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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1351 f9c3cf11-9bcb-44bc-f272-b75c42450872

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This commit is contained in:
jasonshort 2010-12-29 01:36:30 +00:00
parent 669e276da6
commit a446389c8e
3 changed files with 23 additions and 11 deletions
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1
ArduCopterMega/command description.txt
View File

@ -31,6 +31,7 @@ Command ID Name Parameter 1 Altitude Latitude Longitude
0x16 CMD_TAKEOFF angle altitude - -
0x17 CMD_ALTITUDE - altitude - -
0x18 CMD_R_WAYPOINT - altitude rlat rlon
0x19 CMD_TARGET - altitude lat lon
***********************************

26
ArduCopterMega/commands_process.pde
View File

@ -206,10 +206,13 @@ void process_may()
break;
case CMD_ANGLE:
// p1: bearing
// alt: speed
// lat: direction (-1,1),
// lng: rel (1) abs (0)
// target angle in degrees
command_yaw_start = nav_yaw; // current position
command_yaw_end = next_command.p1 * 100;
command_yaw_start = nav_yaw; // current position
command_yaw_start_time = millis();
// which direction to turn
@ -222,8 +225,12 @@ void process_may()
command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
command_yaw_end += nav_yaw;
command_yaw_end = wrap_360(command_yaw_end);
} else {
// absolute
command_yaw_end = next_command.p1 * 100;
}
// if unspecified go 10° a second
if(command_yaw_speed == 0)
command_yaw_speed = 10;
@ -251,6 +258,8 @@ void process_may()
// rate to turn deg per second - default is ten
command_yaw_speed = next_command.alt;
command_yaw_time = command_yaw_delta / command_yaw_speed;
//9000 turn in 10 seconds
//command_yaw_time = 9000/ 10 = 900° per second
break;
@ -431,17 +440,18 @@ void verify_must()
break;
case CMD_LOITER: // Just plain LOITER
break;
break;
case CMD_ANGLE:
if((millis() - command_yaw_start_time) > command_yaw_time){
command_must_index = 0;
nav_yaw = command_yaw_end;
}else{
// else we need to be at a certain place
// power is a ratio of the time : .5 = half done
power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
}
// else we need to be at a certain place
power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
break;
default:

7
ArduCopterMega/test.pde
View File

@ -123,9 +123,10 @@ test_radio(uint8_t argc, const Menu::arg *argv)
rc_3.calc_pwm();
rc_4.calc_pwm();
//Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"), (rc_1.control_in), (rc_2.control_in), (rc_3.control_in), (rc_4.control_in), rc_5.control_in, rc_6.control_in, rc_7.control_in);
Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"), (rc_1.control_in), (rc_2.control_in), (rc_3.control_in), (rc_4.control_in), rc_5.control_in, rc_6.control_in, rc_7.control_in);
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d\n"), (rc_1.servo_out / 100), (rc_2.servo_out / 100), rc_3.servo_out, (rc_4.servo_out / 100));
Serial.printf_P(PSTR( "min: %d"
/*Serial.printf_P(PSTR( "min: %d"
"\t in: %d"
"\t pwm_in: %d"
"\t sout: %d"
@ -136,7 +137,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
rc_3.servo_out,
rc_3.pwm_out
);
*/
if(Serial.available() > 0){
return (0);
}