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APMrover 2.20b: minor update for HIL mode with the new lib 

Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
This commit is contained in:
Jean-Louis Naudin 2012-06-21 08:10:33 +02:00
parent cd0411ba33
commit 94ccdea145
3 changed files with 8 additions and 5 deletions
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2
APMrover2/APM_Config_Rover.h
View File

@ -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 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 AUTO_WP_RADIUS DISABLED
#define AIRSPEED_CRUISE 4 // 4m/s #define AIRSPEED_CRUISE 4 // 4m/s
#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step #define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step

5
APMrover2/APMrover2.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- 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) // 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 License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. 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: // DOLIST:
//------------------------------------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------------------------------------
// Dev Startup : 2012-04-21 // 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: use RangeFinder optical SharpGP2Y instead of ultrasonic sonar
// 2012-06-13: added Test sonar // 2012-06-13: added Test sonar
// 2012-05-17: added speed_boost during straight line // 2012-05-17: added speed_boost during straight line

6
APMrover2/GCS_Mavlink.pde
View File

@ -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 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( mavlink_msg_rc_channels_scaled_send(
chan, chan,
millis(),
0, // port 0
g.channel_roll.servo_out, g.channel_roll.servo_out,
g.channel_pitch.servo_out, g.channel_pitch.servo_out,
100 * thr_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_pitch.norm_output(),
10000 * g.channel_throttle.norm_output(), 10000 * g.channel_throttle.norm_output(),
10000 * g.channel_rudder.norm_output(), 10000 * g.channel_rudder.norm_output(),
rssi); rssi);
#else #else
mavlink_msg_rc_channels_scaled_send( mavlink_msg_rc_channels_scaled_send(
chan, chan,