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APMrover V2.0b - updates about Save_WP

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Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
This commit is contained in:
Jean-Louis Naudin 2012-05-02 13:57:19 +02:00 committed by Andrew Tridgell
parent 76a3fd9a4e
commit 8076391ec8
5 changed files with 18 additions and 11 deletions
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4
APMrover2/APM_Config_Rover.h
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@ -12,7 +12,7 @@
#define AIRSPEED_SENSOR DISABLED #define AIRSPEED_SENSOR DISABLED
#define MAGNETOMETER ENABLED #define MAGNETOMETER ENABLED
#define LOGGING_ENABLED DISABLED #define LOGGING_ENABLED ENABLED
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Serial port speeds. // Serial port speeds.
@ -413,7 +413,7 @@
// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow // Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow
// users to start using the APM without running the WaypointWriter first. // users to start using the APM without running the WaypointWriter first.
// //
#define WP_RADIUS_DEFAULT 3 // meters #define WP_RADIUS_DEFAULT 5 // meters
#define LOITER_RADIUS_DEFAULT 10 // 60 #define LOITER_RADIUS_DEFAULT 10 // 60
#define USE_CURRENT_ALT TRUE #define USE_CURRENT_ALT TRUE
#define ALT_HOLD_HOME 0 #define ALT_HOLD_HOME 0

5
APMrover2/APMrover2.pde
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@ -16,7 +16,7 @@ License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. version 2.1 of the License, or (at your option) any later version.
// //
// JLN updates: last update 2012-04-30 // JLN updates: last update 2012-05-01
// //
// DOLIST: // DOLIST:
// //
@ -24,6 +24,7 @@ version 2.1 of the License, or (at your option) any later version.
//------------------------------------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------------------------------------
// Dev Startup : 2012-04-21 // Dev Startup : 2012-04-21
// //
// 2012-04-30: Successfully tested in autonomous nav with a waypoints list recorded in live mode
// 2012-04-30: Now a full version for APM v1 or APM v2 with magnetometer // 2012-04-30: Now a full version for APM v1 or APM v2 with magnetometer
// 2012-04-27: Cosmetic changes // 2012-04-27: Cosmetic changes
// 2012-04-26: Only one PID (pidNavRoll) for steering the wheel with nav_roll // 2012-04-26: Only one PID (pidNavRoll) for steering the wheel with nav_roll
@ -48,7 +49,7 @@ version 2.1 of the License, or (at your option) any later version.
// Ch3: to the motor ESC // Ch3: to the motor ESC
// Ch4: not used // Ch4: not used
// //
// more infos this experimental version: http://diydrones.com/profile/JeanLouisNaudin // more infos about this experimental version: http://diydrones.com/profile/JeanLouisNaudin
// ======================================================================================================= // =======================================================================================================
*/ */

10
APMrover2/control_modes.pde
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@ -66,7 +66,10 @@ if (g.ch7_option == CH7_SAVE_WP){ // set to 1
if(control_mode == MANUAL){ // if SW7 is ON in MANUAL = Erase the Flight Plan if(control_mode == MANUAL){ // if SW7 is ON in MANUAL = Erase the Flight Plan
// reset the mission // reset the mission
CH7_wp_index = 0; CH7_wp_index = 0;
g.command_total.set_and_save(CH7_wp_index); g.command_total.set_and_save(CH7_wp_index);
g.command_total = 0;
g.command_index =0;
nav_command_index = 0;
#if X_PLANE == ENABLED #if X_PLANE == ENABLED
Serial.printf_P(PSTR("*** RESET the FPL\n")); Serial.printf_P(PSTR("*** RESET the FPL\n"));
#endif #endif
@ -81,7 +84,10 @@ if (g.ch7_option == CH7_SAVE_WP){ // set to 1
// store the index // store the index
g.command_total.set_and_save(CH7_wp_index); g.command_total.set_and_save(CH7_wp_index);
g.command_total = CH7_wp_index;
g.command_index = CH7_wp_index;
nav_command_index = 0;
// save command // save command
set_cmd_with_index(current_loc, CH7_wp_index); set_cmd_with_index(current_loc, CH7_wp_index);

4
APMrover2/navigation.pde
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@ -63,7 +63,7 @@ static void navigate()
// Disabled for now // Disabled for now
void calc_distance_error() void calc_distance_error()
{ {
distance_estimate += (float)g_gps->ground_speed * .0002 * cos(radians(bearing_error * .01)); distance_estimate += (float)ground_speed * .0002 * cos(radians(bearing_error * .01));
distance_estimate -= DST_EST_GAIN * (float)(distance_estimate - GPS_wp_distance); distance_estimate -= DST_EST_GAIN * (float)(distance_estimate - GPS_wp_distance);
wp_distance = max(distance_estimate,10); wp_distance = max(distance_estimate,10);
} }
@ -118,7 +118,7 @@ static long wrap_180(long error)
static void calc_turn_radius() // JLN update - adjut automaticaly the wp_radius Vs the speed and the turn angle static void calc_turn_radius() // JLN update - adjut automaticaly the wp_radius Vs the speed and the turn angle
{ {
wp_radius = g_gps->ground_speed * 150 / g.roll_limit.get(); wp_radius = ground_speed * 150 / g.roll_limit.get();
//Serial.println(wp_radius, DEC); //Serial.println(wp_radius, DEC);
} }

6
APMrover2/system.pde
View File

@ -349,8 +349,8 @@ static void set_mode(byte mode)
break; break;
case AUTO: case AUTO:
reload_commands(); change_command(1); // restart to the 1st stored wp
update_auto(); //update_auto();
break; break;
case RTL: case RTL:
@ -366,7 +366,7 @@ static void set_mode(byte mode)
break; break;
default: default:
//do_RTL(); do_RTL();
break; break;
} }