mirror of https://github.com/ArduPilot/ardupilot
Changes from flight testing
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1582 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
parent
a20390ebb3
commit
8e32e2f4c2
|
@ -654,6 +654,10 @@ void slow_loop()
|
||||||
// *** We need to come up with a better scheme to handle this...
|
// *** We need to come up with a better scheme to handle this...
|
||||||
eeprom_write_word((uint16_t *) EE_LAST_LOG_PAGE, DataFlash.GetWritePage());
|
eeprom_write_word((uint16_t *) EE_LAST_LOG_PAGE, DataFlash.GetWritePage());
|
||||||
superslow_loopCounter = 0;
|
superslow_loopCounter = 0;
|
||||||
|
|
||||||
|
// save current data to the flash
|
||||||
|
if (log_bitmask & MASK_LOG_CUR)
|
||||||
|
Log_Write_Current();
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
@ -682,9 +686,6 @@ void slow_loop()
|
||||||
slow_loopCounter = 0;
|
slow_loopCounter = 0;
|
||||||
update_events();
|
update_events();
|
||||||
|
|
||||||
// save current data to the flash
|
|
||||||
if (log_bitmask & MASK_LOG_CUR)
|
|
||||||
Log_Write_Current();
|
|
||||||
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
@ -868,17 +869,16 @@ void update_current_flight_mode(void)
|
||||||
dTnav = 200;
|
dTnav = 200;
|
||||||
}
|
}
|
||||||
|
|
||||||
next_WP.lat = home.lat + rc_1.control_in / 5; // 4500 / 5 = 900 = 10 meteres
|
next_WP.lat = home.lat + rc_2.control_in / 5; // 4500 / 5 = 900 = 10 meteres
|
||||||
next_WP.lng = home.lng - rc_2.control_in / 5; // 4500 / 5 = 900 = 10 meteres
|
next_WP.lng = home.lng + rc_1.control_in / 5; // 4500 / 5 = 900 = 10 meteres
|
||||||
}
|
}
|
||||||
|
|
||||||
// Yaw control
|
|
||||||
// -----------
|
|
||||||
output_manual_yaw();
|
|
||||||
|
|
||||||
// Output Pitch, Roll, Yaw and Throttle
|
// Output Pitch, Roll, Yaw and Throttle
|
||||||
// ------------------------------------
|
// ------------------------------------
|
||||||
|
|
||||||
|
// Yaw control
|
||||||
|
output_manual_yaw();
|
||||||
|
|
||||||
// apply throttle control
|
// apply throttle control
|
||||||
output_manual_throttle();
|
output_manual_throttle();
|
||||||
|
|
||||||
|
@ -897,6 +897,7 @@ void update_current_flight_mode(void)
|
||||||
nav_pitch = 0;
|
nav_pitch = 0;
|
||||||
nav_roll = 0;
|
nav_roll = 0;
|
||||||
|
|
||||||
|
//if(rc_3.control_in)
|
||||||
// get desired height from the throttle
|
// get desired height from the throttle
|
||||||
next_WP.alt = home.alt + (rc_3.control_in * 4); // 0 - 1000 (40 meters)
|
next_WP.alt = home.alt + (rc_3.control_in * 4); // 0 - 1000 (40 meters)
|
||||||
|
|
||||||
|
|
|
@ -363,7 +363,7 @@
|
||||||
// Navigation control gains
|
// Navigation control gains
|
||||||
//
|
//
|
||||||
#ifndef NAV_P
|
#ifndef NAV_P
|
||||||
# define NAV_P 1.2
|
# define NAV_P 2.4
|
||||||
#endif
|
#endif
|
||||||
#ifndef NAV_I
|
#ifndef NAV_I
|
||||||
# define NAV_I 0.01
|
# define NAV_I 0.01
|
||||||
|
@ -386,7 +386,7 @@
|
||||||
# define THROTTLE_BARO_I 0.04
|
# define THROTTLE_BARO_I 0.04
|
||||||
#endif
|
#endif
|
||||||
#ifndef THROTTLE_BARO_D
|
#ifndef THROTTLE_BARO_D
|
||||||
# define THROTTLE_BARO_D 0.1
|
# define THROTTLE_BARO_D 0.15
|
||||||
#endif
|
#endif
|
||||||
#ifndef THROTTLE_BARO_IMAX
|
#ifndef THROTTLE_BARO_IMAX
|
||||||
# define THROTTLE_BARO_IMAX 100
|
# define THROTTLE_BARO_IMAX 100
|
||||||
|
|
|
@ -214,6 +214,8 @@ set_servos_4()
|
||||||
//Serial.print("-");
|
//Serial.print("-");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
reset_I();
|
||||||
|
|
||||||
if(rc_3.control_in > 0){
|
if(rc_3.control_in > 0){
|
||||||
// we have pushed up the throttle
|
// we have pushed up the throttle
|
||||||
// remove safety
|
// remove safety
|
||||||
|
|
|
@ -69,9 +69,11 @@ void calc_nav()
|
||||||
nav_lat = constrain(nav_lat, -DIST_ERROR_MAX, DIST_ERROR_MAX); // Limit max command
|
nav_lat = constrain(nav_lat, -DIST_ERROR_MAX, DIST_ERROR_MAX); // Limit max command
|
||||||
|
|
||||||
// rotate the vector
|
// rotate the vector
|
||||||
nav_roll = (float)nav_lat * yawvector.x - (float)nav_lon * yawvector.y;
|
nav_roll = (float)nav_lon * yawvector.x + (float)nav_lat * yawvector.y;
|
||||||
nav_pitch = (float)nav_lon * yawvector.x + (float)nav_lat * yawvector.y;
|
nav_pitch = (float)nav_lat * yawvector.x + (float)nav_lon * yawvector.y;
|
||||||
//Serial.printf("vx %4.4f,vy %4.4f, nr %ld, np %ld ", yawvector.x, yawvector.y, nav_roll, nav_pitch);
|
|
||||||
|
//Serial.printf("vx %4.4f,vy %4.4f ", yawvector.x, yawvector.y);
|
||||||
|
|
||||||
nav_roll = constrain(nav_roll, -pitch_max, pitch_max);
|
nav_roll = constrain(nav_roll, -pitch_max, pitch_max);
|
||||||
nav_pitch = constrain(nav_pitch, -pitch_max, pitch_max);
|
nav_pitch = constrain(nav_pitch, -pitch_max, pitch_max);
|
||||||
}
|
}
|
||||||
|
|
|
@ -361,8 +361,8 @@ test_fbw(uint8_t argc, const Menu::arg *argv)
|
||||||
next_WP.lng,
|
next_WP.lng,
|
||||||
nav_lat,
|
nav_lat,
|
||||||
nav_lon,
|
nav_lon,
|
||||||
nav_pitch,
|
|
||||||
nav_roll,
|
nav_roll,
|
||||||
|
nav_pitch,
|
||||||
pitch_max);
|
pitch_max);
|
||||||
|
|
||||||
print_motor_out();
|
print_motor_out();
|
||||||
|
|
Loading…
Reference in New Issue