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changed transmitter pitch direction back to how Jose had it

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@49 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
CaranchoEngineering 2010-07-21 08:03:26 +00:00
parent 00dde93d5a
commit ca21fc01ee
2 changed files with 22 additions and 6 deletions
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24
Arducopter/Arducopter.pde
View File

@ -22,6 +22,21 @@
/* GPS_UBLOX or GPS_NMEA: GPS library [optional] */
/* ********************************************************************** */
/*
**** Switch Functions *****
AUX1 ON = Stable Mode
AUX1 OFF = Acro Mode
GEAR ON = GPS Hold
GEAR OFF = Flight Assist (Stable Mode)
**** LED Feedback ****
Green LED On = APM Initialization Finished
Yellow LED On = GPS Hold Mode
Yellow LED Off = Flight Assist Mode (No GPS)
Red LED On = GPS Fix
Red LED Off = No GPS Fix
*/
#include <Wire.h>
#include <APM_ADC.h>
#include <APM_RC.h>
@ -29,6 +44,7 @@
#include <APM_Compass.h>
// Put your GPS library here:
#include <GPS_NMEA.h> // MTK GPS
//#include <GPS_UBLOX.h>
// EEPROM storage for user configurable values
#include <EEPROM.h>
@ -586,7 +602,7 @@ void loop(){
command_rx_roll = (ch_roll-CHANN_CENTER)/12.0;
command_rx_roll_diff = command_rx_roll-command_rx_roll_old;
command_rx_pitch_old = command_rx_pitch;
command_rx_pitch = (CHANN_CENTER-ch_pitch)/12.0;
command_rx_pitch = (ch_pitch-CHANN_CENTER)/12.0;
command_rx_pitch_diff = command_rx_pitch-command_rx_pitch_old;
aux_float = (ch_yaw-Neutro_yaw)/180.0;
command_rx_yaw += aux_float;
@ -655,9 +671,9 @@ void loop(){
//Output GPS data
//Serial.print(",");
//Serial.print(GPS.Lattitude);
//Serial.print(",");
//Serial.print(GPS.Longitude);
Serial.print(GPS.Lattitude);
Serial.print(",");
Serial.print(GPS.Longitude);
// Write GPS data to DataFlash log
Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);

4
Arducopter/DCM.pde
View File

@ -121,7 +121,7 @@ void Matrix_update(void)
//Accel_adjust();//adjusting centrifugal acceleration. // Not used for quadcopter
#if OUTPUTMODE==1
#if OUTPUTMODE==1 // corrected mode
Update_Matrix[0][0]=0;
Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
@ -132,7 +132,7 @@ void Matrix_update(void)
Update_Matrix[2][1]=G_Dt*Omega_Vector[0];//x
Update_Matrix[2][2]=0;
#endif
#if OUTPUTMODE==0
#if OUTPUTMODE==0 // uncorrected data of the gyros (with drift)
Update_Matrix[0][0]=0;
Update_Matrix[0][1]=-G_Dt*Gyro_Vector[2];//-z
Update_Matrix[0][2]=G_Dt*Gyro_Vector[1];//y