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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 // These are all experimental and underwork, jp 23-12-10
//#define ENABLE_EXTRAS ENABLED //#define ENABLE_EXTRAS ENABLED
//#define ENABLE_EXTRAINIT ENABLED //#define ENABLE_EXTRAINIT ENABLED
//#define ENABLE_CAM ENABLED #define ENABLE_CAM ENABLED
//#define ENABLE_AM ENABLED //#define ENABLE_AM ENABLED
//#define ENABLE_xx 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. # error Must define GPS_PROTOCOL in your configuration file.
#endif #endif
AP_IMU imu(&adc, EE_IMU_OFFSET); AP_IMU_Oilpan imu(&adc, EE_IMU_OFFSET);
AP_DCM dcm(&imu, &GPS); AP_DCM dcm(&imu, &GPS);
//AP_DCM dcm(&imu, &gps, &compass);
// GENERAL VARIABLE DECLARATIONS // GENERAL VARIABLE DECLARATIONS

24
ArduCopterMega/Camera.pde
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@ -1,9 +1,9 @@
void init_camera() void init_camera()
{ {
rc_camera_pitch.set_angle(4500); rc_camera_pitch.set_angle(4500);
rc_camera_pitch.radio_min = 1000; rc_camera_pitch.radio_min = rc_6.radio_min;
rc_camera_pitch.radio_trim = 1500; rc_camera_pitch.radio_trim = rc_6.radio_trim;
rc_camera_pitch.radio_max = 2000; rc_camera_pitch.radio_max = rc_6.radio_max;
rc_camera_yaw.set_angle(4500); rc_camera_yaw.set_angle(4500);
rc_camera_yaw.radio_min = 1000; rc_camera_yaw.radio_min = 1000;
@ -14,16 +14,14 @@ void init_camera()
void void
camera_stabilization() 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; //If you want to do control mixing use this function.
//rc_camera_pitch.servo_out; // set servo_out to the control input from radio
rc_camera_pitch.calc_pwm(); //rc_camera_yaw = rc_2.control_mix(pitch_sensor);
//rc_camera_yaw.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();
} }

4
ArduCopterMega/config.h
View File

@ -283,7 +283,7 @@
// STABILZE Angle Control // STABILZE Angle Control
// //
#ifndef STABILIZE_ROLL_P #ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 0.7 # define STABILIZE_ROLL_P 0.6
#endif #endif
#ifndef STABILIZE_ROLL_I #ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.00 # define STABILIZE_ROLL_I 0.00
@ -296,7 +296,7 @@
#endif #endif
#ifndef STABILIZE_PITCH_P #ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 0.7 # define STABILIZE_PITCH_P 0.6
#endif #endif
#ifndef STABILIZE_PITCH_I #ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0 # 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 read_EEPROM_radio(); // read Radio limits
rc_1.set_angle(4500); rc_1.set_angle(4500);
rc_1.dead_zone = 50; rc_1.dead_zone = 60;
rc_2.set_angle(4500); rc_2.set_angle(4500);
rc_2.dead_zone = 50; rc_2.dead_zone = 60;
rc_3.set_range(0,1000); rc_3.set_range(0,1000);
rc_3.dead_zone = 20; rc_3.dead_zone = 20;
rc_3.scale_output = .8; rc_3.scale_output = .8;
@ -12,7 +12,14 @@ void init_rc_in()
rc_4.dead_zone = 500; rc_4.dead_zone = 500;
rc_5.set_range(0,1000); rc_5.set_range(0,1000);
rc_5.set_filter(false); rc_5.set_filter(false);
// for kP values
rc_6.set_range(200,800); 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_7.set_range(0,1000);
rc_8.set_range(0,1000); rc_8.set_range(0,1000);
} }