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2.0.26

Browse Source 
minor updates, 
Arming motors now for only Stabilize, Simple, and Acro Modes.
V Octo Support


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2657 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-24 04:37:54 +00:00
parent 56483bc322
commit d2ce6ebf8d
11 changed files with 70 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopterMega/APM_Config.h
View File

@ -33,6 +33,7 @@
/* /*
PLUS_FRAME PLUS_FRAME
X_FRAME X_FRAME
V_FRAME
*/ */

9
ArduCopterMega/ArduCopterMega.pde
View File

@ -45,10 +45,10 @@ version 2.1 of the License, or (at your option) any later version.
#include <GCS_MAVLink.h> // MAVLink GCS definitions #include <GCS_MAVLink.h> // MAVLink GCS definitions
// Configuration // Configuration
#include "defines.h"
#include "config.h" #include "config.h"
// Local modules // Local modules
#include "defines.h"
#include "Parameters.h" #include "Parameters.h"
#include "GCS.h" #include "GCS.h"
#include "HIL.h" #include "HIL.h"
@ -496,13 +496,6 @@ void loop()
//if (delta_ms_fast_loop > 6) //if (delta_ms_fast_loop > 6)
// Log_Write_Performance(); // Log_Write_Performance();
/*
if(delta_ms_fast_loop > 11){
update_timer_light(true);
//Serial.println(delta_ms_fast_loop,DEC);
}else{
update_timer_light(false);
}*/
// Execute the fast loop // Execute the fast loop
// --------------------- // ---------------------

1
ArduCopterMega/Camera.pde
View File

@ -9,7 +9,6 @@ void init_camera()
g.rc_camera_pitch.radio_trim = 1500; g.rc_camera_pitch.radio_trim = 1500;
g.rc_camera_pitch.radio_max = 2000; g.rc_camera_pitch.radio_max = 2000;
g.rc_camera_roll.set_angle(4500); g.rc_camera_roll.set_angle(4500);
g.rc_camera_roll.radio_min = 1000; g.rc_camera_roll.radio_min = 1000;
g.rc_camera_roll.radio_trim = 1500; g.rc_camera_roll.radio_trim = 1500;

2
ArduCopterMega/GCS_Mavlink.pde
View File

@ -726,7 +726,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// find the requested parameter // find the requested parameter
vp = AP_Var::find(key); vp = AP_Var::find(key);
if ((NULL != vp) && // exists if ((NULL != vp) && // exists
!isnan(packet.param_value) && // not nan !isnan(packet.param_value) && // not nan
!isinf(packet.param_value)) { // not inf !isinf(packet.param_value)) { // not inf

6
ArduCopterMega/Log.pde
View File

@ -579,14 +579,14 @@ void Log_Write_Performance()
//* //*
DataFlash.WriteLong( millis()- perf_mon_timer); DataFlash.WriteLong( millis()- perf_mon_timer);
DataFlash.WriteInt( mainLoop_count); DataFlash.WriteInt ( mainLoop_count);
DataFlash.WriteInt( G_Dt_max); DataFlash.WriteInt ( G_Dt_max);
DataFlash.WriteByte( dcm.gyro_sat_count); DataFlash.WriteByte( dcm.gyro_sat_count);
DataFlash.WriteByte( imu.adc_constraints); DataFlash.WriteByte( imu.adc_constraints);
DataFlash.WriteByte( dcm.renorm_sqrt_count); DataFlash.WriteByte( dcm.renorm_sqrt_count);
DataFlash.WriteByte( dcm.renorm_blowup_count); DataFlash.WriteByte( dcm.renorm_blowup_count);
DataFlash.WriteByte( gps_fix_count); DataFlash.WriteByte( gps_fix_count);
DataFlash.WriteInt( (int)(dcm.get_health() * 1000)); DataFlash.WriteInt ( (int)(dcm.get_health() * 1000));
//*/ //*/
//PM, 20005, 3742, 10,0,0,0,0,89,1000, //PM, 20005, 3742, 10,0,0,0,0,89,1000,

15
ArduCopterMega/Mavlink_Common.h
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@ -44,18 +44,6 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
uint8_t nav_mode = MAV_NAV_VECTOR; uint8_t nav_mode = MAV_NAV_VECTOR;
switch(control_mode) { switch(control_mode) {
case ACRO:
mode = MAV_MODE_MANUAL;
break;
case STABILIZE:
mode = MAV_MODE_GUIDED;
break;
case SIMPLE:
mode = MAV_MODE_TEST1;
break;
case ALT_HOLD:
mode = MAV_MODE_TEST2;
break;
case LOITER: case LOITER:
mode = MAV_MODE_AUTO; mode = MAV_MODE_AUTO;
nav_mode = MAV_NAV_HOLD; nav_mode = MAV_NAV_HOLD;
@ -68,6 +56,9 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
mode = MAV_MODE_AUTO; mode = MAV_MODE_AUTO;
nav_mode = MAV_NAV_RETURNING; nav_mode = MAV_NAV_RETURNING;
break; break;
default:
mode = control_mode + 100;
} }
uint8_t status = MAV_STATE_ACTIVE; uint8_t status = MAV_STATE_ACTIVE;

6
ArduCopterMega/defines.h
View File

@ -24,7 +24,7 @@
#define PLUS_FRAME 0 #define PLUS_FRAME 0
#define X_FRAME 1 #define X_FRAME 1
#define V_FRAME 2
// LED output // LED output
#define NORMAL_LEDS 0 #define NORMAL_LEDS 0
@ -106,8 +106,8 @@
// ---------------- // ----------------
#define STABILIZE 0 // hold level position #define STABILIZE 0 // hold level position
#define ACRO 1 // rate control #define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control #define SIMPLE 2 //
#define SIMPLE 3 // #define ALT_HOLD 3 // AUTO control
#define AUTO 4 // AUTO control #define AUTO 4 // AUTO control
#define GCS_AUTO 5 // AUTO control #define GCS_AUTO 5 // AUTO control
#define LOITER 6 // Hold a single location #define LOITER 6 // Hold a single location

27
ArduCopterMega/motors.pde
View File

@ -17,21 +17,24 @@ void arm_motors()
// full right // full right
if (g.rc_4.control_in > 4000) { if (g.rc_4.control_in > 4000) {
if (arming_counter > AUTO_LEVEL_DELAY){ if (control_mode < ALT_HOLD){
auto_level_counter = 255;
arming_counter = 0;
}else if (arming_counter == ARM_DELAY){ if (arming_counter > AUTO_LEVEL_DELAY){
motor_armed = true; auto_level_counter = 255;
arming_counter = ARM_DELAY; arming_counter = 0;
// Remember Orientation }else if (arming_counter == ARM_DELAY){
// --------------------------- motor_armed = true;
init_simple_bearing(); arming_counter = ARM_DELAY;
arming_counter++; // Remember Orientation
} else{ // ---------------------------
arming_counter++; init_simple_bearing();
arming_counter++;
} else{
arming_counter++;
}
} }
// full left // full left

48
ArduCopterMega/motors_octa.pde
View File

@ -36,9 +36,9 @@ void output_motors_armed()
//Back side //Back side
motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
}else{ }if(g.frame_orientation == PLUS_FRAME){
roll_out = (float)g.rc_1.pwm_out * 0.71; roll_out = (float)g.rc_1.pwm_out * 0.71;
pitch_out = (float)g.rc_2.pwm_out * 0.71; pitch_out = (float)g.rc_2.pwm_out * 0.71;
@ -47,16 +47,48 @@ void output_motors_armed()
motor_out[CH_2] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT motor_out[CH_2] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
motor_out[CH_11] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT motor_out[CH_11] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
//Left side //Left side
motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT
//Right side //Right side
motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT
//Back side //Back side
motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
}else{
int roll_out2, pitch_out2;
int roll_out3, pitch_out3;
int roll_out4, pitch_out4;
roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out;
roll_out2 = (float)g.rc_1.pwm_out * 0.833;
pitch_out2 = (float)g.rc_2.pwm_out * 0.34;
roll_out3 = (float)g.rc_1.pwm_out * 0.666;
pitch_out3 = (float)g.rc_2.pwm_out * 0.32;
roll_out4 = (float)g.rc_1.pwm_out * 0.5;
pitch_out4 = (float)g.rc_2.pwm_out * 0.98;
//Front side
motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[CH_11] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Left side
motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
motor_out[CH_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
//Right side
motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
motor_out[CH_2] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
//Back side
motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
} }
// Yaw // Yaw
@ -67,8 +99,8 @@ void output_motors_armed()
motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_7] -= g.rc_4.pwm_out; // CW motor_out[CH_7] -= g.rc_4.pwm_out; // CW
motor_out[CH_10] -= g.rc_4.pwm_out; // CW motor_out[CH_10] -= g.rc_4.pwm_out; // CW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_3] -= g.rc_4.pwm_out; // CW
// limit output so motors don't stop // limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min); motor_out[CH_1] = max(motor_out[CH_1], out_min);

2
ArduCopterMega/setup.pde
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@ -653,7 +653,7 @@ setup_gyro(uint8_t argc, const Menu::arg *argv)
void clear_offsets() void clear_offsets()
{ {
Vector3f _offsets; Vector3f _offsets(0.0,0.0,0.0);
compass.set_offsets(_offsets); compass.set_offsets(_offsets);
compass.save_offsets(); compass.save_offsets();
} }

2
ArduCopterMega/system.pde
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@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
}; };
// Create the top-level menu object. // Create the top-level menu object.
MENU(main_menu, "AC 2.0.25 Beta", main_menu_commands); MENU(main_menu, "AC 2.0.26 Beta", main_menu_commands);
void init_ardupilot() void init_ardupilot()
{ {