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ACM Motors.pde 

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
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23
ArduCopter/motors.pde
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@ -12,13 +12,24 @@ static void arm_motors()
static int arming_counter;
// 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;
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
if (g.rc_4.control_in > 4000) {
if (tmp > 4000) {
if (arming_counter == LEVEL_DELAY){
//Serial.printf("\nAL\n");
// begin auto leveling
@ -62,7 +73,7 @@ static void arm_motors()
}
// full left
}else if (g.rc_4.control_in < -4000) {
}else if (tmp < -4000) {
if (arming_counter == LEVEL_DELAY){
//Serial.printf("\nLEV\n");
@ -137,6 +148,9 @@ static void init_arm_motors()
startup_ground();
}
ahrs._kp.set(0.1);
ahrs._kp_yaw.set(0.1);
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground -
// this resets Baro for more accuracy
@ -162,6 +176,9 @@ static void init_disarm_motors()
g.throttle_cruise.save();
ahrs._kp.set(0.8);
ahrs._kp_yaw.set(0.8);
// we are not in the air
takeoff_complete = false;