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ACM: Code Cleanup

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This commit is contained in:
Robert Lefebvre 2012-12-08 14:49:38 -05:00
parent 90f9b8c076
commit c6537ae6e3
3 changed files with 28 additions and 52 deletions
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28
ArduCopter/APM_Config.h
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@ -10,8 +10,6 @@
// developers have these boards. // developers have these boards.
//#define APM2_BETA_HARDWARE //#define APM2_BETA_HARDWARE
// GPS is auto-selected
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD //#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define HIL_MODE HIL_MODE_ATTITUDE //#define HIL_MODE HIL_MODE_ATTITUDE
//#define DMP_ENABLED ENABLED //#define DMP_ENABLED ENABLED
@ -39,27 +37,18 @@
//#define CH7_OPTION CH7_SAVE_WP //#define CH7_OPTION CH7_SAVE_WP
/* /*
* CH7_DO_NOTHING * CH7_DO_NOTHING
* CH7_SET_HOVER // deprecated
* CH7_FLIP * CH7_FLIP
* CH7_SIMPLE_MODE * CH7_SIMPLE_MODE
* CH7_RTL * CH7_RTL
* CH7_SAVE_TRIM * CH7_SAVE_TRIM
* CH7_ADC_FILTER // deprecated
* CH7_SAVE_WP * CH7_SAVE_WP
* CH7_MULTI_MODE // deprecated
* CH7_CAMERA_TRIGGER * CH7_CAMERA_TRIGGER
*/ */
//#define TOY_EDF ENABLED
//#define TOY_MIXER TOY_LOOKUP_TABLE
// Inertia based contollers // Inertia based contollers
//#define INERTIAL_NAV_XY ENABLED //#define INERTIAL_NAV_XY ENABLED
#define INERTIAL_NAV_Z ENABLED #define INERTIAL_NAV_Z ENABLED
//#define RATE_ROLL_I 0.18
//#define RATE_PITCH_I 0.18
//#define MOTORS_JD880 //#define MOTORS_JD880
//#define MOTORS_JD850 //#define MOTORS_JD850
@ -80,20 +69,3 @@
//#define LOGGING_ENABLED DISABLED //#define LOGGING_ENABLED DISABLED
// Used to set the max roll and pitch angles in Degrees * 100
//#define MAX_INPUT_ROLL_ANGLE 8000
//#define MAX_INPUT_PITCH_ANGLE 8000
/////////////////////////////////////////////////////////////////////////////////
// Bulk defines for TradHeli. Cleans up defines.h and config.h to put these here
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define RTL_YAW YAW_LOOK_AT_HOME
# define TILT_COMPENSATION 5
# define RATE_INTEGRATOR_LEAK_RATE 0.02
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
#endif

26
ArduCopter/Attitude.pde
View File

@ -259,21 +259,6 @@ update_rate_contoller_targets()
} }
} }
#if FRAME_CONFIG == HELI_FRAME
// init_rate_controllers - set-up filters for rate controller inputs
void init_rate_controllers()
{
// initalise low pass filters on rate controller inputs
// 1st parameter is time_step, 2nd parameter is time_constant
rate_roll_filter.set_cutoff_frequency(0.01, 2.0);
rate_pitch_filter.set_cutoff_frequency(0.01, 2.0);
// rate_yaw_filter.set_cutoff_frequency(0.01, 2.0);
// other option for initialisation is rate_roll_filter.set_cutoff_frequency(<time_step>,<cutoff_freq>);
}
#endif // HELI_FRAME
// run roll, pitch and yaw rate controllers and send output to motors // run roll, pitch and yaw rate controllers and send output to motors
// targets for these controllers comes from stabilize controllers // targets for these controllers comes from stabilize controllers
void void
@ -299,6 +284,17 @@ run_rate_controllers()
} }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// init_rate_controllers - set-up filters for rate controller inputs
void init_rate_controllers()
{
// initalise low pass filters on rate controller inputs
// 1st parameter is time_step, 2nd parameter is time_constant
rate_roll_filter.set_cutoff_frequency(0.01, 2.0);
rate_pitch_filter.set_cutoff_frequency(0.01, 2.0);
// rate_yaw_filter.set_cutoff_frequency(0.01, 2.0);
// other option for initialisation is rate_roll_filter.set_cutoff_frequency(<time_step>,<cutoff_freq>);
}
static int16_t static int16_t
get_heli_rate_roll(int32_t target_rate) get_heli_rate_roll(int32_t target_rate)
{ {

26
ArduCopter/config.h
View File

@ -83,6 +83,22 @@
# define TOY_MIXER TOY_LINEAR_MIXER # define TOY_MIXER TOY_LINEAR_MIXER
#endif #endif
/////////////////////////////////////////////////////////////////////////////////
// Bulk defines for TradHeli
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define RTL_YAW YAW_LOOK_AT_HOME
# define TILT_COMPENSATION 5
# define RATE_INTEGRATOR_LEAK_RATE 0.02
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define RC_FAST_SPEED 125
#endif
// optical flow doesn't work in SITL yet // optical flow doesn't work in SITL yet
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
# define OPTFLOW DISABLED # define OPTFLOW DISABLED
@ -111,11 +127,7 @@
// PWM control // PWM control
// default RC speed in Hz // default RC speed in Hz
#ifndef RC_FAST_SPEED #ifndef RC_FAST_SPEED
# if FRAME_CONFIG == HELI_FRAME # define RC_FAST_SPEED 490
# define RC_FAST_SPEED 125
# else
# define RC_FAST_SPEED 490
# endif
#endif #endif
//////////////////////////////////////////////////////// ////////////////////////////////////////////////////////
@ -841,11 +853,7 @@
#endif #endif
#ifndef TILT_COMPENSATION #ifndef TILT_COMPENSATION
# if FRAME_CONFIG == HELI_FRAME
# define TILT_COMPENSATION 5
# else
# define TILT_COMPENSATION 54 # define TILT_COMPENSATION 54
# endif
#endif #endif