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2.0.23, Hexa Fix, Baro and Sonar tests now separated.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2464 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-03 18:49:13 +00:00
parent 84ef135856
commit a83bc90759
3 changed files with 14 additions and 23 deletions
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6
ArduCopterMega/motors_hexa.pde
View File

@ -19,8 +19,8 @@ void output_motors_armed()
g.rc_4.calc_pwm();
if(g.frame_orientation == X_FRAME){
roll_out = (float)g.rc_1.pwm_out * .866;
pitch_out = g.rc_2.pwm_out / 2;
roll_out = g.rc_1.pwm_out / 2;
pitch_out = (float)g.rc_2.pwm_out * .866;
//left side
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW Middle
@ -33,7 +33,7 @@ void output_motors_armed()
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW Back
}else{
roll_out = g.rc_1.pwm_out;
roll_out = (float)g.rc_1.pwm_out * .866;
pitch_out = g.rc_2.pwm_out / 2;
//Front side

2
ArduCopterMega/system.pde
View File

@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
};
// Create the top-level menu object.
MENU(main_menu, "AC 2.0.22 Beta", main_menu_commands);
MENU(main_menu, "AC 2.0.23 Beta", main_menu_commands);
void init_ardupilot()
{

29
ArduCopterMega/test.pde
View File

@ -18,9 +18,9 @@ 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_relay(uint8_t argc, const Menu::arg *argv);
static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
static int8_t test_altitude(uint8_t argc, const Menu::arg *argv);
static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
//static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
@ -64,9 +64,9 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"relay", test_relay},
{"waypoints", test_wp},
#if HIL_MODE != HIL_MODE_ATTITUDE
{"altitude", test_altitude},
{"altitude", test_baro},
#endif
//{"sonar", test_sonar},
{"sonar", test_sonar},
{"compass", test_mag},
{"xbee", test_xbee},
{"eedump", test_eedump},
@ -814,10 +814,9 @@ test_xbee(uint8_t argc, const Menu::arg *argv)
#if HIL_MODE != HIL_MODE_ATTITUDE
static int8_t
test_altitude(uint8_t argc, const Menu::arg *argv)
test_baro(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
init_barometer();
while(1){
@ -825,14 +824,7 @@ test_altitude(uint8_t argc, const Menu::arg *argv)
baro_alt = read_barometer();
if(g.sonar_enabled){
// decide which sensor we're usings
sonar_alt = sonar.read();
}
Serial.printf_P(PSTR("B_alt: %d, S_alt: %d\n"),
baro_alt,
sonar_alt);
Serial.printf_P(PSTR("Baro: %dcm\n"), baro_alt);
if(Serial.available() > 0){
return (0);
@ -877,22 +869,21 @@ test_mag(uint8_t argc, const Menu::arg *argv)
/*
test the sonar
*/
/*static int8_t
static int8_t
test_sonar(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1) {
Serial.printf_P(PSTR("%d cm\n"), sonar.read());
delay(100);
Serial.printf_P(PSTR("Sonar: %d cm\n"), sonar.read());
if(Serial.available() > 0){
return (0);
}
}
return (0);
}
*/
static int8_t
test_mission(uint8_t argc, const Menu::arg *argv)