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Added Nav Rate tuning

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This commit is contained in:
Jason Short 2011-09-10 18:37:28 -07:00
parent 0a4b8c123c
commit bd52458e74
2 changed files with 8 additions and 0 deletions
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6
ArduCopter/ArduCopter.pde
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@ -1454,6 +1454,12 @@ static void tuning(){
g.rc_6.set_range(0,1000); g.rc_6.set_range(0,1000);
g.waypoint_speed_max = g.rc_6.control_in; g.waypoint_speed_max = g.rc_6.control_in;
break; break;
case CH6_NAV_P:
g.rc_6.set_range(0,6000);
g.pi_nav_lat.kP(tuning_value);
g.pi_nav_lon.kP(tuning_value);
break;
} }
} }

2
ArduCopter/defines.h
View File

@ -156,6 +156,8 @@
#define CH6_RELAY 9 #define CH6_RELAY 9
#define CH6_TRAVERSE_SPEED 10 #define CH6_TRAVERSE_SPEED 10
#define CH6_NAV_P 11
// nav byte mask // nav byte mask
// ------------- // -------------
#define NAV_LOCATION 1 #define NAV_LOCATION 1