clean up to work better with the Mission planner and enable Camera control.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2697 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -1,22 +1,10 @@
-// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
+// Example config file. Take a look at confi.h. Any term define there can be overridden by defining it here.
-// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
-// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
 
 // GPS is auto-selected
 
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 
-#define NAV_TEST 1			// 0 = traditional, 1 = rate controlled
-#define YAW_OPTION 1		// 0 = hybrid rate approach, 1 = offset Yaw approach, 2 = simple hybrid
-#define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
-#define CUT_MOTORS 1		// do we cut the motors with no throttle?
 
-#define DYNAMIC_DRIFT 0 	// careful!!! 0 = off, 1 = on
-
-// do we want to have camera stabilization?
-#define CAMERA_STABILIZER 1
-
-#define BROKEN_SLIDER 0
 
 #define FRAME_CONFIG QUAD_FRAME
 	/*
@@ -57,31 +45,8 @@
 //#define STABILIZE_PITCH_D 		0.11
 
 
-// Logging
-//#define LOG_CURRENT ENABLED
-
-# define LOG_ATTITUDE_FAST		DISABLED
-# define LOG_ATTITUDE_MED 		DISABLED
-# define LOG_GPS 				ENABLED
-# define LOG_PM 				ENABLED
-# define LOG_CTUN				ENABLED
-# define LOG_NTUN				ENABLED
-# define LOG_MODE				ENABLED
-# define LOG_RAW				DISABLED
-# define LOG_CMD				ENABLED
-# define LOG_CURRENT			DISABLED
-
-
-
-#define MOTOR_LEDS 1	// 0 = off, 1 = on
-
-#define FR_LED AN12  // Mega PE4 pin, OUT7
-#define RE_LED AN14  // Mega PE5 pin, OUT6
-#define RI_LED AN10  // Mega PH4 pin, OUT5
-#define LE_LED AN8  // Mega PH5 pin, OUT4
-
-
 // experimental!!
 // Yaw is controled by targeting home. you will not have Yaw override.
 // flying too close to home may induce spins.
 #define SIMPLE_LOOK_AT_HOME 0
+#define DYNAMIC_DRIFT 0 	// careful!!! 0 = off, 1 = on

ArduCopterMega/config.h

@@ -357,6 +357,10 @@
 //////////////////////////////////////////////////////////////////////////////
 // YAW Control
 //
+#ifndef YAW_OPTION
+# define YAW_OPTION		1		// 0 = hybrid rate approach, 1 = offset Yaw approach
+#endif
+
 #if YAW_OPTION == 1	// 0 = hybrid rate approach, 1 = offset Yaw approach
 	#ifndef  YAW_P
 	# define YAW_P					0.6			// increase for more aggressive Yaw Hold, decrease if it's bouncy
@@ -409,35 +413,26 @@
 # define NAV_LOITER_IMAX		20			// 20°
 #endif
 
-#if NAV_TEST == 1	// 0 = traditional, 1 = rate controlled
+
-	#ifndef NAV_WP_P
+
-	# define NAV_WP_P				3.0			// for 4.5 ms error = 13.5 pitch
+#ifndef NAV_WP_P
-	#endif
+# define NAV_WP_P				3.0			// for 4.5 ms error = 13.5 pitch
-	#ifndef NAV_WP_I
+#endif
-	# define NAV_WP_I				0.5			// this is a fast ramp up
+#ifndef NAV_WP_I
-	#endif
+# define NAV_WP_I				0.5			// this is a fast ramp up
-	#ifndef NAV_WP_D
+#endif
-	# define NAV_WP_D				0			// slight dampening of a few degrees at most
+#ifndef NAV_WP_D
-	#endif
+# define NAV_WP_D				0			// slight dampening of a few degrees at most
-	#ifndef NAV_WP_IMAX
+#endif
-	# define NAV_WP_IMAX			40			// degrees
+#ifndef NAV_WP_IMAX
-	#endif
+# define NAV_WP_IMAX			40			// degrees
-#else
-	#ifndef NAV_WP_P
-	# define NAV_WP_P				4.0
-	#endif
-	#ifndef NAV_WP_I
-	# define NAV_WP_I				0.15		//
-	#endif
-	#ifndef NAV_WP_D
-	# define NAV_WP_D				10			// not sure about at all
-	#endif
-	#ifndef NAV_WP_IMAX
-	# define NAV_WP_IMAX			20			// 20 degrees
-	#endif
 #endif
 
 
+#ifndef WAYPOINT_SPEED
+# define WAYPOINT_SPEED				450			// for 4.5 ms error = 13.5 pitch
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Throttle control gains
 //
@@ -506,7 +501,7 @@
 # define LOG_ATTITUDE_FAST		DISABLED
 #endif
 #ifndef LOG_ATTITUDE_MED
-# define LOG_ATTITUDE_MED 		ENABLED
+# define LOG_ATTITUDE_MED 		DISABLED
 #endif
 #ifndef LOG_GPS
 # define LOG_GPS 				ENABLED
@@ -515,10 +510,10 @@
 # define LOG_PM 				ENABLED
 #endif
 #ifndef LOG_CTUN
-# define LOG_CTUN				DISABLED
+# define LOG_CTUN				ENABLED
 #endif
 #ifndef LOG_NTUN
-# define LOG_NTUN				DISABLED
+# define LOG_NTUN				ENABLED
 #endif
 #ifndef LOG_MODE
 # define LOG_MODE				ENABLED
@@ -585,12 +580,6 @@
 #endif
 
 
-#ifndef NAV_TEST
-# define NAV_TEST		1		// 0 = traditional, 1 = rate controlled
-#endif
-#ifndef YAW_OPTION
-# define YAW_OPTION		0		// 0 = hybrid rate approach, 1 = offset Yaw approach
-#endif
 #ifndef AUTO_RESET_LOITER
 # define AUTO_RESET_LOITER	1	// enables Loiter to reset it's current location based on stick input.
 #endif
@@ -598,6 +587,19 @@
 # define CUT_MOTORS		1		// do we cut the motors with no throttle?
 #endif
 
+#ifndef CAMERA_STABILIZER
+# define CAMERA_STABILIZER		1		// do we cut the motors with no throttle?
+#endif
+
+#ifndef BROKEN_SLIDER
+# define BROKEN_SLIDER		0		// 1 = yes (use Yaw to enter CLI mode)
+#endif
+
+#ifndef MOTOR_LEDS
+# define MOTOR_LEDS		1		// 0 = off, 1 = on
+#endif
+
+
 //////////////////////////////////////////////////////////////////////////////
 // RC override
 //

ArduCopterMega/defines.h

@@ -30,6 +30,12 @@
 #define NORMAL_LEDS 0
 #define AUTO_TRIM_LEDS 1
 
+// motor LEDs
+#define FR_LED AN12  // Mega PE4 pin, OUT7
+#define RE_LED AN14  // Mega PE5 pin, OUT6
+#define RI_LED AN10  // Mega PH4 pin, OUT5
+#define LE_LED AN8  // Mega PH5 pin, OUT4
+
 // Internal defines, don't edit and expect things to work
 // -------------------------------------------------------
 

ArduCopterMega/navigation.pde

@@ -126,31 +126,6 @@ void calc_nav_output()
 	nav_pitch 	= -(float)nav_lat * sin_nav_y;
 }
 
-#define WAYPOINT_SPEED 450
-
-#if NAV_TEST == 0
-
-void calc_rate_nav()
-{
-	// calc distance error
-	nav_lat	= min((wp_distance * 100), 1800); // +- 20m max error
-
-	// Scale response by kP
-	nav_lat	*= g.pid_nav_lat.kP();	// 1800 * 2 = 3600 or 36°
-
-	// Scale response by kP
-	//long output 	= g.pid_nav_wp.kP() * error;
-	int dampening	= g.pid_nav_wp.kD() * (g_gps->ground_speed - last_ground_speed);
-
-	// remember our old speed
-	last_ground_speed = g_gps->ground_speed;
-
-	// dampen our response
-	nav_lat -= constrain(dampening, 	-1800, 1800); // +- 20m max error
-}
-
-#else
-
 // called after we get GPS read
 void calc_rate_nav()
 {
@@ -177,8 +152,6 @@ void calc_rate_nav()
 	nav_lat	= constrain(nav_lat, 	-4000, 4000); // +- max error
 }
 
-#endif
-
 void calc_bearing_error()
 {
 	bearing_error 	= nav_bearing - dcm.yaw_sensor;

ArduCopterMega/system.pde

@@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.29 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.30 Beta", main_menu_commands);
 
 void init_ardupilot()
 {
@@ -336,6 +336,9 @@ void startup_ground(void)
 
 	SendDebug("\nReady to FLY ");
 	//gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
+
+	// output control mode to the ground station
+	gcs.send_message(MSG_HEARTBEAT);
 }
 
 void set_mode(byte mode)