mirror of https://github.com/ArduPilot/ardupilot
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
This commit is contained in:
jasonshort
parent
0efd0fa1f3
commit
88d258f804
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@ -1,22 +1,10 @@
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// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
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// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
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// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
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// Example config file. Take a look at confi.h. Any term define there can be overridden by defining it here.
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// GPS is auto-selected
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//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#define NAV_TEST 1 // 0 = traditional, 1 = rate controlled
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#define YAW_OPTION 1 // 0 = hybrid rate approach, 1 = offset Yaw approach, 2 = simple hybrid
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#define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
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#define CUT_MOTORS 1 // do we cut the motors with no throttle?
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#define DYNAMIC_DRIFT 0 // careful!!! 0 = off, 1 = on
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// do we want to have camera stabilization?
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#define CAMERA_STABILIZER 1
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#define BROKEN_SLIDER 0
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#define FRAME_CONFIG QUAD_FRAME
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/*
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@ -57,31 +45,8 @@
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//#define STABILIZE_PITCH_D 0.11
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// Logging
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//#define LOG_CURRENT ENABLED
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# define LOG_ATTITUDE_FAST DISABLED
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# define LOG_ATTITUDE_MED DISABLED
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# define LOG_GPS ENABLED
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# define LOG_PM ENABLED
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# define LOG_CTUN ENABLED
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# define LOG_NTUN ENABLED
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# define LOG_MODE ENABLED
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# define LOG_RAW DISABLED
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# define LOG_CMD ENABLED
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# define LOG_CURRENT DISABLED
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#define MOTOR_LEDS 1 // 0 = off, 1 = on
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#define FR_LED AN12 // Mega PE4 pin, OUT7
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#define RE_LED AN14 // Mega PE5 pin, OUT6
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#define RI_LED AN10 // Mega PH4 pin, OUT5
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#define LE_LED AN8 // Mega PH5 pin, OUT4
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// experimental!!
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// Yaw is controled by targeting home. you will not have Yaw override.
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// flying too close to home may induce spins.
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#define SIMPLE_LOOK_AT_HOME 0
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#define DYNAMIC_DRIFT 0 // careful!!! 0 = off, 1 = on
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@ -357,6 +357,10 @@
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//////////////////////////////////////////////////////////////////////////////
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// YAW Control
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//
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#ifndef YAW_OPTION
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# define YAW_OPTION 1 // 0 = hybrid rate approach, 1 = offset Yaw approach
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#endif
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#if YAW_OPTION == 1 // 0 = hybrid rate approach, 1 = offset Yaw approach
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#ifndef YAW_P
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# define YAW_P 0.6 // increase for more aggressive Yaw Hold, decrease if it's bouncy
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@ -409,35 +413,26 @@
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# define NAV_LOITER_IMAX 20 // 20°
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#endif
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#if NAV_TEST == 1 // 0 = traditional, 1 = rate controlled
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#ifndef NAV_WP_P
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# define NAV_WP_P 3.0 // for 4.5 ms error = 13.5 pitch
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#endif
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#ifndef NAV_WP_I
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# define NAV_WP_I 0.5 // this is a fast ramp up
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#endif
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#ifndef NAV_WP_D
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# define NAV_WP_D 0 // slight dampening of a few degrees at most
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#endif
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#ifndef NAV_WP_IMAX
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# define NAV_WP_IMAX 40 // degrees
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#endif
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#else
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#ifndef NAV_WP_P
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# define NAV_WP_P 4.0
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#endif
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#ifndef NAV_WP_I
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# define NAV_WP_I 0.15 //
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#endif
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#ifndef NAV_WP_D
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# define NAV_WP_D 10 // not sure about at all
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#endif
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#ifndef NAV_WP_IMAX
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# define NAV_WP_IMAX 20 // 20 degrees
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#endif
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#ifndef NAV_WP_P
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# define NAV_WP_P 3.0 // for 4.5 ms error = 13.5 pitch
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#endif
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#ifndef NAV_WP_I
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# define NAV_WP_I 0.5 // this is a fast ramp up
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#endif
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#ifndef NAV_WP_D
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# define NAV_WP_D 0 // slight dampening of a few degrees at most
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#endif
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#ifndef NAV_WP_IMAX
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# define NAV_WP_IMAX 40 // degrees
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#endif
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#ifndef WAYPOINT_SPEED
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# define WAYPOINT_SPEED 450 // for 4.5 ms error = 13.5 pitch
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle control gains
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//
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@ -506,7 +501,7 @@
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# define LOG_ATTITUDE_FAST DISABLED
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#endif
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#ifndef LOG_ATTITUDE_MED
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# define LOG_ATTITUDE_MED ENABLED
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# define LOG_ATTITUDE_MED DISABLED
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#endif
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#ifndef LOG_GPS
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# define LOG_GPS ENABLED
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@ -515,10 +510,10 @@
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# define LOG_PM ENABLED
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#endif
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#ifndef LOG_CTUN
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# define LOG_CTUN DISABLED
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# define LOG_CTUN ENABLED
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#endif
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#ifndef LOG_NTUN
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# define LOG_NTUN DISABLED
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# define LOG_NTUN ENABLED
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#endif
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#ifndef LOG_MODE
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# define LOG_MODE ENABLED
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@ -585,12 +580,6 @@
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#endif
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#ifndef NAV_TEST
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# define NAV_TEST 1 // 0 = traditional, 1 = rate controlled
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#endif
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#ifndef YAW_OPTION
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# define YAW_OPTION 0 // 0 = hybrid rate approach, 1 = offset Yaw approach
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#endif
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#ifndef AUTO_RESET_LOITER
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# define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
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#endif
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@ -598,6 +587,19 @@
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# define CUT_MOTORS 1 // do we cut the motors with no throttle?
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#endif
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#ifndef CAMERA_STABILIZER
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# define CAMERA_STABILIZER 1 // do we cut the motors with no throttle?
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#endif
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#ifndef BROKEN_SLIDER
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# define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)
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#endif
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#ifndef MOTOR_LEDS
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# define MOTOR_LEDS 1 // 0 = off, 1 = on
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RC override
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//
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@ -30,6 +30,12 @@
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#define NORMAL_LEDS 0
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#define AUTO_TRIM_LEDS 1
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// motor LEDs
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#define FR_LED AN12 // Mega PE4 pin, OUT7
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#define RE_LED AN14 // Mega PE5 pin, OUT6
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#define RI_LED AN10 // Mega PH4 pin, OUT5
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#define LE_LED AN8 // Mega PH5 pin, OUT4
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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@ -126,31 +126,6 @@ void calc_nav_output()
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nav_pitch = -(float)nav_lat * sin_nav_y;
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}
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#define WAYPOINT_SPEED 450
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#if NAV_TEST == 0
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void calc_rate_nav()
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{
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// calc distance error
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nav_lat = min((wp_distance * 100), 1800); // +- 20m max error
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// Scale response by kP
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nav_lat *= g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36°
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// Scale response by kP
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//long output = g.pid_nav_wp.kP() * error;
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int dampening = g.pid_nav_wp.kD() * (g_gps->ground_speed - last_ground_speed);
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// remember our old speed
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last_ground_speed = g_gps->ground_speed;
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// dampen our response
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nav_lat -= constrain(dampening, -1800, 1800); // +- 20m max error
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}
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#else
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// called after we get GPS read
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void calc_rate_nav()
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{
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@ -177,8 +152,6 @@ void calc_rate_nav()
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nav_lat = constrain(nav_lat, -4000, 4000); // +- max error
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}
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#endif
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void calc_bearing_error()
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{
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bearing_error = nav_bearing - dcm.yaw_sensor;
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@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
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};
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// Create the top-level menu object.
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MENU(main_menu, "AC 2.0.29 Beta", main_menu_commands);
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MENU(main_menu, "AC 2.0.30 Beta", main_menu_commands);
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void init_ardupilot()
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{
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@ -336,6 +336,9 @@ void startup_ground(void)
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SendDebug("\nReady to FLY ");
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//gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
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// output control mode to the ground station
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gcs.send_message(MSG_HEARTBEAT);
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}
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void set_mode(byte mode)
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