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Update ArduUser.h, EEPROM.pde and GCS.pde 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@651 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-10-11 12:35:05 +00:00
parent dc13c7320a
commit c32ebdd2f5
3 changed files with 53 additions and 54 deletions
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69
ArducopterNG/ArduUser.h
View File

@ -77,14 +77,14 @@ TODO:
// Following variables stored in EEPROM
float KP_QUAD_ROLL;
float KI_QUAD_ROLL;
float KD_QUAD_ROLL;
float STABLE_MODE_KP_RATE_ROLL;
float KP_QUAD_PITCH;
float KI_QUAD_PITCH;
float KD_QUAD_PITCH;
float STABLE_MODE_KP_RATE_PITCH;
float KP_QUAD_YAW;
float KI_QUAD_YAW;
float KD_QUAD_YAW;
float STABLE_MODE_KP_RATE;
float STABLE_MODE_KP_RATE_YAW;
float STABLE_MODE_KP_RATE; //NOT USED NOW
float KP_GPS_ROLL;
float KI_GPS_ROLL;
float KD_GPS_ROLL;
@ -133,23 +133,23 @@ float ch_aux2_offset = 0;
// This function call contains the default values that are set to the ArduCopter
// when a "Default EEPROM Value" command is sent through serial interface
void defaultUserConfig() {
KP_QUAD_ROLL = 1.8;
KI_QUAD_ROLL = 0.30; //0.4
KD_QUAD_ROLL = 0.4; //0.48
KP_QUAD_PITCH = 1.8;
KI_QUAD_PITCH = 0.30; //0.4
KD_QUAD_PITCH = 0.4; //0.48
KP_QUAD_YAW = 3.6;
KP_QUAD_ROLL = 4.0;
KI_QUAD_ROLL = 0.15;
STABLE_MODE_KP_RATE_ROLL = 1.2;
KP_QUAD_PITCH = 4.0;
KI_QUAD_PITCH = 0.15;
STABLE_MODE_KP_RATE_PITCH = 1.2;
KP_QUAD_YAW = 3.0;
KI_QUAD_YAW = 0.15;
KD_QUAD_YAW = 1.2;
STABLE_MODE_KP_RATE = 0.2; // New param for stable mode
KP_GPS_ROLL = 0.02;
KI_GPS_ROLL = 0.008;
KD_GPS_ROLL = 0.006;
KP_GPS_PITCH = 0.02;
KI_GPS_PITCH = 0.008;
KD_GPS_PITCH = 0.006;
GPS_MAX_ANGLE = 18;
STABLE_MODE_KP_RATE_YAW = 2.4;
STABLE_MODE_KP_RATE = 0.2; // NOT USED NOW
KP_GPS_ROLL = 0.015;
KI_GPS_ROLL = 0.005;
KD_GPS_ROLL = 0.01;
KP_GPS_PITCH = 0.015;
KI_GPS_PITCH = 0.005;
KD_GPS_PITCH = 0.01;
GPS_MAX_ANGLE = 22;
KP_ALTITUDE = 0.8;
KI_ALTITUDE = 0.2;
KD_ALTITUDE = 0.2;
@ -165,16 +165,16 @@ void defaultUserConfig() {
Ki_YAW = 0.00005;
GEOG_CORRECTION_FACTOR = 0.87;
MAGNETOMETER = 0;
Kp_RateRoll = 0.6;
Ki_RateRoll = 0.1;
Kd_RateRoll = -0.8;
Kp_RatePitch = 0.6;
Ki_RatePitch = 0.1;
Kd_RatePitch = -0.8;
Kp_RateYaw = 1.6;
Ki_RateYaw = 0.3;
Kd_RateYaw = 0;
xmitFactor = 0.8;
Kp_RateRoll = 1.95;
Ki_RateRoll = 0.0;
Kd_RateRoll = 0.0;
Kp_RatePitch = 1.95;
Ki_RatePitch = 0.0;
Kd_RatePitch = 0.0;
Kp_RateYaw = 3.2;
Ki_RateYaw = 0.0;
Kd_RateYaw = 0.0;
xmitFactor = 0.32;
roll_mid = 1500;
pitch_mid = 1500;
yaw_mid = 1500;
@ -195,14 +195,14 @@ void defaultUserConfig() {
// EEPROM storage addresses
#define KP_QUAD_ROLL_ADR 0
#define KI_QUAD_ROLL_ADR 8
#define KD_QUAD_ROLL_ADR 4
#define STABLE_MODE_KP_RATE_ROLL_ADR 4
#define KP_QUAD_PITCH_ADR 12
#define KI_QUAD_PITCH_ADR 20
#define KD_QUAD_PITCH_ADR 16
#define STABLE_MODE_KP_RATE_PITCH_ADR 16
#define KP_QUAD_YAW_ADR 24
#define KI_QUAD_YAW_ADR 32
#define KD_QUAD_YAW_ADR 28
#define STABLE_MODE_KP_RATE_ADR 36
#define STABLE_MODE_KP_RATE_YAW_ADR 28
#define STABLE_MODE_KP_RATE_ADR 36 // NOT USED NOW
#define KP_GPS_ROLL_ADR 40
#define KI_GPS_ROLL_ADR 48
#define KD_GPS_ROLL_ADR 44
@ -251,4 +251,3 @@ void defaultUserConfig() {
#define ch_aux_offset_ADR 220
#define ch_aux2_offset_ADR 224

16
ArducopterNG/EEPROM.pde
View File

@ -59,14 +59,14 @@ void writeEEPROM(float value, int address) {
void readUserConfig() {
KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
STABLE_MODE_KP_RATE_ROLL = readEEPROM(STABLE_MODE_KP_RATE_ROLL_ADR);
KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
STABLE_MODE_KP_RATE_PITCH = readEEPROM(STABLE_MODE_KP_RATE_PITCH_ADR);
KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);
STABLE_MODE_KP_RATE_YAW = readEEPROM(STABLE_MODE_KP_RATE_YAW_ADR);
STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR); // NOT USED NOW
KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
@ -118,15 +118,15 @@ void readUserConfig() {
void writeUserConfig() {
writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
writeEEPROM(STABLE_MODE_KP_RATE_ROLL, STABLE_MODE_KP_RATE_ROLL_ADR);
writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
writeEEPROM(STABLE_MODE_KP_RATE_PITCH, STABLE_MODE_KP_RATE_PITCH_ADR);
writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
writeEEPROM(STABLE_MODE_KP_RATE_YAW, STABLE_MODE_KP_RATE_YAW_ADR);
writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR); // NOT USED NOW
writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);

16
ArducopterNG/GCS.pde
View File

@ -66,14 +66,14 @@ void readSerialCommand() {
case 'A': // Stable PID
KP_QUAD_ROLL = readFloatSerial();
KI_QUAD_ROLL = readFloatSerial();
KD_QUAD_ROLL = readFloatSerial();
STABLE_MODE_KP_RATE_ROLL = readFloatSerial();
KP_QUAD_PITCH = readFloatSerial();
KI_QUAD_PITCH = readFloatSerial();
KD_QUAD_PITCH = readFloatSerial();
STABLE_MODE_KP_RATE_PITCH = readFloatSerial();
KP_QUAD_YAW = readFloatSerial();
KI_QUAD_YAW = readFloatSerial();
KD_QUAD_YAW = readFloatSerial();
STABLE_MODE_KP_RATE = readFloatSerial();
STABLE_MODE_KP_RATE_YAW = readFloatSerial();
STABLE_MODE_KP_RATE = readFloatSerial(); // NOT USED NOW
MAGNETOMETER = readFloatSerial();
break;
case 'C': // Receive GPS PID
@ -195,21 +195,21 @@ void sendSerialTelemetry() {
comma();
SerPr(KI_QUAD_ROLL, 3);
comma();
SerPr(KD_QUAD_ROLL, 3);
SerPr(STABLE_MODE_KP_RATE_ROLL, 3);
comma();
SerPr(KP_QUAD_PITCH, 3);
comma();
SerPr(KI_QUAD_PITCH, 3);
comma();
SerPr(KD_QUAD_PITCH, 3);
SerPr(STABLE_MODE_KP_RATE_PITCH, 3);
comma();
SerPr(KP_QUAD_YAW, 3);
comma();
SerPr(KI_QUAD_YAW, 3);
comma();
SerPr(KD_QUAD_YAW, 3);
SerPr(STABLE_MODE_KP_RATE_YAW, 3);
comma();
SerPr(STABLE_MODE_KP_RATE, 3);
SerPr(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
comma();
SerPrln(MAGNETOMETER, 3);
queryType = 'X';