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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 2010-08-22 06:48:12 +00:00
parent 92fd459504
commit c99be7e0ca
6 changed files with 115 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
Arducopter/Arducopter.pde
View File

@ -49,11 +49,11 @@
/* User definable modules */ /* User definable modules */
// Comment out with // modules that you are not using // Comment out with // modules that you are not using
#define IsGPS // Do we have a GPS connected //#define IsGPS // Do we have a GPS connected
#define IsNEWMTEK// Do we have MTEK with new firmware //#define IsNEWMTEK// Do we have MTEK with new firmware
#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator #define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port //#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
#define IsAM // Do we have motormount LED's. AM = Atraction Mode //#define IsAM // Do we have motormount LED's. AM = Atraction Mode
#define CONFIGURATOR // Do se use Configurator or normal text output over serial link #define CONFIGURATOR // Do se use Configurator or normal text output over serial link
@ -72,8 +72,8 @@
/* User definable modules - END */ /* User definable modules - END */
// Frame build condiguration // Frame build condiguration
#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration //#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms #define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
/* ****************************************************************************** */ /* ****************************************************************************** */
@ -500,10 +500,10 @@ void loop(){
{ {
// Commands from radio Rx... // Commands from radio Rx...
// Stick position defines the desired angle in roll, pitch and yaw // Stick position defines the desired angle in roll, pitch and yaw
ch_roll = channel_filter(APM_RC.InputCh(0), ch_roll) * ch_roll_slope + ch_roll_offset; ch_roll = channel_filter(APM_RC.InputCh(0) * ch_roll_slope + ch_roll_offset, ch_roll);
ch_pitch = channel_filter(APM_RC.InputCh(1), ch_pitch) * ch_pitch_slope + ch_pitch_offset; ch_pitch = channel_filter(APM_RC.InputCh(1) * ch_pitch_slope + ch_pitch_offset, ch_pitch);
ch_throttle = channel_filter(APM_RC.InputCh(2), ch_throttle) * ch_throttle_slope + ch_throttle_offset; ch_throttle = channel_filter(APM_RC.InputCh(2) * ch_throttle_slope + ch_throttle_offset, ch_throttle);
ch_yaw = channel_filter(APM_RC.InputCh(3), ch_yaw) * ch_yaw_slope + ch_yaw_offset; ch_yaw = channel_filter(APM_RC.InputCh(3) * ch_yaw_slope + ch_yaw_offset, ch_yaw);
ch_aux = APM_RC.InputCh(4) * ch_aux_slope + ch_aux_offset; ch_aux = APM_RC.InputCh(4) * ch_aux_slope + ch_aux_offset;
ch_aux2 = APM_RC.InputCh(5) * ch_aux2_slope + ch_aux2_offset; ch_aux2 = APM_RC.InputCh(5) * ch_aux2_slope + ch_aux2_offset;
command_rx_roll_old = command_rx_roll; command_rx_roll_old = command_rx_roll;
@ -740,4 +740,4 @@ void loop(){
// END of Arducopter.pde // END of Arducopter.pde

91
Arducopter/SerialCom.pde
View File

@ -87,54 +87,10 @@ void readSerialCommand() {
xmitFactor = readFloatSerial(); xmitFactor = readFloatSerial();
break; break;
case 'W': // Write all user configurable values to EEPROM case 'W': // Write all user configurable values to EEPROM
writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR); writeUserConfig();
writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
writeEEPROM(KI_QUAD_ROLL, KI_QUAD_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(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(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
writeEEPROM(acc_offset_x, acc_offset_x_ADR);
writeEEPROM(acc_offset_y, acc_offset_y_ADR);
writeEEPROM(acc_offset_z, acc_offset_z_ADR);
writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
writeEEPROM(Kp_YAW, Kp_YAW_ADR);
writeEEPROM(Ki_YAW, Ki_YAW_ADR);
writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
writeEEPROM(xmitFactor, XMITFACTOR_ADR);
writeEEPROM(roll_mid, CHROLL_MID);
writeEEPROM(pitch_mid, CHPITCH_MID);
writeEEPROM(yaw_mid, CHYAW_MID);
break; break;
case 'Y': // Initialize EEPROM with default values case 'Y': // Initialize EEPROM with default values
setUserConfig(); defaultUserConfig();
break; break;
case '1': // Receive transmitter calibration values case '1': // Receive transmitter calibration values
ch_roll_slope = readFloatSerial(); ch_roll_slope = readFloatSerial();
@ -158,7 +114,7 @@ void sendSerialTelemetry() {
float aux_float[3]; // used for sensor calibration float aux_float[3]; // used for sensor calibration
switch (queryType) { switch (queryType) {
case '=': // Reserved debug command to view any variable from Serial Monitor case '=': // Reserved debug command to view any variable from Serial Monitor
Serial.print("throttle ="); /* Serial.print("throttle =");
Serial.println(ch_throttle); Serial.println(ch_throttle);
Serial.print("control roll ="); Serial.print("control roll =");
Serial.println(control_roll-CHANN_CENTER); Serial.println(control_roll-CHANN_CENTER);
@ -185,7 +141,14 @@ void sendSerialTelemetry() {
Serial.print("command rx yaw ="); Serial.print("command rx yaw =");
Serial.println(command_rx_yaw); Serial.println(command_rx_yaw);
Serial.println(); Serial.println();
queryType = 'X'; queryType = 'X';*/
Serial.print(APM_RC.InputCh(0));
comma();
Serial.print(ch_roll_slope);
comma();
Serial.print(ch_roll_offset);
comma();
Serial.println(ch_roll);
break; break;
case 'B': // Send roll, pitch and yaw PID values case 'B': // Send roll, pitch and yaw PID values
Serial.print(KP_QUAD_ROLL, 3); Serial.print(KP_QUAD_ROLL, 3);
@ -310,9 +273,9 @@ void sendSerialTelemetry() {
comma(); comma();
Serial.print(err_pitch); Serial.print(err_pitch);
comma(); comma();
Serial.print(degrees(-roll)); Serial.print(degrees(roll));
comma(); comma();
Serial.print(degrees(-pitch)); Serial.print(degrees(pitch));
comma(); comma();
Serial.println(degrees(yaw)); Serial.println(degrees(yaw));
break; break;
@ -378,6 +341,32 @@ void sendSerialTelemetry() {
Serial.println(VER); Serial.println(VER);
queryType = 'X'; queryType = 'X';
break; break;
case '2': // Send transmitter calibration values
Serial.print(ch_roll_slope);
comma();
Serial.print(ch_roll_offset);
comma();
Serial.print(ch_pitch_slope);
comma();
Serial.print(ch_pitch_offset);
comma();
Serial.print(ch_yaw_slope);
comma();
Serial.print(ch_yaw_offset);
comma();
Serial.print(ch_throttle_slope);
comma();
Serial.print(ch_throttle_offset);
comma();
Serial.print(ch_aux_slope);
comma();
Serial.print(ch_aux_offset);
comma();
Serial.print(ch_aux2_slope);
comma();
Serial.println(ch_aux2_offset);
queryType = 'X';
break;
case '.': // Modify GPS settings case '.': // Modify GPS settings
Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n"); Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
break; break;
@ -403,4 +392,4 @@ float readFloatSerial() {
} }
while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128)); while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
return atof(data); return atof(data);
} }

66
Arducopter/UserConfig.h
View File

@ -125,7 +125,7 @@ float ch_aux2_offset = 0;
// This function call contains the default values that are set to the ArduCopter // This function call contains the default values that are set to the ArduCopter
// when a "Default EEPROM Value" command is sent through serial interface // when a "Default EEPROM Value" command is sent through serial interface
void setUserConfig() { void defaultUserConfig() {
KP_QUAD_ROLL = 1.8; KP_QUAD_ROLL = 1.8;
KI_QUAD_ROLL = 0.30; //0.4 KI_QUAD_ROLL = 0.30; //0.4
KD_QUAD_ROLL = 0.4; //0.48 KD_QUAD_ROLL = 0.4; //0.48
@ -313,10 +313,9 @@ void readUserConfig() {
roll_mid = readEEPROM(CHROLL_MID); roll_mid = readEEPROM(CHROLL_MID);
pitch_mid = readEEPROM(CHPITCH_MID); pitch_mid = readEEPROM(CHPITCH_MID);
yaw_mid = readEEPROM(CHYAW_MID); yaw_mid = readEEPROM(CHYAW_MID);
/* uncommented for now until flight tested
ch_roll_slope = readEEPROM(ch_roll_slope_ADR); ch_roll_slope = readEEPROM(ch_roll_slope_ADR);
ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR); ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR);
ch_throttle_slope readEEPROM(ch_throttle_slope_ADR); ch_throttle_slope = readEEPROM(ch_throttle_slope_ADR);
ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR); ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR);
ch_aux_slope = readEEPROM(ch_aux_slope_ADR); ch_aux_slope = readEEPROM(ch_aux_slope_ADR);
ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR); ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR);
@ -325,6 +324,65 @@ void readUserConfig() {
ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR); ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR);
ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR); ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR);
ch_aux_offset = readEEPROM(ch_aux_offset_ADR); ch_aux_offset = readEEPROM(ch_aux_offset_ADR);
ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR); */ ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR);
} }
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(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
writeEEPROM(KI_QUAD_PITCH, KI_QUAD_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(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
writeEEPROM(acc_offset_x, acc_offset_x_ADR);
writeEEPROM(acc_offset_y, acc_offset_y_ADR);
writeEEPROM(acc_offset_z, acc_offset_z_ADR);
writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
writeEEPROM(Kp_YAW, Kp_YAW_ADR);
writeEEPROM(Ki_YAW, Ki_YAW_ADR);
writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
writeEEPROM(xmitFactor, XMITFACTOR_ADR);
writeEEPROM(roll_mid, CHROLL_MID);
writeEEPROM(pitch_mid, CHPITCH_MID);
writeEEPROM(yaw_mid, CHYAW_MID);
writeEEPROM(ch_roll_slope, ch_roll_slope_ADR);
writeEEPROM(ch_pitch_slope, ch_pitch_slope_ADR);
writeEEPROM(ch_throttle_slope, ch_throttle_slope_ADR);
writeEEPROM(ch_yaw_slope, ch_yaw_slope_ADR);
writeEEPROM(ch_aux_slope, ch_aux_slope_ADR);
writeEEPROM(ch_aux2_slope, ch_aux2_slope_ADR);
writeEEPROM(ch_roll_offset, ch_roll_offset_ADR);
writeEEPROM(ch_pitch_offset, ch_pitch_offset_ADR);
writeEEPROM(ch_throttle_offset, ch_throttle_offset_ADR);
writeEEPROM(ch_yaw_offset, ch_yaw_offset_ADR);
writeEEPROM(ch_aux_offset, ch_aux_offset_ADR);
writeEEPROM(ch_aux2_offset, ch_aux2_offset_ADR);
}

2
Configurator/Source/ArduCopterConfigurator.ini
View File

@ -10,6 +10,6 @@ DebugServerWaitOnLaunch = False
useLocaleDecimalPt = False useLocaleDecimalPt = False
[Configuration] [Configuration]
COMport = "COM10" COMport = "COM13"
Timeout = 10 Timeout = 10
Baud = 115200 Baud = 115200

2
Configurator/Source/ArduCopterConfigurator.lvproj
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@ -122,7 +122,7 @@
<Item Name="kernel32.dll" Type="Document" URL="kernel32.dll"> <Item Name="kernel32.dll" Type="Document" URL="kernel32.dll">
<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property> <Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
</Item> </Item>
<Item Name="lvanlys.dll" Type="Document" URL="../../../../../../../../Program Files (x86)/National Instruments/LabVIEW 2009/resource/lvanlys.dll"/> <Item Name="lvanlys.dll" Type="Document" URL="../../../../../../../../Program Files/National Instruments/LabVIEW 2009/resource/lvanlys.dll"/>
</Item> </Item>
<Item Name="Build Specifications" Type="Build"> <Item Name="Build Specifications" Type="Build">
<Item Name="Executable" Type="EXE"> <Item Name="Executable" Type="EXE">

BIN
Configurator/Source/ArduCopterConfigurator.vi
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