THROTTLE_P 0.6 //
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#endif
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# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
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#endif
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#ifndef THROTTLE_IMAX
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# define THROTTLE_IMAX 300
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# define THROTTLE_IMAX 300
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#endif
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@ -120,7 +120,7 @@ static void auto_trim()
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led_mode = NORMAL_LEDS;
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clear_leds();
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imu.save();
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Serial.println("Done");
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//Serial.println("Done");
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auto_level_counter = 0;
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}
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}
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@ -24,7 +24,7 @@ static int8_t test_current(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#ifdef OPTFLOW_ENABLED
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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{"altitude", test_baro},
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#endif
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{"sonar", test_sonar},
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{"compass", test_mag},
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//{"compass", test_mag},
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#ifdef OPTFLOW_ENABLED
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{"optflow", test_optflow},
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#endif
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{"xbee", test_xbee},
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//{"xbee", test_xbee},
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{"eedump", test_eedump},
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{"rawgps", test_rawgps},
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// {"mission", test_mission},
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}
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}
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static int8_t
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/*static int8_t
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test_xbee(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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}
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}
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}
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*/
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static int8_t
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}
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#endif
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/*
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static int8_t
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test_mag(uint8_t argc, const Menu::arg *argv)
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{
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return (0);
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}
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}
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*/
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/*
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static int8_t
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test_reverse(uint8_t argc, const Menu::arg *argv)
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