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Added gains to adjust travel of camera.

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This commit is contained in:
Jason Short 2011-10-15 16:34:57 -07:00
parent 3c51ce6a5f
commit 9fd89a9f4d
5 changed files with 41 additions and 20 deletions
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11
ArduCopter/Camera.pde
View File

@ -20,8 +20,11 @@ camera_stabilization()
// allow control mixing
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor);
g.rc_camera_pitch.servo_out = (float)g.rc_camera_pitch.servo_out * g.camera_pitch_gain;
// limit
g.rc_camera_pitch.servo_out = constrain(g.rc_camera_pitch.servo_out, -4500, 4500);
//g.rc_camera_pitch.servo_out = constrain(g.rc_camera_pitch.servo_out, -4500, 4500);
// dont allow control mixing
/*
@ -38,10 +41,10 @@ camera_stabilization()
*/
// dont allow control mixing
g.rc_camera_roll.servo_out = (float)g.rc_camera_roll.servo_out * g.camera_roll_gain;
// limit
g.rc_camera_roll.servo_out = constrain(-dcm.roll_sensor, -4500, 4500);
//g.rc_camera_roll.servo_out = constrain(-dcm.roll_sensor, -4500, 4500);
// Output
// ------

15
ArduCopter/Parameters.h
View File

@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 110;
static const uint16_t k_format_version = 111;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -128,6 +128,8 @@ public:
k_param_throttle_cruise,
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_camera_pitch_gain,
k_param_camera_roll_gain,
//
// 210: flight modes
@ -262,6 +264,8 @@ public:
RC_Channel rc_8;
RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll;
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
// PI/D controllers
APM_PI pi_rate_roll;
@ -364,8 +368,13 @@ public:
rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, PSTR("RC_CP_")),
rc_camera_roll (k_param_rc_10, PSTR("RC_CR_")),
rc_camera_pitch (k_param_rc_9, PSTR("CAM_P_")),
rc_camera_roll (k_param_rc_10, PSTR("CAM_R_")),
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
camera_pitch_gain (CAM_PITCH_GAIN, k_param_frame_orientation, PSTR("CAM_P_G")),
camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")),
// PI controller group key name initial P initial I initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------

12
ArduCopter/config.h
View File

@ -179,6 +179,16 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA GAINS
#ifndef CAM_ROLL_GAIN
# define CAM_ROLL_GAIN 1.0
#endif
#ifndef CAM_PITCH_GAIN
# define CAM_PITCH_GAIN 1.0
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
@ -458,8 +468,6 @@
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 350 //
#endif

17
ArduCopter/control_modes.pde
View File

@ -50,17 +50,16 @@ static boolean trim_flag;
// set this to your trainer switch
static void read_trim_switch()
{
#if CH7_OPTION == CH7_FLIP
#if CH7_OPTION == CH7_FLIP
if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
do_flip = true;
}
#elif CH7_OPTION == CH7_SIMPLE_MODE
#elif CH7_OPTION == CH7_SIMPLE_MODE
do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC);
#elif CH7_OPTION == CH7_RTL
#elif CH7_OPTION == CH7_RTL
static bool ch7_rtl_flag = false;
if (ch7_rtl_flag == false && g.rc_7.control_in > 800){
@ -75,7 +74,7 @@ static void read_trim_switch()
}
}
#elif CH7_OPTION == CH7_SET_HOVER
#elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged
if (g.rc_7.control_in > 800){
trim_flag = true;
@ -92,17 +91,19 @@ static void read_trim_switch()
trim_flag = false;
}
}
#elif CH7_OPTION == CH7_ADC_FILTER
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){
adc.filter_result = true;
}else{
adc.filter_result = false;
}
#elif CH7_OPTION == CH7_AUTO_TRIM
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
auto_level_counter = 10;
}
#endif
#endif
}

2
ArduCopter/setup.pde
View File

@ -132,7 +132,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
return(-1);
AP_Var::erase_all();
Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM"));
Serial.printf_P(PSTR("\nReboot APM"));
delay(1000);
//default_gains();