From 94ccdea145de9a52fae9dd029ad728d750cac24f Mon Sep 17 00:00:00 2001 From: Jean-Louis Naudin Date: Thu, 21 Jun 2012 08:10:33 +0200 Subject: [PATCH] APMrover 2.20b: minor update for HIL mode with the new lib Signed-off-by: Jean-Louis Naudin --- APMrover2/APM_Config_Rover.h | 2 +- APMrover2/APMrover2.pde | 5 +++-- APMrover2/GCS_Mavlink.pde | 6 ++++-- 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/APMrover2/APM_Config_Rover.h b/APMrover2/APM_Config_Rover.h index 6a62c63683..f67fd01a56 100644 --- a/APMrover2/APM_Config_Rover.h +++ b/APMrover2/APM_Config_Rover.h @@ -61,7 +61,7 @@ the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)... This feature works only if the ROV_AWPR_NAV is set to 0 */ -#define BOOSTER 1 // booster factor x1 = 1 or x2 = 2 +#define BOOSTER 2 // booster factor x1 = 1 or x2 = 2 #define AUTO_WP_RADIUS DISABLED #define AIRSPEED_CRUISE 4 // 4m/s #define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde index a61fb6593b..549a28dcf2 100644 --- a/APMrover2/APMrover2.pde +++ b/APMrover2/APMrover2.pde @@ -1,6 +1,6 @@ /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- -#define THISFIRMWARE "APMrover v2.20a JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR +#define THISFIRMWARE "APMrover v2.20b JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR // This is the APMrover firmware derived from the Arduplane v2.32 by Jean-Louis Naudin (JLN) /* @@ -14,11 +14,12 @@ modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. // -// JLN updates: last update 2012-06-13 +// JLN updates: last update 2012-06-21 // DOLIST: //------------------------------------------------------------------------------------------------------------------------- // Dev Startup : 2012-04-21 // +// 2012-06-21: Update for HIL mode with mavlink 1.0 (new lib) // 2012-06-13: use RangeFinder optical SharpGP2Y instead of ultrasonic sonar // 2012-06-13: added Test sonar // 2012-05-17: added speed_boost during straight line diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde index ae63e96560..87dd0b1038 100644 --- a/APMrover2/GCS_Mavlink.pde +++ b/APMrover2/GCS_Mavlink.pde @@ -377,7 +377,9 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan) int thr_out = constrain((g.channel_throttle.servo_out *2) - 100, -100, 100); // throttle set from -100 to 100 mavlink_msg_rc_channels_scaled_send( - chan, + chan, + millis(), + 0, // port 0 g.channel_roll.servo_out, g.channel_pitch.servo_out, 100 * thr_out, @@ -386,7 +388,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan) 10000 * g.channel_pitch.norm_output(), 10000 * g.channel_throttle.norm_output(), 10000 * g.channel_rudder.norm_output(), - rssi); + rssi); #else mavlink_msg_rc_channels_scaled_send( chan,