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minor cosmetics 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2846 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-14 02:01:51 +00:00
parent c22ebd22b4
commit 9eb9f12fb0
4 changed files with 45 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopterMega/Camera.pde
View File

@ -8,19 +8,16 @@ void init_camera()
g.rc_camera_pitch.radio_min = 1000; g.rc_camera_pitch.radio_min = 1000;
g.rc_camera_pitch.radio_trim = 1500; g.rc_camera_pitch.radio_trim = 1500;
g.rc_camera_pitch.radio_max = 2000; g.rc_camera_pitch.radio_max = 2000;
g.rc_camera_pitch.set_reverse(g.cam_pitch_reverse);
g.rc_camera_roll.set_angle(4500); g.rc_camera_roll.set_angle(4500);
g.rc_camera_roll.radio_min = 1000; g.rc_camera_roll.radio_min = 1000;
g.rc_camera_roll.radio_trim = 1500; g.rc_camera_roll.radio_trim = 1500;
g.rc_camera_roll.radio_max = 2000; g.rc_camera_roll.radio_max = 2000;
g.rc_camera_roll.set_reverse(g.cam_roll_reverse);
} }
void void
camera_stabilization() camera_stabilization()
{ {
// PITCH // PITCH
// ----- // -----
// allow control mixing // allow control mixing

2
ArduCopterMega/Mavlink_Common.h
View File

@ -201,8 +201,8 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
motor_out[2], motor_out[2],
motor_out[3], motor_out[3],
motor_out[4], motor_out[4],
motor_out[6],
motor_out[7], motor_out[7],
motor_out[8],
0); 0);
break; break;
} }

13
ArduCopterMega/Parameters.h
View File

@ -104,8 +104,6 @@ public:
k_param_throttle_cruise, k_param_throttle_cruise,
k_param_flight_modes, k_param_flight_modes,
k_param_esc_calibrate, k_param_esc_calibrate,
k_param_cam_pitch_reverse,
k_param_cam_roll_reverse,
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
@ -242,9 +240,6 @@ public:
RC_Channel rc_camera_pitch; RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll; RC_Channel rc_camera_roll;
AP_Int8 cam_pitch_reverse;
AP_Int8 cam_roll_reverse;
// PID controllers // PID controllers
PID pid_rate_roll; PID pid_rate_roll;
PID pid_rate_pitch; PID pid_rate_pitch;
@ -330,12 +325,8 @@ public:
rc_6 (k_param_rc_6, PSTR("RC6_")), rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")), rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")), rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, NULL), rc_camera_pitch (k_param_rc_9, PSTR("RC_CP_")),
rc_camera_roll (k_param_rc_10, NULL), rc_camera_roll (k_param_rc_10, PSTR("RC_CR_")),
cam_pitch_reverse (0, k_param_cam_pitch_reverse, PSTR("CAM_P_REV")),
cam_roll_reverse (0, k_param_cam_roll_reverse, PSTR("CAM_R_REV")),
// PID controller group key name initial P initial I initial D initial imax // PID controller group key name initial P initial I initial D initial imax
//-------------------------------------------------------------------------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------------------------------------------------------------------------

43
ArduCopterMega/test.pde
View File

@ -14,6 +14,7 @@ static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
//static int8_t test_omega(uint8_t argc, const Menu::arg *argv); //static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv); static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv); //static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
static int8_t test_tuning(uint8_t argc, const Menu::arg *argv); static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
static int8_t test_current(uint8_t argc, const Menu::arg *argv); static int8_t test_current(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv); static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
@ -72,6 +73,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"eedump", test_eedump}, {"eedump", test_eedump},
{"rawgps", test_rawgps}, {"rawgps", test_rawgps},
{"mission", test_mission}, {"mission", test_mission},
//{"reverse", test_reverse},
//{"wp", test_wp_nav}, //{"wp", test_wp_nav},
}; };
@ -81,7 +83,7 @@ MENU(test_menu, "test", test_menu_commands);
int8_t int8_t
test_mode(uint8_t argc, const Menu::arg *argv) test_mode(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("Test Mode\n\n")); //Serial.printf_P(PSTR("Test Mode\n\n"));
test_menu.run(); test_menu.run();
} }
@ -899,6 +901,45 @@ test_mag(uint8_t argc, const Menu::arg *argv)
return (0); return (0);
} }
} }
/*
static int8_t
test_reverse(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1){
delay(20);
// Filters radio input - adjust filters in the radio.pde file
// ----------------------------------------------------------
g.rc_4.set_reverse(0);
g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
g.rc_4.servo_out = g.rc_4.control_in;
g.rc_4.calc_pwm();
Serial.printf_P(PSTR("PWM:%d input: %d\toutput%d "),
APM_RC.InputCh(CH_4),
g.rc_4.control_in,
g.rc_4.radio_out);
APM_RC.OutputCh(CH_6, g.rc_4.radio_out);
g.rc_4.set_reverse(1);
g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
g.rc_4.servo_out = g.rc_4.control_in;
g.rc_4.calc_pwm();
Serial.printf_P(PSTR("\trev input: %d\toutput%d\n"),
g.rc_4.control_in,
g.rc_4.radio_out);
APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
if(Serial.available() > 0){
g.rc_4.set_reverse(0);
return (0);
}
}
}*/
/* /*
test the sonar test the sonar