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Revved the firmware version. 

Updated the motor spin up issue - this is the I've not set my radio up properly issue.
updated 200ms motor spin up issue with the Libraries - for those who have ESC's that don't do sanity checks.





git-svn-id: https://arducopter.googlecode.com/svn/trunk@1816 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-26 21:03:20 +00:00
parent 5e25ade9dc
commit e9c894215a
4 changed files with 34 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopterMega/Parameters.h
View File

@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 1;
static const uint16_t k_format_version = 2;
//
// Parameter identities.

39
ArduCopterMega/radio.pde
View File

@ -38,36 +38,43 @@ void init_rc_out()
motor_armed = 1;
#endif
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
APM_RC.OutputCh(CH_2, 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_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.Init(); // APM Radio initialization
for(byte i = 0; i < 10; i++){
// fix for crazy output
OCR1B = 0xFFFF; // PB6, OUT3
OCR1C = 0xFFFF; // PB7, OUT4
OCR5B = 0xFFFF; // PL4, OUT1
OCR5C = 0xFFFF; // PL5, OUT2
OCR4B = 0xFFFF; // PH4, OUT6
OCR4C = 0xFFFF; // PH5, OUT5
if(g.rc_3.radio_min <= 1200){
output_min();
}
for(byte i = 0; i < 5; i++){
delay(20);
read_radio();
}
// sanity check on the EEPROM values for radio_min
if(abs(g.rc_3.radio_min - g.rc_3.radio_in) > 40){
g.rc_3.radio_min = g.rc_3.radio_in;
}
// sanity check
if(g.rc_3.radio_min >= 1300){
g.rc_3.radio_min = g.rc_3.radio_in;
output_min();
}
}
void output_min()
{
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
APM_RC.OutputCh(CH_2, 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_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, 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);
}
void read_radio()
{
g.rc_1.set_pwm(APM_RC.InputCh(CH_1));

9
ArduCopterMega/setup.pde
View File

@ -49,6 +49,13 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
//"and then the 'radio' command to configure for your radio.\n"
//"\n"));
if(g.rc_1.radio_min >= 1300){
delay(1000);
Serial.printf_P(PSTR("\n!!!Warning, your radio is not configured!!!"));
delay(1000);
Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
}
// Run the setup menu. When the menu exits, we will return to the main menu.
setup_menu.run();
}
@ -94,6 +101,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
if (('y' != c) && ('Y' != c))
return(-1);
AP_Var::erase_all();
Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM"));
@ -174,6 +182,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
g.rc_8.update_min_max();
if(Serial.available() > 0){
delay(20);
Serial.flush();
save_EEPROM_radio();

3
ArduCopterMega/system.pde
View File

@ -41,7 +41,6 @@ MENU(main_menu, "ArduPilotMega", main_menu_commands);
void init_ardupilot()
{
byte last_log_num;
int last_log_start;
int last_log_end;
@ -174,7 +173,7 @@ void init_ardupilot()
"Entering interactive setup mode...\n"
"\n"
"Type 'help' to list commands, 'exit' to leave a submenu.\n"
"Visit the 'setup' menu for first-time configuration.\n"));
"Visit the 'setup' menu for first-time configuration.\n\n"));
for (;;) {
//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
main_menu.run();