mirror of https://github.com/ArduPilot/ardupilot
2.0.36
Added Yaw control when descending in Alt hold lowered kP & kD for Alt hold a tad Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter Fixed issue with AUTO not getting proper input. Added Limit to high side of motors git-svn-id: https://arducopter.googlecode.com/svn/trunk@2874 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -6,6 +6,7 @@ void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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@ -57,13 +58,19 @@ void output_motors_armed()
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motor_out[CH_8] -= g.rc_4.pwm_out; // CW
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// limit output so motors don't stop
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motor_out[CH_1] = max(motor_out[CH_1], out_min);
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motor_out[CH_2] = max(motor_out[CH_2], out_min);
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motor_out[CH_3] = max(motor_out[CH_3], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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motor_out[CH_7] = max(motor_out[CH_7], out_min);
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motor_out[CH_8] = max(motor_out[CH_8], out_min);
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motor_out[CH_1] = max(motor_out[CH_1], out_min);
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motor_out[CH_2] = max(motor_out[CH_2], out_min);
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motor_out[CH_3] = max(motor_out[CH_3], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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motor_out[CH_7] = max(motor_out[CH_7], out_min);
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motor_out[CH_8] = max(motor_out[CH_8], out_min);
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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motor_out[CH_7] = min(motor_out[CH_7], out_max);
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motor_out[CH_8] = min(motor_out[CH_8], out_max);
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#if CUT_MOTORS == ENABLED
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@ -6,6 +6,7 @@ void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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@ -112,6 +113,16 @@ void output_motors_armed()
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motor_out[CH_10] = max(motor_out[CH_10], out_min);
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motor_out[CH_11] = max(motor_out[CH_11], out_min);
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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motor_out[CH_7] = min(motor_out[CH_7], out_max);
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motor_out[CH_8] = min(motor_out[CH_8], out_max);
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motor_out[CH_10] = min(motor_out[CH_10], out_max);
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motor_out[CH_11] = min(motor_out[CH_11], out_max);
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#if CUT_MOTORS == ENABLED
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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@ -6,6 +6,7 @@ void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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@ -83,6 +84,16 @@ void output_motors_armed()
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motor_out[CH_10] = max(motor_out[CH_10], out_min);
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motor_out[CH_11] = max(motor_out[CH_11], out_min);
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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motor_out[CH_7] = min(motor_out[CH_7], out_max);
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motor_out[CH_8] = min(motor_out[CH_8], out_max);
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motor_out[CH_10] = min(motor_out[CH_10], out_max);
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motor_out[CH_11] = min(motor_out[CH_11], out_max);
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#if CUT_MOTORS == ENABLED
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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@ -6,6 +6,7 @@ void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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@ -57,6 +58,11 @@ void output_motors_armed()
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motor_out[CH_3] = max(motor_out[CH_3], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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#if CUT_MOTORS == ENABLED
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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@ -4,6 +4,7 @@
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void output_motors_armed()
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{
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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@ -33,6 +34,10 @@ void output_motors_armed()
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motor_out[CH_2] = max(motor_out[CH_2], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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#if CUT_MOTORS == ENABLED
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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@ -5,6 +5,7 @@
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void output_motors_armed()
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{
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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@ -41,6 +42,21 @@ void output_motors_armed()
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motor_out[CH_1] -= g.rc_4.pwm_out; // CW
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motor_out[CH_4] -= g.rc_4.pwm_out; // CW
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// limit output so motors don't stop
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motor_out[CH_1] = max(motor_out[CH_1], out_min);
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motor_out[CH_2] = max(motor_out[CH_2], out_min);
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motor_out[CH_3] = max(motor_out[CH_3], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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motor_out[CH_7] = max(motor_out[CH_7], out_min);
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motor_out[CH_8] = max(motor_out[CH_8], out_min);
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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motor_out[CH_7] = min(motor_out[CH_7], out_max);
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motor_out[CH_8] = min(motor_out[CH_8], out_max);
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#if CUT_MOTORS == ENABLED
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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