Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 02:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

ACM Motors.pde

Browse Source 
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
This commit is contained in:
Jason Short 2012-08-09 16:52:32 -07:00
parent 37e3b64877
commit a199669b61
1 changed files with 20 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
ArduCopter/motors.pde
View File

@ -12,13 +12,24 @@ static void arm_motors()
static int arming_counter; static int arming_counter;
// don't allow arming/disarming in anything but manual // don't allow arming/disarming in anything but manual
if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (control_mode == TOY) || (arming_counter > LEVEL_DELAY)){ if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)){
arming_counter = 0; arming_counter = 0;
return; return;
} }
if ((control_mode > ACRO) && (control_mode != TOY)){
arming_counter = 0;
return;
}
#if TOY_EDF == ENABLED
int16_t tmp = g.rc_1.control_in;
#else
int16_t tmp = g.rc_4.control_in;
#endif
// full right // full right
if (g.rc_4.control_in > 4000) { if (tmp > 4000) {
if (arming_counter == LEVEL_DELAY){ if (arming_counter == LEVEL_DELAY){
//Serial.printf("\nAL\n"); //Serial.printf("\nAL\n");
// begin auto leveling // begin auto leveling
@ -62,7 +73,7 @@ static void arm_motors()
} }
// full left // full left
}else if (g.rc_4.control_in < -4000) { }else if (tmp < -4000) {
if (arming_counter == LEVEL_DELAY){ if (arming_counter == LEVEL_DELAY){
//Serial.printf("\nLEV\n"); //Serial.printf("\nLEV\n");
@ -137,6 +148,9 @@ static void init_arm_motors()
startup_ground(); startup_ground();
} }
ahrs._kp.set(0.1);
ahrs._kp_yaw.set(0.1);
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground - // read Baro pressure at ground -
// this resets Baro for more accuracy // this resets Baro for more accuracy
@ -162,6 +176,9 @@ static void init_disarm_motors()
g.throttle_cruise.save(); g.throttle_cruise.save();
ahrs._kp.set(0.8);
ahrs._kp_yaw.set(0.8);
// we are not in the air // we are not in the air
takeoff_complete = false; takeoff_complete = false;