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updated Param gen - won't compile yet. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1669 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-17 07:27:57 +00:00
parent 149de91eb7
commit dedb1e29ce
2 changed files with 23 additions and 23 deletions
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30
ArduCopterMega/Camera.pde
View File

@ -1,34 +1,34 @@
void init_camera() void init_camera()
{ {
rc_camera_pitch.set_angle(4500); g.rc_camera_pitch.set_angle(4500);
rc_camera_pitch.radio_min = g.rc_6.radio_min; g.rc_camera_pitch.radio_min = g.rc_6.radio_min;
rc_camera_pitch.radio_trim = g.rc_6.radio_trim; g.rc_camera_pitch.radio_trim = g.rc_6.radio_trim;
rc_camera_pitch.radio_max = g.rc_6.radio_max; g.rc_camera_pitch.radio_max = g.rc_6.radio_max;
rc_camera_roll.set_angle(4500); g.rc_camera_roll.set_angle(4500);
rc_camera_roll.radio_min = 1000; g.rc_camera_roll.radio_min = 1000;
rc_camera_roll.radio_trim = 1500; g.rc_camera_roll.radio_trim = 1500;
rc_camera_roll.radio_max = 2000; g.rc_camera_roll.radio_max = 2000;
} }
void void
camera_stabilization() camera_stabilization()
{ {
rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
// allow control mixing // allow control mixing
rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2); g.rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2);
// dont allow control mixing // dont allow control mixing
//rc_camera_pitch.servo_out = dcm.pitch_sensor / 2; //rc_camera_pitch.servo_out = dcm.pitch_sensor / 2;
rc_camera_pitch.calc_pwm(); g.rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5, rc_camera_pitch.radio_out); APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
rc_camera_roll.servo_out = dcm.roll_sensor * 1; g.rc_camera_roll.servo_out = dcm.roll_sensor * 1;
rc_camera_roll.calc_pwm(); g.rc_camera_roll.calc_pwm();
APM_RC.OutputCh(CH_6, rc_camera_roll.radio_out); APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
//If you want to do control mixing use this function. //If you want to do control mixing use this function.

16
ArduCopterMega/motors.pde
View File

@ -59,7 +59,7 @@ set_servos_4()
//Serial.printf("out: %d %d %d %d\n", g.rc_1.radio_out, g.rc_2.radio_out, g.rc_3.radio_out, g.rc_4.radio_out); //Serial.printf("out: %d %d %d %d\n", g.rc_1.radio_out, g.rc_2.radio_out, g.rc_3.radio_out, g.rc_4.radio_out);
//Serial.printf("yaw: %d ", g.rc_4.radio_out); //Serial.printf("yaw: %d ", g.rc_4.radio_out);
if(frame_type == PLUS_FRAME){ if(g.frame_type == PLUS_FRAME){
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out;
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out;
@ -72,7 +72,7 @@ set_servos_4()
motor_out[CH_4] -= g.rc_4.pwm_out; // CW motor_out[CH_4] -= g.rc_4.pwm_out; // CW
}else if(frame_type == X_FRAME){ }else if(g.frame_type == X_FRAME){
int roll_out = g.rc_1.pwm_out / 2; int roll_out = g.rc_1.pwm_out / 2;
int pitch_out = g.rc_2.pwm_out / 2; int pitch_out = g.rc_2.pwm_out / 2;
@ -92,7 +92,7 @@ set_servos_4()
//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]); //Serial.printf("\tl8r: %d %d %d %d\n", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
}else if(frame_type == TRI_FRAME){ }else if(g.frame_type == TRI_FRAME){
// Tri-copter power distribution // Tri-copter power distribution
@ -110,7 +110,7 @@ set_servos_4()
APM_RC.OutputCh(CH_7, g.rc_4.radio_out); APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
}else if (frame_type == HEXA_FRAME) { }else if (g.frame_type == HEXA_FRAME) {
int roll_out = (float)g.rc_1.pwm_out * .866; int roll_out = (float)g.rc_1.pwm_out * .866;
int pitch_out = g.rc_2.pwm_out / 2; int pitch_out = g.rc_2.pwm_out / 2;
@ -146,7 +146,7 @@ set_servos_4()
motor_out[CH_3] = constrain(motor_out[CH_3], out_min, g.rc_3.radio_max.get()); motor_out[CH_3] = constrain(motor_out[CH_3], out_min, g.rc_3.radio_max.get());
motor_out[CH_4] = constrain(motor_out[CH_4], out_min, g.rc_3.radio_max.get()); motor_out[CH_4] = constrain(motor_out[CH_4], out_min, g.rc_3.radio_max.get());
if (frame_type == HEXA_FRAME) { if (g.frame_type == HEXA_FRAME) {
motor_out[CH_7] = constrain(motor_out[CH_7], out_min, g.rc_3.radio_max.get()); motor_out[CH_7] = constrain(motor_out[CH_7], out_min, g.rc_3.radio_max.get());
motor_out[CH_8] = constrain(motor_out[CH_8], out_min, g.rc_3.radio_max.get()); motor_out[CH_8] = constrain(motor_out[CH_8], out_min, g.rc_3.radio_max.get());
} }
@ -226,7 +226,7 @@ set_servos_4()
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
if (frame_type == HEXA_FRAME) { if (g.frame_type == HEXA_FRAME) {
APM_RC.OutputCh(CH_7, motor_out[CH_7]); APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
@ -242,7 +242,7 @@ set_servos_4()
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
if (frame_type == HEXA_FRAME) { if (g.frame_type == HEXA_FRAME) {
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
@ -265,7 +265,7 @@ set_servos_4()
APM_RC.OutputCh(CH_3, g.rc_3.radio_min); APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
if (frame_type == HEXA_FRAME) { if (g.frame_type == HEXA_FRAME) {
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
} }