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minor formatting

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2441 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-30 04:24:07 +00:00
parent 530eeb4184
commit 80729c0423
5 changed files with 35 additions and 15 deletions
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19
ArduCopterMega/Log.pde
View File

@ -379,8 +379,8 @@ void Log_Write_GPS()
void Log_Read_GPS() void Log_Read_GPS()
{ {
Serial.printf_P(PSTR("GPS, %ld, %d, %d, " Serial.printf_P(PSTR("GPS, %ld, %d, %d, "
"%4.7f, %4.7f, %4.4f, %4.4f, " "%4.7f, %4.7f, %4.4f, %4.4f, "
"%d, %u\n"), "%d, %u\n"),
DataFlash.ReadLong(), // 1 time DataFlash.ReadLong(), // 1 time
(int)DataFlash.ReadByte(), // 2 fix (int)DataFlash.ReadByte(), // 2 fix
@ -460,16 +460,29 @@ void Log_Write_Nav_Tuning()
DataFlash.WriteInt((int)(target_bearing/100)); // 3 DataFlash.WriteInt((int)(target_bearing/100)); // 3
DataFlash.WriteInt((int)(nav_bearing/100)); // 4 DataFlash.WriteInt((int)(nav_bearing/100)); // 4
DataFlash.WriteInt((int)long_error); // 5
DataFlash.WriteInt((int)lat_error); // 6
DataFlash.WriteInt((int)nav_lon); // 7
DataFlash.WriteInt((int)nav_lat); // 8
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
void Log_Read_Nav_Tuning() void Log_Read_Nav_Tuning()
{ {
// 1 2 3 4 // 1 2 3 4
Serial.printf_P(PSTR( "NTUN, %d, %d, %d, %d\n"), Serial.printf_P(PSTR( "NTUN, %d, %d, %d, %d, "
"%d, %d, %d, %d\n"),
DataFlash.ReadInt(), //distance DataFlash.ReadInt(), //distance
DataFlash.ReadByte(), //bitmask DataFlash.ReadByte(), //bitmask
DataFlash.ReadInt(), //target bearing DataFlash.ReadInt(), //target bearing
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt()); //nav bearing DataFlash.ReadInt()); //nav bearing
} }

6
ArduCopterMega/config.h
View File

@ -382,7 +382,7 @@
# define NAV_LOITER_P 2.5 // upped to be a bit more aggressive # define NAV_LOITER_P 2.5 // upped to be a bit more aggressive
#endif #endif
#ifndef NAV_LOITER_I #ifndef NAV_LOITER_I
# define NAV_LOITER_I 0.10 // upped a bit to deal with wind faster # define NAV_LOITER_I 0.05 // upped a bit to deal with wind faster
#endif #endif
#ifndef NAV_LOITER_D #ifndef NAV_LOITER_D
# define NAV_LOITER_D 0.00 # define NAV_LOITER_D 0.00
@ -433,7 +433,7 @@
# define THROTTLE_BARO_D 0.06 // # define THROTTLE_BARO_D 0.06 //
#endif #endif
#ifndef THROTTLE_BARO_IMAX #ifndef THROTTLE_BARO_IMAX
# define THROTTLE_BARO_IMAX 20 # define THROTTLE_BARO_IMAX 30
#endif #endif
@ -447,7 +447,7 @@
# define THROTTLE_SONAR_D 0.3 // increasing D by .5 # define THROTTLE_SONAR_D 0.3 // increasing D by .5
#endif #endif
#ifndef THROTTLE_SONAR_IMAX #ifndef THROTTLE_SONAR_IMAX
# define THROTTLE_SONAR_IMAX 20 # define THROTTLE_SONAR_IMAX 30
#endif #endif

1
ArduCopterMega/motors_quad.pde
View File

@ -31,6 +31,7 @@ void output_motors_armed()
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // BACK motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // BACK
}else{ }else{
roll_out = g.rc_1.pwm_out; roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out; pitch_out = g.rc_2.pwm_out;

2
ArduCopterMega/sensors.pde
View File

@ -52,7 +52,7 @@ void init_barometer(void)
// makes the filtering work later // makes the filtering work later
abs_pressure = barometer.Press; abs_pressure = barometer.Press;
// save home pressure - will be overwritten by init_home, no big deal // save home pressure
ground_pressure = abs_pressure; ground_pressure = abs_pressure;
//Serial.printf("abs_pressure %ld\n", abs_pressure); //Serial.printf("abs_pressure %ld\n", abs_pressure);

22
ArduCopterMega/test.pde
View File

@ -72,7 +72,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"eedump", test_eedump}, {"eedump", test_eedump},
{"rawgps", test_rawgps}, {"rawgps", test_rawgps},
{"mission", test_mission}, {"mission", test_mission},
// {"wp", test_wp_nav}, //{"wp", test_wp_nav},
}; };
// A Macro to create the Menu // A Macro to create the Menu
@ -205,19 +205,24 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
g.rc_6.set_range(0,900);
g.rc_4.set_angle(9000);
dTnav = 200; dTnav = 200;
current_loc.lat = 32.9513090 * t7;
current_loc.lng = -117.2381700 * t7;
do_loiter_at_location();
wp_control = LOITER_MODE;
//dTnav: 0, gs: 305, err: 145, int: 0, pitch: 28508160 gps_GC: 0, gps_GS: 305 //dTnav: 0, gs: 305, err: 145, int: 0, pitch: 28508160 gps_GC: 0, gps_GS: 305
while(1){ while(1){
delay(20);
read_radio(); read_radio();
current_loc.lng = g.rc_1.control_in; delay(dTnav);
current_loc.lat = g.rc_2.control_in;
calc_loiter_nav(); current_loc.lng = (-117.2381700 * t7) + g.rc_1.control_in / 2;
current_loc.lat = (32.9513090 * t7) + g.rc_2.control_in / 2;
navigate();
update_nav_wp();
Serial.printf("Lon_e: %ld, nLon, %ld, Lat_e %ld, nLat %ld\n", long_error, nav_lon, lat_error, nav_lat); Serial.printf("Lon_e: %ld, nLon, %ld, Lat_e %ld, nLat %ld\n", long_error, nav_lon, lat_error, nav_lat);
@ -226,6 +231,7 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
} }
} }
} }
//*/ //*/
/* /*