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added RTL_land_enabled

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added auto_pilot slew rate
This commit is contained in:
Jason Short 2012-02-15 09:05:17 -08:00
parent aa0662008b
commit 91edeeeef2
1 changed files with 25 additions and 11 deletions
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36
ArduCopter/Parameters.h
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@ -106,8 +106,10 @@ public:
k_param_optflow_enabled,
k_param_low_voltage,
k_param_ch7_option,
k_param_auto_slew_rate,
k_param_sonar_type,
k_param_super_simple, //155
k_param_rtl_land_enabled,
//
// 160: Navigation parameters
@ -177,6 +179,8 @@ public:
k_param_pi_stabilize_yaw,
k_param_pi_loiter_lat,
k_param_pi_loiter_lon,
k_param_pid_loiter_rate_lat,
k_param_pid_loiter_rate_lon,
k_param_pid_nav_lat,
k_param_pid_nav_lon,
k_param_pi_alt_hold,
@ -209,6 +213,7 @@ public:
AP_Int8 optflow_enabled;
AP_Float low_voltage;
AP_Int8 super_simple;
AP_Int8 rtl_land_enabled;
// Waypoints
@ -255,7 +260,7 @@ public:
AP_Int8 frame_orientation;
AP_Float top_bottom_ratio;
AP_Int8 ch7_option;
AP_Int16 auto_slew_rate;
#if FRAME_CONFIG == HELI_FRAME
// Heli
@ -288,9 +293,13 @@ public:
AP_Float stabilize_d;
// PI/D controllers
AP_Float acro_P;
AC_PID pid_rate_roll;
AC_PID pid_rate_pitch;
AC_PID pid_rate_yaw;
AC_PID pid_loiter_rate_lat;
AC_PID pid_loiter_rate_lon;
AC_PID pid_nav_lat;
AC_PID pid_nav_lon;
@ -328,6 +337,7 @@ public:
optflow_enabled (OPTFLOW),
low_voltage (LOW_VOLTAGE),
super_simple (SUPER_SIMPLE),
rtl_land_enabled (RTL_AUTO_LAND),
waypoint_mode (0),
command_total (0),
@ -363,6 +373,7 @@ public:
frame_orientation (FRAME_ORIENTATION),
top_bottom_ratio (TOP_BOTTOM_RATIO),
ch7_option (CH7_OPTION),
auto_slew_rate (AUTO_SLEW_RATE),
#if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (k_param_heli_servo_1),
@ -389,18 +400,21 @@ public:
camera_roll_gain (CAM_ROLL_GAIN),
stabilize_d (STABILIZE_D),
// PID controller initial P initial I initial D initial imax
//--------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D,OPTFLOW_IMAX * 100),
pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
// PI controller initial P initial I initial imax
//----------------------------------------------------------------------