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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1373 f9c3cf11-9bcb-44bc-f272-b75c42450872

This commit is contained in:
jasonshort 2010-12-30 07:40:57 +00:00
parent d7c6bc7c16
commit d95e8539d9
5 changed files with 27 additions and 20 deletions
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2
ArduCopterMega/APM_Config.h
View File

@ -15,7 +15,7 @@
// These are all experimental and underwork, jp 23-12-10
//#define ENABLE_EXTRAS ENABLED
//#define ENABLE_EXTRAINIT ENABLED
//#define ENABLE_CAM ENABLED
#define ENABLE_CAM ENABLED
//#define ENABLE_AM ENABLED
//#define ENABLE_xx ENABLED

6
ArduCopterMega/ArduCopterMega.pde
View File

@ -75,8 +75,10 @@ AP_GPS_NONE GPS(NULL);
# error Must define GPS_PROTOCOL in your configuration file.
#endif
AP_IMU imu(&adc, EE_IMU_OFFSET);
AP_DCM dcm(&imu, &GPS);
AP_IMU_Oilpan imu(&adc, EE_IMU_OFFSET);
AP_DCM dcm(&imu, &GPS);
//AP_DCM dcm(&imu, &gps, &compass);
// GENERAL VARIABLE DECLARATIONS

24
ArduCopterMega/Camera.pde
View File

@ -1,9 +1,9 @@
void init_camera()
{
rc_camera_pitch.set_angle(4500);
rc_camera_pitch.radio_min = 1000;
rc_camera_pitch.radio_trim = 1500;
rc_camera_pitch.radio_max = 2000;
rc_camera_pitch.radio_min = rc_6.radio_min;
rc_camera_pitch.radio_trim = rc_6.radio_trim;
rc_camera_pitch.radio_max = rc_6.radio_max;
rc_camera_yaw.set_angle(4500);
rc_camera_yaw.radio_min = 1000;
@ -14,16 +14,14 @@ void init_camera()
void
camera_stabilization()
{
rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(pitch_sensor / 2);
rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5,rc_camera_pitch.radio_out);
rc_camera_pitch.servo_out = pitch_sensor;
//rc_camera_pitch.servo_out;
rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5,rc_camera_pitch.radio_out);
//If you want to do control mixing use this function.
// set servo_out to the control input from radio
//rc_camera_yaw = rc_2.control_mix(pitch_sensor);
//rc_camera_yaw.calc_pwm();
//If you want to do control mixing use this function.
// set servo_out to the control input from radio
//rc_camera_yaw = rc_2.control_mix(pitch_sensor);
//rc_camera_yaw.calc_pwm();
}

4
ArduCopterMega/config.h
View File

@ -283,7 +283,7 @@
// STABILZE Angle Control
//
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 0.7
# define STABILIZE_ROLL_P 0.6
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.00
@ -296,7 +296,7 @@
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 0.7
# define STABILIZE_PITCH_P 0.6
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0

11
ArduCopterMega/radio.pde
View File

@ -2,9 +2,9 @@ void init_rc_in()
{
read_EEPROM_radio(); // read Radio limits
rc_1.set_angle(4500);
rc_1.dead_zone = 50;
rc_1.dead_zone = 60;
rc_2.set_angle(4500);
rc_2.dead_zone = 50;
rc_2.dead_zone = 60;
rc_3.set_range(0,1000);
rc_3.dead_zone = 20;
rc_3.scale_output = .8;
@ -12,7 +12,14 @@ void init_rc_in()
rc_4.dead_zone = 500;
rc_5.set_range(0,1000);
rc_5.set_filter(false);
// for kP values
rc_6.set_range(200,800);
// for camera angles
//rc_6.set_angle(4500);
//rc_6.dead_zone = 60;
rc_7.set_range(0,1000);
rc_8.set_range(0,1000);
}