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Arducopter: Testing toy mode - commented out by default

This commit is contained in:
Jason Short 2012-07-19 17:50:42 -07:00
parent ad45012739
commit da6d981479
1 changed files with 23 additions and 20 deletions
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43
ArduCopter/test.pde
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@ -18,7 +18,7 @@ static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
//static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
//static int8_t test_stab_d(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
//static int8_t test_boost(uint8_t argc, const Menu::arg *argv);
//static int8_t test_toy(uint8_t argc, const Menu::arg *argv);
//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
@ -75,7 +75,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
//{"tri", test_tri},
{"relay", test_relay},
{"wp", test_wp},
// {"boost", test_boost},
// {"toy", test_toy},
#if HIL_MODE != HIL_MODE_ATTITUDE
{"altitude", test_baro},
{"sonar", test_sonar},
@ -183,27 +183,30 @@ test_radio_pwm(uint8_t argc, const Menu::arg *argv)
}
}*/
/*
static int8_t
//test_boost(uint8_t argc, const Menu::arg *argv)
/*static int8_t
//test_toy(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
int16_t temp = g.throttle_min;
int16_t yaw_rate;
int16_t roll_rate;
g.rc_1.control_in = -2500;
g.rc_2.control_in = 2500;
while(1){
delay(20);
g.rc_3.control_in = temp;
adjust_altitude();
Serial.printf("tmp:%d, boost: %d\n", temp, manual_boost);
temp++;
g.toy_yaw_rate = 3;
yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
Serial.printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
if(temp > MAXIMUM_THROTTLE){
return (0);
}
}
}
//*/
g.toy_yaw_rate = 2;
yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
Serial.printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
g.toy_yaw_rate = 1;
yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
Serial.printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
}*/
static int8_t
test_radio(uint8_t argc, const Menu::arg *argv)