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Copter: allow CH6 tuning of compass declination

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This commit is contained in:
Randy Mackay 2013-04-15 21:50:44 +09:00
parent 42344455c9
commit b48864e1ad
6 changed files with 18 additions and 5 deletions
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7
ArduCopter/ArduCopter.pde
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@ -2040,7 +2040,7 @@ static void update_trig(void){
// 270 = cos_yaw: 0.00, sin_yaw: -1.00,
}
// read baro and sonar altitude at 10hz
// read baro and sonar altitude at 20hz
static void update_altitude()
{
#if HIL_MODE == HIL_MODE_ATTITUDE
@ -2218,6 +2218,11 @@ static void tuning(){
case CH6_THR_ACCEL_KD:
g.pid_throttle_accel.kD(tuning_value);
break;
case CH6_DECLINATION:
// set declination to +-20degrees
compass.set_declination(ToRad(20-g.rc_6.control_in/25), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
}
}

2
ArduCopter/Parameters.pde
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@ -368,7 +368,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @Values: 0:CH6_NONE,1:CH6_STABILIZE_KP,2:CH6_STABILIZE_KI,3:CH6_YAW_KP,4:CH6_RATE_KP,5:CH6_RATE_KI,6:CH6_YAW_RATE_KP,7:CH6_THROTTLE_KP,8:CH6_TOP_BOTTOM_RATIO,9:CH6_RELAY,10:CH6_WP_SPEED,12:CH6_LOITER_KP,13:CH6_HELI_EXTERNAL_GYRO,14:CH6_THR_HOLD_KP,17:CH6_OPTFLOW_KP,18:CH6_OPTFLOW_KI,19:CH6_OPTFLOW_KD,21:CH6_RATE_KD,22:CH6_LOITER_RATE_KP,23:CH6_LOITER_RATE_KD,24:CH6_YAW_KI,25:CH6_ACRO_KP,26:CH6_YAW_RATE_KD,27:CH6_LOITER_KI,28:CH6_LOITER_RATE_KI,29:CH6_STABILIZE_KD,30:CH6_AHRS_YAW_KP,31:CH6_AHRS_KP,32:CH6_INAV_TC,33:CH6_THROTTLE_KI,34:CH6_THR_ACCEL_KP,35:CH6_THR_ACCEL_KI,36:CH6_THR_ACCEL_KD
// @Values: 0:CH6_NONE,1:CH6_STABILIZE_KP,2:CH6_STABILIZE_KI,3:CH6_YAW_KP,4:CH6_RATE_KP,5:CH6_RATE_KI,6:CH6_YAW_RATE_KP,7:CH6_THROTTLE_KP,8:CH6_TOP_BOTTOM_RATIO,9:CH6_RELAY,10:CH6_WP_SPEED,12:CH6_LOITER_KP,13:CH6_HELI_EXTERNAL_GYRO,14:CH6_THR_HOLD_KP,17:CH6_OPTFLOW_KP,18:CH6_OPTFLOW_KI,19:CH6_OPTFLOW_KD,21:CH6_RATE_KD,22:CH6_LOITER_RATE_KP,23:CH6_LOITER_RATE_KD,24:CH6_YAW_KI,25:CH6_ACRO_KP,26:CH6_YAW_RATE_KD,27:CH6_LOITER_KI,28:CH6_LOITER_RATE_KI,29:CH6_STABILIZE_KD,30:CH6_AHRS_YAW_KP,31:CH6_AHRS_KP,32:CH6_INAV_TC,33:CH6_THROTTLE_KI,34:CH6_THR_ACCEL_KP,35:CH6_THR_ACCEL_KI,36:CH6_THR_ACCEL_KD,38:CH6_DECLINATION
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: TUNE_LOW

2
ArduCopter/defines.h
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@ -174,6 +174,7 @@
#define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
#define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
#define CH6_DECLINATION 38 // compass declination in radians
// Commands - Note that APM now uses a subset of the MAVLink protocol
@ -286,6 +287,7 @@ enum gcs_severity {
#define LOG_DATA_INT32_MSG 0x16
#define LOG_DATA_UINT32_MSG 0x17
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_WPNAV_MSG 0x19
#define LOG_INDEX_MSG 0xF0
#define MAX_NUM_LOGS 50

1
ArduCopter/radio.pde
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@ -16,6 +16,7 @@ static void default_dead_zones()
g.rc_3.set_dead_zone(60);
g.rc_4.set_dead_zone(80);
#endif
g.rc_6.set_dead_zone(0);
}
static void init_rc_in()

8
libraries/AP_Compass/Compass.cpp
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@ -159,9 +159,13 @@ Compass::set_initial_location(int32_t latitude, int32_t longitude)
}
void
Compass::set_declination(float radians)
Compass::set_declination(float radians, bool save_to_eeprom)
{
_declination.set_and_save(radians);
if (save_to_eeprom) {
_declination.set_and_save(radians);
}else{
_declination.set(radians);
}
}
float

3
libraries/AP_Compass/Compass.h
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@ -122,8 +122,9 @@ public:
/// Sets the local magnetic field declination.
///
/// @param radians Local field declination.
/// @param save_to_eeprom true to save to eeprom (false saves only to memory)
///
void set_declination(float radians);
void set_declination(float radians, bool save_to_eeprom = true);
float get_declination();
// set overall board orientation