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updates for CGS

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1583 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-31 17:10:07 +00:00
parent 4f6411c37f
commit 87782a44af
3 changed files with 12 additions and 14 deletions
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2
ArduCopterMega/ArduCopterMega.pde
View File

@ -359,7 +359,7 @@ float COGY = 1; // Course overground Y axis
// Performance monitoring // Performance monitoring
// ---------------------- // ----------------------
long perf_mon_timer; long perf_mon_timer;
//float imu_health; // Metric based on accel gain deweighting float imu_health; // Metric based on accel gain deweighting
int G_Dt_max; // Max main loop cycle time in milliseconds int G_Dt_max; // Max main loop cycle time in milliseconds
byte gyro_sat_count; byte gyro_sat_count;
byte adc_constraints; byte adc_constraints;

2
ArduCopterMega/GCS_Standard.pde
View File

@ -251,6 +251,7 @@ void send_message(byte id, long param) {
break; break;
case MSG_PID: // PID Gains message case MSG_PID: // PID Gains message
/*
mess_buffer[0] = 0x0f; mess_buffer[0] = 0x0f;
ck = 15; ck = 15;
mess_buffer[3] = param & 0xff; // PID set # mess_buffer[3] = param & 0xff; // PID set #
@ -272,6 +273,7 @@ void send_message(byte id, long param) {
tempint = integrator_max[param]; // Integrator max value tempint = integrator_max[param]; // Integrator max value
mess_buffer[16] = tempint & 0xff; mess_buffer[16] = tempint & 0xff;
mess_buffer[17] = (tempint >> 8) & 0xff; mess_buffer[17] = (tempint >> 8) & 0xff;
*/
break; break;
} }

20
ArduCopterMega/flight_control.pde
View File

@ -7,8 +7,7 @@ throttle control
// ----------- // -----------
void output_manual_throttle() void output_manual_throttle()
{ {
rc_3.servo_out = rc_3.control_in; rc_3.servo_out = (float)rc_3.control_in * angle_boost();
rc_3.servo_out = (float)rc_3.servo_out * angle_boost();
} }
// Autopilot // Autopilot
@ -16,28 +15,25 @@ void output_manual_throttle()
void output_auto_throttle() void output_auto_throttle()
{ {
rc_3.servo_out = (float)nav_throttle * angle_boost(); rc_3.servo_out = (float)nav_throttle * angle_boost();
// make sure we never send a 0 throttle that will cut the motors
rc_3.servo_out = max(rc_3.servo_out, 1); rc_3.servo_out = max(rc_3.servo_out, 1);
} }
void calc_nav_throttle() void calc_nav_throttle()
{ {
long t_out;
if(altitude_sensor == BARO) { if(altitude_sensor == BARO) {
t_out = pid_baro_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0); nav_throttle = pid_baro_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
// limit output of throttle control // limit output of throttle control
t_out = throttle_cruise + constrain(t_out, -50, 100); nav_throttle = throttle_cruise + constrain(nav_throttle, -50, 100);
} else { } else {
// SONAR // SONAR
t_out = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0); nav_throttle = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
// limit output of throttle control // limit output of throttle control
t_out = throttle_cruise + constrain(t_out, -60, 100); nav_throttle = throttle_cruise + constrain(nav_throttle, -60, 100);
} }
nav_throttle = (float)t_out * angle_boost();
} }
float angle_boost() float angle_boost()
@ -48,8 +44,8 @@ float angle_boost()
temp = 1.0 + (temp / 1.5); temp = 1.0 + (temp / 1.5);
// limit the boost value // limit the boost value
if(temp > 1.3) if(temp > 1.4)
temp = 1.3; temp = 1.4;
return temp; return temp;
} }