Removed all calls to legacy trim_radio(). Handled by radio setup.

Added AP_Var Fingerprint checker. Will not let users fly with OOD firmware.
Tweaked Yaw to give better response. Let me know how it goes. It looks fine, but I've not flown it.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1878 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -43,7 +43,7 @@ version 2.1 of the License, or (at your option) any later version.
 #define MAVLINK_COMM_NUM_BUFFERS 2
 #include <GCS_MAVLink.h>    // MAVLink GCS definitions
 
-//#include <GCS_SIMPLE.h>
+
 
 
 // Configuration
@@ -178,6 +178,7 @@ GPS         *g_gps;
 	GCS_Class           gcs;
 #endif
 
+//#include <GCS_SIMPLE.h>
 //GCS_SIMPLE    gcs_simple(&Serial);
 
 AP_RangeFinder_MaxsonarXL sonar;

ArduCopterMega/Attitude.pde

@@ -139,13 +139,6 @@ output_yaw_with_hold(boolean hold)
 		// Apply PID and save the new angle back to RC_Channel
 		g.rc_4.servo_out 	= g.pid_yaw.get_pid(yaw_error, delta_ms_fast_loop, 1.0); 		// .5 * 6000 = 3000
 
-		// We adjust the output by the rate of rotation
-		long rate			= degrees(omega.z) * 100.0; 									// 3rad = 17188 , 6rad = 34377
-		int dampener 		= (float)rate * g.hold_yaw_dampener;						// 18000 * .17 = 3000
-
-		// Limit dampening to be equal to propotional term for symmetry
-		g.rc_4.servo_out	-= constrain(dampener, -max_yaw_dampener, max_yaw_dampener); 	// -3000
-
 	}else{
 
 		// rate control
@@ -155,33 +148,29 @@ output_yaw_with_hold(boolean hold)
 																							// -error = CCW, 	+error = CW
 
 		if(g.rc_4.control_in == 0){
-
 			// we are breaking;
-			g.rc_4.servo_out = (omega.z > 0) ? -1800 : 1800;
+			//g.rc_4.servo_out = (omega.z > 0) ? -600 : 600;
-
+			g.rc_4.servo_out = (int)((float)g.rc_4.servo_out * (omega.z / 6.0));
-			//g.rc_4.servo_out = (int)((float)g.rc_4.servo_out * (omega.z / 6.0));
-
-			//switch comments to get old behavior.
-			//g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);// kP .07 * 36000 = 2520
 
 		}else{
+
 			g.rc_4.servo_out 	= g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0); // kP .07 * 36000 = 2520
+		}
+	}
 
 	// We adjust the output by the rate of rotation
-			//long rate			= degrees(omega.z) * 100.0; 									// 3rad = 17188 , 6rad = 34377
+	long rate			= degrees(omega.z) * 100.0; 									// 3rad = 17188 , 6rad = 34377
-			//int dampener 		= (float)rate * g.hold_yaw_dampener;							// 18000 * .17 = 3000
+	int dampener 		= (float)rate * g.hold_yaw_dampener;						// 18000 * .17 = 3000
 
 	// Limit dampening to be equal to propotional term for symmetry
-			//g.rc_4.servo_out	-= constrain(dampener, -max_yaw_dampener, max_yaw_dampener); 	// -3000
+	g.rc_4.servo_out	-= constrain(dampener, -max_yaw_dampener, max_yaw_dampener); 	// -3000
-			g.rc_4.servo_out 	= constrain(g.rc_4.servo_out, -1800, 1800);							// limit to 24°
-		}
 
-	}
+	// Limit Output
+	g.rc_4.servo_out 	= constrain(g.rc_4.servo_out, -1800, 1800);							// limit to 24°
 
 	//Serial.printf("%d\n",g.rc_4.servo_out);
 }
 
-// slight left rudder gives right roll.
 void
 output_rate_roll()
 {

ArduCopterMega/motors.pde

@@ -29,7 +29,6 @@ void arm_motors()
 		}else{
 			arming_counter = 0;
 		}
-
 	}else{
 		arming_counter = 0;
 	}
@@ -55,7 +54,7 @@ set_servos_4()
 		g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
 
 		if(g.rc_3.servo_out > 0)
-			out_min = g.rc_3.radio_min + 50;
+			out_min = g.rc_3.radio_min + 60;
 
 		//Serial.printf("out: %d %d %d %d\t\t", g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.servo_out, g.rc_4.servo_out);
 
@@ -65,6 +64,10 @@ set_servos_4()
 		g.rc_3.calc_pwm();
 		g.rc_4.calc_pwm();
 
+		// limit Yaw control so we don't clip and loose altitude
+		// this is only a partial solution.
+		g.rc_4.pwm_out = min(g.rc_4.pwm_out, (g.rc_3.radio_out - out_min));
+
 		//Serial.printf("out: %d %d %d %d\n", g.rc_1.radio_out, g.rc_2.radio_out, g.rc_3.radio_out, g.rc_4.radio_out);
 		//Serial.printf("yaw: %d ", g.rc_4.radio_out);
 
@@ -241,6 +244,7 @@ set_servos_4()
 			gcs_simple.write_int((int)nav_roll);
 			gcs_simple.write_int((int)nav_pitch);
 
+
 			gcs_simple.write_long(current_loc.lat);	//28
 			gcs_simple.write_long(current_loc.lng);	//32
 			gcs_simple.write_int((int)current_loc.alt);	//34

ArduCopterMega/navigation.pde

@@ -54,6 +54,7 @@ void calc_loiter_nav()
 	Becuase we are using lat and lon to do our distance errors here's a quick chart:
 	100 	= 1m
 	1000 	= 11m
+	1800 	= 1980m = 60 feet
 	3000 	= 33m
 	10000 	= 111m
 	pitch_max = 22° (2200)
@@ -89,26 +90,21 @@ void calc_waypoint_nav()
 	//nav_lat = max(wp_distance, -DIST_ERROR_MAX);
 	//nav_lat = min(wp_distance, DIST_ERROR_MAX);
 
-	//Serial.printf("nav_lat %ld, ", nav_lat);
 	// Scale response by kP
 	nav_lat	*= g.pid_nav_lat.kP();	// 1800 * 2 = 3600 or 36°
-	//Serial.printf("%ld, ",nav_lat);
 
 	// get the sin and cos of the bearing error - rotated 90°
 	sin_nav_y 	= sin(radians((float)(9000 - bearing_error) / 100));
 	cos_nav_x 	= cos(radians((float)(bearing_error - 9000) / 100));
-	//Serial.printf("X%2.4f, Y%2.4f ", cos_nav_x, sin_nav_y);
 
 	// rotate the vector
 	nav_roll 	=  (float)nav_lat * cos_nav_x;
 	nav_pitch 	= -(float)nav_lat * sin_nav_y;
 
-	//Serial.printf("R%ld, P%ld ", nav_roll, nav_pitch);
 
 	long pmax = g.pitch_max.get();
 	nav_roll 	= constrain(nav_roll,  -pmax, pmax);
 	nav_pitch 	= constrain(nav_pitch, -pmax, pmax);
-	//Serial.printf("R%ld, P%ld \n", nav_roll, nav_pitch);
 }
 
 void calc_bearing_error()

ArduCopterMega/setup.pde

@@ -202,10 +202,6 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 
 	init_rc_in();
 
-	// read the radio to set trims
-	// ---------------------------
-	trim_radio();
-
 	print_hit_enter();
 	delay(1000);
 
@@ -382,7 +378,6 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 
 	Serial.printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
 	print_hit_enter();
-	trim_radio();
 
 	while(1){
 		delay(20);

ArduCopterMega/system.pde

@@ -107,7 +107,21 @@ void init_ardupilot()
 		// save the new format version
 		g.format_version.set_and_save(Parameters::k_format_version);
 
-		//Serial.println_P(PSTR("done."));
+		Serial.printf_P(PSTR("Please Run Setup...\n"));
+		while (true) {
+			delay(100);
+			if(motor_light){
+				digitalWrite(A_LED_PIN, HIGH);
+				digitalWrite(B_LED_PIN, HIGH);
+				digitalWrite(C_LED_PIN, HIGH);
+			}else{
+				digitalWrite(A_LED_PIN, LOW);
+				digitalWrite(B_LED_PIN, LOW);
+				digitalWrite(C_LED_PIN, LOW);
+			}
+			motor_light = !motor_light;
+		}
+
 	}else{
 	    unsigned long before = micros();
 	    // Load all auto-loaded EEPROM variables
@@ -245,7 +259,7 @@ void startup_ground(void)
 
 	// read the radio to set trims
 	// ---------------------------
-	trim_radio();
+	//trim_radio();
 
 	if (g.log_bitmask & MASK_LOG_CMD)
 		Log_Write_Startup(TYPE_GROUNDSTART_MSG);

ArduCopterMega/test.pde

@@ -129,10 +129,6 @@ test_radio(uint8_t argc, const Menu::arg *argv)
 	print_hit_enter();
 	delay(1000);
 
-	// read the radio to set trims
-	// ---------------------------
-	trim_radio();
-
 	while(1){
 		delay(20);
 		read_radio();
@@ -183,10 +179,6 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
 		read_radio();
 	}
 
-	// read the radio to set trims
-	// ---------------------------
-	trim_radio();
-
 	oldSwitchPosition = readSwitch();
 
 	Serial.printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
@@ -243,8 +235,6 @@ test_stabilize(uint8_t argc, const Menu::arg *argv)
 	Serial.printf_P(PSTR("g.pid_stabilize_roll.kP: %4.4f\n"), g.pid_stabilize_roll.kP());
 	Serial.printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener);
 
-	trim_radio();
-
 	motor_auto_safe 	= false;
 	motor_armed 		= true;