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2.0.39

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Added reset for all nav I when entering manual modes.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2992 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-01 05:12:10 +00:00
parent 1f974ef6d3
commit fe3293f411
5 changed files with 13 additions and 13 deletions
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3
ArduCopterMega/ArduCopterMega.pde
View File

@ -794,7 +794,7 @@ static void fifty_hz_loop()
else if (throttle_slew > 0)
throttle_slew--;
throttle_slew = min((800 - throttle), throttle_slew);
throttle_slew = min((800 - g.rc_3.control_in), throttle_slew);
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
@ -1578,3 +1578,4 @@ static void auto_throttle()
//Serial.printf("wp:%d, \te:%d \tt%d \t%d\n", (int)next_WP.alt, (int)altitude_error, nav_throttle, g.rc_3.servo_out);
}

7
ArduCopterMega/Attitude.pde
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@ -116,8 +116,13 @@ get_rate_yaw(long target_rate)
// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
// Keeps outdated data out of our calculations
static void
reset_I(void)
reset_nav_I(void)
{
g.pid_nav_lat.reset_I();
g.pid_nav_lon.reset_I();
g.pid_nav_wp.reset_I();
g.pid_crosstrack.reset_I();
g.pid_throttle.reset_I();
// I removed these, they don't seem to be needed.
}

1
ArduCopterMega/Parameters.h
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@ -376,3 +376,4 @@ public:
};
#endif // PARAMETERS_H

2
ArduCopterMega/events.pde
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@ -35,7 +35,7 @@ static void failsafe_off_event()
// Reset control integrators
// ---------------------
reset_I();
//reset_nav_I();
}else if (g.throttle_fs_action == 1){
// We're back in radio contact

11
ArduCopterMega/system.pde
View File

@ -294,13 +294,6 @@ static void init_ardupilot()
// -------------------
init_commands();
// Output waypoints for confirmation
// XXX do we need this?
// --------------------------------
//for(int i = 1; i < g.waypoint_total + 1; i++) {
// gcs.send_message(MSG_COMMAND_LIST, i);
//}
// set the correct flight mode
// ---------------------------
reset_control_switch();
@ -381,13 +374,13 @@ static void set_mode(byte mode)
switch(control_mode)
{
case ACRO:
g.pid_throttle.reset_I();
reset_nav_I();
break;
case SIMPLE:
case STABILIZE:
do_loiter_at_location();
g.pid_throttle.reset_I();
reset_nav_I();
break;
case ALT_HOLD: