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fun stuff

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1281 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-27 00:35:08 +00:00
parent 7e1a4d4a38
commit bce0c6723b
7 changed files with 74 additions and 44 deletions
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11
ArduCopterMega/ArduCopterMega.pde
View File

@ -773,11 +773,14 @@ void update_current_flight_mode(void)
//call at 5 hz
if(fbw_timer > 20){
fbw_timer = 0;
current_loc.lat = 0;
current_loc.lng = 0;
next_WP.lat = rc_1.control_in /5; // 10 meteres
next_WP.lng = -rc_2.control_in /5; // 10 meteres
if(home_is_set == false){
current_loc.lat = home.lat = 0;
current_loc.lng = home.lng = 0;
}
next_WP.lat = home.lat + rc_1.control_in /5; // 10 meteres
next_WP.lng = home.lng -rc_2.control_in /5; // 10 meteres
// waypoint distance from plane
// ----------------------------

13
ArduCopterMega/Attitude.pde
View File

@ -159,6 +159,7 @@ void set_servos_4(void)
int b_out = ((long)(motor_out[BACK] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
//*/
//
/* debugging and dynamic kP
num++;
if (num > 50){
@ -166,16 +167,18 @@ void set_servos_4(void)
//Serial.printf("control_in: %d ", rc_3.control_in);
//Serial.printf(" servo: %d %d %d %d\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
//Serial.printf(" cwm: %d %d %d %d, %d\t", rc_1.pwm_out, rc_2.pwm_out, rc_3.pwm_out, rc_4.pwm_out, rc_3.radio_out);
//Serial.printf(" pwm: %d %d %d %d\n", r_out, l_out, f_out, b_out);
//Serial.printf(" pwm: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
//Serial.printf(" out: %d %d %d %d\n", r_out, l_out, f_out, b_out);
//Serial.printf(" pwm: %d, %d %d %d %d\n",rc_3.pwm_out, motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.24;
stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.25;
init_pids();
Serial.print("kP: ");
Serial.println(pid_stabilize_roll.kP(),3);
//Serial.print("kP: ");
//Serial.println(pid_stabilize_roll.kP(),3);
}
// out: 41 38 39 39
// pwm: 358, 1412 1380 1395 1389
//*/
//Serial.printf("set: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);

16
ArduCopterMega/config.h
View File

@ -283,7 +283,7 @@
// STABILZE Angle Control
//
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 0.44
# define STABILIZE_ROLL_P 0.7
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.00
@ -296,7 +296,7 @@
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 0.44
# define STABILIZE_PITCH_P 0.7
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
@ -311,7 +311,7 @@
// STABILZE RATE Control
//
#ifndef STABILIZE_RATE_RP
# define STABILIZE_RATE_RP 0.1
# define STABILIZE_RATE_RP 0.175
#endif
@ -334,7 +334,7 @@
// STABILZE YAW Control
//
#ifndef STABILIZE_RATE_YAW
# define STABILIZE_RATE_YAW 0.008
# define STABILIZE_RATE_YAW 0.000
#endif
//////////////////////////////////////////////////////////////////////////////
@ -356,7 +356,7 @@
//
// how much to we pitch towards the target
#ifndef PITCH_MAX
# define PITCH_MAX 12
# define PITCH_MAX 8
#endif
@ -381,16 +381,16 @@
// Throttle control gains
//
#ifndef THROTTLE_P
# define THROTTLE_P 0.5
# define THROTTLE_P 1.0
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.01
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.3
# define THROTTLE_D 0.4
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 50
# define THROTTLE_IMAX 20
#endif

5
ArduCopterMega/control_modes.pde
View File

@ -81,11 +81,16 @@ void read_trim_switch()
imu.init_accel();
imu.print_accel_offsets();
}*/
if(rc_3.control_in == 0){
imu.zero_accel();
}else{
Serial.printf("r: %d, p: %d\n", rc_1.control_in, rc_2.control_in);
// set new accel offset values
imu.ax(((long)rc_1.control_in * -15) / 100);
imu.ay(((long)rc_2.control_in * -15) / 100);
imu.print_accel_offsets();
}
} else {
// set the throttle nominal
if(rc_3.control_in > 50){

2
ArduCopterMega/flight_control.pde
View File

@ -21,7 +21,7 @@ void output_auto_throttle()
void calc_nav_throttle()
{
long err = constrain (altitude_error, -300, 300); //+-3 meters
long err = constrain (altitude_error, -150, 150); //+-1.5 meters
long temp = pid_throttle.get_pid(err, deltaMiliSeconds, 1.0);
nav_throttle = (float)(throttle_cruise + temp) * angle_boost();
}

40
ArduCopterMega/read_me.text
View File

@ -7,38 +7,40 @@ ch2 = pitch
ch3 = throttle
ch4 = yaw
ch5 = mode switch - use your 3 position switch
ch6 = used for tuning - not currently active
ch6 = used for tuning - not currently active, search for "rc_6" to enable
ch7 = use to set throttle hold value while hovering (quick toggle), hold > 5 seconds on ground to reset the accelerometer offsets.
ch8 = not used
setup:
erase = run this first, just in case
reset = run this second
radio = run this third
esc = just ignore this for now
level = optional - sets accelerometer offsets
flat = optional - sets accelerometer offsets to 0
modes = interactive setup for flight modes
pid = optional - writes default PID values to eeprom
frame = optional - default is "+"
enable_mag = enables the compass
disable_mag = disables the compass
compass = interactive setup for compass offsets
declination = usage: "declination 14.25"
show = shows all values
erase - run this first, just in case
reset - run this second
radio - run this third
esc - just ignore this for now
level - optional - sets accelerometer offsets
flat - optional - sets accelerometer offsets to 0
modes - interactive setup for flight modes
pid - optional - writes default PID values to eeprom
frame - optional - default is "+"
enable_mag - enables the compass
disable_mag - disables the compass
compass - interactive setup for compass offsets
declination - usage: "declination 14.25"
show - shows all values
Flight modes to try:
stabilize - I'm having a little trouble inputting Yaw commands, would love some feedback on how to best handle it.
alt_hold - You need to set your throttle_cruise value by toggling ch_7 for a second. Mine is 330
- altitude is controlled by the throttle lever.
stabilize - yay
Alt_hold - You need to set your throttle_cruise value by toggling ch_7 for less than 1 second. (Mine is 330), altitude is controlled by the throttle lever.
FBW - Simulates GPS Hold with the sticks being the position offset. Manual Throttle.
position_hold - When selected, it will hold the current altitude, position and yaw. Yaw is user controllable. roll and pitch can be overridden with the radio.
RTL - will try and fly back to home at the current altitude.
RTL - not tested yet, will try and fly back to home at the current altitude.
Auto - not tested yet, i'm finishing a waypoint writing sketch and will be ready to test soon
- what's new
- CMD_ANGLE - will set the desired yaw with control of angle/second and direction.
- CMD_ALTITUDE - will send the copter up from current position to desired altitude
- CMD_R_WAYPOINT - is just like a waypoint but relative to home
- CMD_TRACK_WAYPOINT - coming soon, will point the copter at the waypoint no matter the position
Special note:
Any mode other than stabilize will cause the props to spin once the control switch is engaged.
The props will NOT spin in stabilize when throttle is in the off position, even when armed.

19
ArduCopterMega/test.pde
View File

@ -114,9 +114,26 @@ test_radio(uint8_t argc, const Menu::arg *argv)
while(1){
delay(20);
read_radio();
output_manual_throttle();
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);
rc_1.calc_pwm();
rc_2.calc_pwm();
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("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"
"\t in: %d"
"\t pwm_in: %d"
"\t sout: %d"
"\t pwm_out %d\n"),
rc_3.radio_min,
rc_3.control_in,
rc_3.radio_in,
rc_3.servo_out,
rc_3.pwm_out
);
if(Serial.available() > 0){
return (0);