mirror of https://github.com/ArduPilot/ardupilot
Flight tested transmitter cal. Yaw is OK. Acro Mode OK. Flew Stable Mode OK.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@254 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
CaranchoEngineering
parent
92fd459504
commit
c99be7e0ca
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@ -49,11 +49,11 @@
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/* User definable modules */
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// Comment out with // modules that you are not using
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#define IsGPS // Do we have a GPS connected
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#define IsNEWMTEK// Do we have MTEK with new firmware
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//#define IsGPS // Do we have a GPS connected
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//#define IsNEWMTEK// Do we have MTEK with new firmware
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#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
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#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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//#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
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@ -72,8 +72,8 @@
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/* User definable modules - END */
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// Frame build condiguration
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#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
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//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
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//#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
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#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
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/* ****************************************************************************** */
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@ -500,10 +500,10 @@ void loop(){
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{
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// Commands from radio Rx...
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// Stick position defines the desired angle in roll, pitch and yaw
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ch_roll = channel_filter(APM_RC.InputCh(0), ch_roll) * ch_roll_slope + ch_roll_offset;
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ch_pitch = channel_filter(APM_RC.InputCh(1), ch_pitch) * ch_pitch_slope + ch_pitch_offset;
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ch_throttle = channel_filter(APM_RC.InputCh(2), ch_throttle) * ch_throttle_slope + ch_throttle_offset;
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ch_yaw = channel_filter(APM_RC.InputCh(3), ch_yaw) * ch_yaw_slope + ch_yaw_offset;
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ch_roll = channel_filter(APM_RC.InputCh(0) * ch_roll_slope + ch_roll_offset, ch_roll);
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ch_pitch = channel_filter(APM_RC.InputCh(1) * ch_pitch_slope + ch_pitch_offset, ch_pitch);
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ch_throttle = channel_filter(APM_RC.InputCh(2) * ch_throttle_slope + ch_throttle_offset, ch_throttle);
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ch_yaw = channel_filter(APM_RC.InputCh(3) * ch_yaw_slope + ch_yaw_offset, ch_yaw);
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ch_aux = APM_RC.InputCh(4) * ch_aux_slope + ch_aux_offset;
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ch_aux2 = APM_RC.InputCh(5) * ch_aux2_slope + ch_aux2_offset;
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command_rx_roll_old = command_rx_roll;
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@ -740,4 +740,4 @@ void loop(){
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// END of Arducopter.pde
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@ -87,54 +87,10 @@ void readSerialCommand() {
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xmitFactor = readFloatSerial();
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break;
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case 'W': // Write all user configurable values to EEPROM
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writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
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writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
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writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
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writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
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writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
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writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
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writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
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writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
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writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
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writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
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writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
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writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
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writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
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writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
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writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
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writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
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writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
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writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
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writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
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writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
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writeEEPROM(acc_offset_x, acc_offset_x_ADR);
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writeEEPROM(acc_offset_y, acc_offset_y_ADR);
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writeEEPROM(acc_offset_z, acc_offset_z_ADR);
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writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
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writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
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writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
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writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
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writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
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writeEEPROM(Kp_YAW, Kp_YAW_ADR);
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writeEEPROM(Ki_YAW, Ki_YAW_ADR);
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writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
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writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
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writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
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writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
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writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
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writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
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writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
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writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
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writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
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writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
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writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
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writeEEPROM(xmitFactor, XMITFACTOR_ADR);
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writeEEPROM(roll_mid, CHROLL_MID);
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writeEEPROM(pitch_mid, CHPITCH_MID);
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writeEEPROM(yaw_mid, CHYAW_MID);
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writeUserConfig();
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break;
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case 'Y': // Initialize EEPROM with default values
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setUserConfig();
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defaultUserConfig();
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break;
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case '1': // Receive transmitter calibration values
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ch_roll_slope = readFloatSerial();
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@ -158,7 +114,7 @@ void sendSerialTelemetry() {
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float aux_float[3]; // used for sensor calibration
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switch (queryType) {
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case '=': // Reserved debug command to view any variable from Serial Monitor
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Serial.print("throttle =");
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/* Serial.print("throttle =");
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Serial.println(ch_throttle);
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Serial.print("control roll =");
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Serial.println(control_roll-CHANN_CENTER);
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@ -185,7 +141,14 @@ void sendSerialTelemetry() {
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Serial.print("command rx yaw =");
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Serial.println(command_rx_yaw);
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Serial.println();
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queryType = 'X';
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queryType = 'X';*/
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Serial.print(APM_RC.InputCh(0));
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comma();
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Serial.print(ch_roll_slope);
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comma();
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Serial.print(ch_roll_offset);
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comma();
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Serial.println(ch_roll);
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break;
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case 'B': // Send roll, pitch and yaw PID values
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Serial.print(KP_QUAD_ROLL, 3);
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@ -310,9 +273,9 @@ void sendSerialTelemetry() {
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comma();
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Serial.print(err_pitch);
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comma();
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Serial.print(degrees(-roll));
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Serial.print(degrees(roll));
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comma();
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Serial.print(degrees(-pitch));
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Serial.print(degrees(pitch));
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comma();
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Serial.println(degrees(yaw));
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break;
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@ -378,6 +341,32 @@ void sendSerialTelemetry() {
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Serial.println(VER);
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queryType = 'X';
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break;
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case '2': // Send transmitter calibration values
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Serial.print(ch_roll_slope);
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comma();
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Serial.print(ch_roll_offset);
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comma();
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Serial.print(ch_pitch_slope);
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comma();
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Serial.print(ch_pitch_offset);
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comma();
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Serial.print(ch_yaw_slope);
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comma();
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Serial.print(ch_yaw_offset);
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comma();
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Serial.print(ch_throttle_slope);
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comma();
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Serial.print(ch_throttle_offset);
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comma();
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Serial.print(ch_aux_slope);
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comma();
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Serial.print(ch_aux_offset);
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comma();
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Serial.print(ch_aux2_slope);
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comma();
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Serial.println(ch_aux2_offset);
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queryType = 'X';
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break;
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case '.': // Modify GPS settings
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Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
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break;
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@ -403,4 +392,4 @@ float readFloatSerial() {
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}
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while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
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return atof(data);
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}
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}
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@ -125,7 +125,7 @@ float ch_aux2_offset = 0;
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// This function call contains the default values that are set to the ArduCopter
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// when a "Default EEPROM Value" command is sent through serial interface
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void setUserConfig() {
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void defaultUserConfig() {
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KP_QUAD_ROLL = 1.8;
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KI_QUAD_ROLL = 0.30; //0.4
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KD_QUAD_ROLL = 0.4; //0.48
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@ -313,10 +313,9 @@ void readUserConfig() {
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roll_mid = readEEPROM(CHROLL_MID);
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pitch_mid = readEEPROM(CHPITCH_MID);
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yaw_mid = readEEPROM(CHYAW_MID);
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/* uncommented for now until flight tested
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ch_roll_slope = readEEPROM(ch_roll_slope_ADR);
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ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR);
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ch_throttle_slope readEEPROM(ch_throttle_slope_ADR);
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ch_throttle_slope = readEEPROM(ch_throttle_slope_ADR);
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ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR);
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ch_aux_slope = readEEPROM(ch_aux_slope_ADR);
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ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR);
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@ -325,6 +324,65 @@ void readUserConfig() {
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ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR);
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ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR);
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ch_aux_offset = readEEPROM(ch_aux_offset_ADR);
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ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR); */
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ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR);
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}
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void writeUserConfig() {
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writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
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writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
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writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
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writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
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writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
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writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
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writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
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writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
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writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
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writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
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writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
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writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
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writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
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writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
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writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
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writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
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writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
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writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
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writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
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writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
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writeEEPROM(acc_offset_x, acc_offset_x_ADR);
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writeEEPROM(acc_offset_y, acc_offset_y_ADR);
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writeEEPROM(acc_offset_z, acc_offset_z_ADR);
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writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
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writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
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writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
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writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
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writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
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writeEEPROM(Kp_YAW, Kp_YAW_ADR);
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writeEEPROM(Ki_YAW, Ki_YAW_ADR);
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writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
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writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
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writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
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writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
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writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
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writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
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writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
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writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
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writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
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writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
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writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
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writeEEPROM(xmitFactor, XMITFACTOR_ADR);
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writeEEPROM(roll_mid, CHROLL_MID);
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writeEEPROM(pitch_mid, CHPITCH_MID);
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writeEEPROM(yaw_mid, CHYAW_MID);
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writeEEPROM(ch_roll_slope, ch_roll_slope_ADR);
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writeEEPROM(ch_pitch_slope, ch_pitch_slope_ADR);
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writeEEPROM(ch_throttle_slope, ch_throttle_slope_ADR);
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writeEEPROM(ch_yaw_slope, ch_yaw_slope_ADR);
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writeEEPROM(ch_aux_slope, ch_aux_slope_ADR);
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writeEEPROM(ch_aux2_slope, ch_aux2_slope_ADR);
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writeEEPROM(ch_roll_offset, ch_roll_offset_ADR);
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writeEEPROM(ch_pitch_offset, ch_pitch_offset_ADR);
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writeEEPROM(ch_throttle_offset, ch_throttle_offset_ADR);
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writeEEPROM(ch_yaw_offset, ch_yaw_offset_ADR);
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writeEEPROM(ch_aux_offset, ch_aux_offset_ADR);
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writeEEPROM(ch_aux2_offset, ch_aux2_offset_ADR);
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}
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@ -10,6 +10,6 @@ DebugServerWaitOnLaunch = False
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useLocaleDecimalPt = False
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[Configuration]
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COMport = "COM10"
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COMport = "COM13"
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Timeout = 10
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Baud = 115200
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@ -122,7 +122,7 @@
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<Item Name="kernel32.dll" Type="Document" URL="kernel32.dll">
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<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
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</Item>
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<Item Name="lvanlys.dll" Type="Document" URL="../../../../../../../../Program Files (x86)/National Instruments/LabVIEW 2009/resource/lvanlys.dll"/>
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<Item Name="lvanlys.dll" Type="Document" URL="../../../../../../../../Program Files/National Instruments/LabVIEW 2009/resource/lvanlys.dll"/>
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</Item>
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<Item Name="Build Specifications" Type="Build">
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<Item Name="Executable" Type="EXE">
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