Added alternate alt hold,

New ESC Calibration Routine

ArduCopter/ArduCopter.pde

@@ -1260,8 +1260,10 @@ static void update_altitude()
 		baro_alt 			= (baro_alt + read_barometer()) >> 1;
 
 		// calc the vertical accel rate
-		#if CLIMB_RATE_BARO == 1
-		int temp_baro_alt	= (barometer._offset_press - barometer.RawPress) << 1; // invert and scale
+		#if CLIMB_RATE_BARO == 0
+		int temp_baro_alt	= (barometer._offset_press - barometer.RawPress) << 2; // invert and scale
+		temp_baro_alt		= (float)temp_baro_alt * .1 + (float)old_baro_alt * .9;
+
 		baro_rate 			= (temp_baro_alt - old_baro_alt) * 10;
 		old_baro_alt		= temp_baro_alt;
 

ArduCopter/config.h

@@ -519,7 +519,7 @@
 
 // RATE control
 #ifndef THROTTLE_P
-# define THROTTLE_P		0.6			//
+# define THROTTLE_P		0.5			//
 #endif
 #ifndef THROTTLE_I
 # define THROTTLE_I		0.0			//

ArduCopter/radio.pde

@@ -69,22 +69,44 @@ static void init_rc_out()
 	APM_RC.OutputCh(CH_5, 1500);
 	APM_RC.OutputCh(CH_6, 1500);
 
-	// don't fuss if we are calibrating
-	if(g.esc_calibrate == 1)
-		return;
-
-	output_min();
-
 	for(byte i = 0; i < 5; i++){
 		delay(20);
 		read_radio();
 	}
 
-    // sanity check
+    // sanity check - prevent unconfigured radios from outputting
     if(g.rc_3.radio_min >= 1300){
         g.rc_3.radio_min = g.rc_3.radio_in;
-        output_min();
     }
+
+	// we are full throttle
+	if(g.rc_3.control_in == 800){
+		if(g.esc_calibrate == 0){
+			// we will enter esc_calibrate mode on next reboot
+			g.esc_calibrate.set_and_save(1);
+			// send miinimum throttle out to ESC
+			output_min();
+			// block until we restart
+			while(1){
+				//Serial.println("esc");
+				delay(200);
+				dancing_light();
+			}
+		}else{
+			//Serial.println("esc init");
+			// clear esc flag
+			g.esc_calibrate.set_and_save(0);
+			// block until we restart
+	        init_esc();
+		}
+	}else{
+		// did we abort the calibration?
+		if(g.esc_calibrate == 1)
+			g.esc_calibrate.set_and_save(0);
+
+		// send miinimum throttle out to ESC
+		output_min();
+	}
 }
 
 void output_min()

ArduCopter/setup.pde

@@ -16,7 +16,6 @@ static int8_t	setup_compass			(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_tune				(uint8_t argc, const Menu::arg *argv);
 //static int8_t	setup_mag_offset		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_declination		(uint8_t argc, const Menu::arg *argv);
-static int8_t	setup_esc				(uint8_t argc, const Menu::arg *argv);
 #ifdef OPTFLOW_ENABLED
 static int8_t	setup_optflow			(uint8_t argc, const Menu::arg *argv);
 #endif
@@ -36,7 +35,6 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
 	{"radio",			setup_radio},
 	{"frame",			setup_frame},
 	{"motors",			setup_motors},
-	{"esc",				setup_esc},
 	{"level",			setup_accel},
 	{"modes",			setup_flightmodes},
 	{"battery",			setup_batt_monitor},
@@ -230,29 +228,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 	return(0);
 }
 
-static int8_t
-setup_esc(uint8_t argc, const Menu::arg *argv)
-{
-	/*Serial.printf_P(PSTR("\nESC Calibration:\n"
-						"-1 Unplug USB and battery\n"
-						"-2 Move CLI/FLY switch to FLY mode\n"
-						"-3 Move throttle to max, connect battery\n"
-						"-4 After two long beeps, throttle to 0, then test\n\n"
-						" Press Enter to cancel.\n"));
-	*/
-	Serial.printf_P(PSTR("See wiki:\n"));
-	g.esc_calibrate.set_and_save(1);
-
-	while(1){
-		delay(20);
-
-		if(Serial.available() > 0){
-			g.esc_calibrate.set_and_save(0);
-			return(0);
-		}
-	}
-}
-
 static int8_t
 setup_motors(uint8_t argc, const Menu::arg *argv)
 {
@@ -1122,7 +1097,6 @@ static void print_enabled(boolean b)
 static void
 init_esc()
 {
-	g.esc_calibrate.set_and_save(0);
 	while(1){
 		read_radio();
 		delay(100);

ArduCopter/system.pde

@@ -243,7 +243,6 @@ static void init_ardupilot()
 	if(g.log_bitmask != 0){
 		//	TODO - Here we will check  on the length of the last log
 		//  We don't want to create a bunch of little logs due to powering on and off
-		Serial.printf("start_new_log");
 		start_new_log();
 	}
 	#endif