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/* ********************************************************************** */
/* ArduCopter Quadcopter code */
/* */
/* Quadcopter code from AeroQuad project and ArduIMU quadcopter project */
/* IMU DCM code from Diydrones.com */
/* (Original ArduIMU code from Jordi Muñoz and William Premerlani) */
/* Ardupilot core code : from DIYDrones.com development team */
/* Authors : Arducopter development team */
/* Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz, */
/* Jani Hirvinen, Ken McEwans, Roberto Navoni, */
/* Sandro Benigno, Chris Anderson */
/* Date : 08-08-2010 */
/* Version : 1.3 beta */
/* Hardware : ArduPilot Mega + Sensor Shield (Production versions) */
/* Mounting position : RC connectors pointing backwards */
/* This code use this libraries : */
/* APM_RC : Radio library (with InstantPWM) */
/* APM_ADC : External ADC library */
/* DataFlash : DataFlash log library */
/* APM_BMP085 : BMP085 barometer library */
/* APM_Compass : HMC5843 compass library [optional] */
/* GPS_UBLOX or GPS_NMEA or GPS_MTK : GPS library [optional] */
/* ********************************************************************** */
/*
**** Switch Functions *****
AUX1 ON = Stable Mode
AUX1 OFF = Acro Mode
GEAR ON = GPS Hold
GEAR OFF = Flight Assist (Stable Mode)
**** LED Feedback ****
Bootup Sequence:
1) A, B, C LED's blinking rapidly while waiting ESCs to bootup and initial shake to end from connecting battery
2) A, B, C LED's have running light while calibrating Gyro/Acc's
3) Green LED Solid after initialization finished
Green LED On = APM Initialization Finished
Yellow LED On = GPS Hold Mode
Yellow LED Off = Flight Assist Mode (No GPS)
Red LED On = GPS Fix, 2D or 3D
Red LED Off = No GPS Fix
Green LED blink slow = Motors armed, Stable mode
Green LED blink rapid = Motors armed, Acro mode
*/
/* User definable modules */
// Comment out with // modules that you are not using
#define IsGPS // Do we have a GPS connected
//#define IsNEWMTEK// Do we have MTEK with new firmware
#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
#define IsAM // Do we have motormount LED's. AM = Atraction Mode
#define AUTOMODE // New experimental Automode to change between Stable <=> Acro. If pitch/roll stick move is more than 50% change mode
//#define IsXBEE // Moves all serial communication to Telemetry port when activated.
#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
/**********************************************/
// Not in use yet, starting to work with battery monitors and pressure sensors.
// Added 19-08-2010
//#define UseAirspeed
//#define UseBMP
//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
/**********************************************/
/* User definable modules - END */
// Frame build condiguration
#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
// Quick and easy hack to change FTDI Serial output to Telemetry port. Just activate #define IsXBEE some lines earlier
#ifndef IsXBEE
#define SerBau 115200
#define SerPri Serial.print
#define SerPriln Serial.println
#define SerAva Serial.available
#define SerRea Serial.read
#define SerFlu Serial.flush
#define SerBeg Serial.begin
#define SerPor "FTDI"
#else
#define SerBau 115200
#define SerPri Serial3.print
#define SerPriln Serial3.println
#define SerAva Serial3.available
#define SerRea Serial3.read
#define SerFlu Serial3.flush
#define SerBeg Serial3.begin
#define SerPor "Telemetry"
#endif
/* ****************************************************************************** */
/* ****************************** Includes ************************************** */
/* ****************************************************************************** */
#include <Wire.h>
#include <APM_ADC.h>
#include <APM_RC.h>
#include <DataFlash.h>
#include <APM_Compass.h>
#include <AP_Math.h>
#ifdef UseBMP
#include <APM_BMP085.h>
#endif
#include <GPS_NMEA.h> // General NMEA GPS
//#include <GPS_MTK.h> // MediaTEK DIY Drones GPS.
//#include <GPS_UBLOX.h> // uBlox GPS
// EEPROM storage for user configurable values
#include <EEPROM.h>
#include "ArduCopter.h"
#include "UserConfig.h"
/* Software version */
#define VER 1.34 // Current software version (only numeric values)
/* ***************************************************************************** */
/* ************************ CONFIGURATION PART ********************************* */
/* ***************************************************************************** */
// Normal users does not need to edit anything below these lines. If you have
// need, go and change them in UserConfig.h
/* ************************************************************ */
// STABLE MODE
// PI absolute angle control driving a P rate control
// Input : desired Roll, Pitch and Yaw absolute angles. Output : Motor commands
void Attitude_control_v3()
{
#define MAX_CONTROL_OUTPUT 250
float stable_roll,stable_pitch,stable_yaw;
// ROLL CONTROL
if (AP_mode==2) // Normal Mode => Stabilization mode
err_roll = command_rx_roll - ToDeg(roll);
else
err_roll = (command_rx_roll + command_gps_roll) - ToDeg(roll); // Position control
err_roll = constrain(err_roll,-25,25); // to limit max roll command...
roll_I += err_roll*G_Dt;
roll_I = constrain(roll_I,-20,20);
// PID absolute angle control
K_aux = KP_QUAD_ROLL; // Comment this out if you want to use transmitter to adjust gain
stable_roll = K_aux*err_roll + KI_QUAD_ROLL*roll_I;
// PD rate control (we use also the bias corrected gyro rates)
err_roll = stable_roll - ToDeg(Omega[0]); // Omega[] is the raw gyro reading plus Omega_I, so it´s bias corrected
control_roll = STABLE_MODE_KP_RATE_ROLL*err_roll;
control_roll = constrain(control_roll,-MAX_CONTROL_OUTPUT,MAX_CONTROL_OUTPUT);
// PITCH CONTROL
if (AP_mode==2) // Normal mode => Stabilization mode
err_pitch = command_rx_pitch - ToDeg(pitch);
else // GPS Position hold
err_pitch = (command_rx_pitch + command_gps_pitch) - ToDeg(pitch); // Position Control
err_pitch = constrain(err_pitch,-25,25); // to limit max pitch command...
pitch_I += err_pitch*G_Dt;
pitch_I = constrain(pitch_I,-20,20);
// PID absolute angle control
K_aux = KP_QUAD_PITCH; // Comment this out if you want to use transmitter to adjust gain
stable_pitch = K_aux*err_pitch + KI_QUAD_PITCH*pitch_I;
// P rate control (we use also the bias corrected gyro rates)
err_pitch = stable_pitch - ToDeg(Omega[1]);
control_pitch = STABLE_MODE_KP_RATE_PITCH*err_pitch;
control_pitch = constrain(control_pitch,-MAX_CONTROL_OUTPUT,MAX_CONTROL_OUTPUT);
// YAW CONTROL
err_yaw = command_rx_yaw - ToDeg(yaw);
if (err_yaw > 180) // Normalize to -180,180
err_yaw -= 360;
else if(err_yaw < -180)
err_yaw += 360;
err_yaw = constrain(err_yaw,-60,60); // to limit max yaw command...
yaw_I += err_yaw*G_Dt;
yaw_I = constrain(yaw_I,-20,20);
// PID absoulte angle control
stable_yaw = KP_QUAD_YAW*err_yaw + KI_QUAD_YAW*yaw_I;
// PD rate control (we use also the bias corrected gyro rates)
err_yaw = stable_yaw - ToDeg(Omega[2]);
control_yaw = STABLE_MODE_KP_RATE_YAW*err_yaw;
control_yaw = constrain(control_yaw,-MAX_CONTROL_OUTPUT,MAX_CONTROL_OUTPUT);
}
// ACRO MODE
void Rate_control()
{
static float previousRollRate, previousPitchRate, previousYawRate;
float currentRollRate, currentPitchRate, currentYawRate;
// ROLL CONTROL
currentRollRate = read_adc(0); // I need a positive sign here
err_roll = ((ch_roll - roll_mid) * xmitFactor) - currentRollRate;
roll_I += err_roll * G_Dt;
roll_I = constrain(roll_I, -20, 20);
roll_D = currentRollRate - previousRollRate;
previousRollRate = currentRollRate;
// PID control
control_roll = Kp_RateRoll * err_roll + Kd_RateRoll * roll_D + Ki_RateRoll * roll_I;
// PITCH CONTROL
currentPitchRate = read_adc(1);
err_pitch = ((ch_pitch - pitch_mid) * xmitFactor) - currentPitchRate;
pitch_I += err_pitch*G_Dt;
pitch_I = constrain(pitch_I,-20,20);
pitch_D = currentPitchRate - previousPitchRate;
previousPitchRate = currentPitchRate;
// PID control
control_pitch = Kp_RatePitch*err_pitch + Kd_RatePitch*pitch_D + Ki_RatePitch*pitch_I;
// YAW CONTROL
currentYawRate = read_adc(2);
err_yaw = ((ch_yaw - yaw_mid) * xmitFactor) - currentYawRate;
yaw_I += err_yaw*G_Dt;
yaw_I = constrain(yaw_I, -20, 20);
yaw_D = currentYawRate - previousYawRate;
previousYawRate = currentYawRate;
// PID control
K_aux = KP_QUAD_YAW; // Comment this out if you want to use transmitter to adjust gain
control_yaw = Kp_RateYaw*err_yaw + Kd_RateYaw*yaw_D + Ki_RateYaw*yaw_I;
}
// RATE CONTROL MODE
// Using Omega vector (bias corrected gyro rate)
void Rate_control_v2()
{
static float previousRollRate, previousPitchRate, previousYawRate;
float currentRollRate, currentPitchRate, currentYawRate;
// ROLL CONTROL
currentRollRate = ToDeg(Omega[0]); // Omega[] is the raw gyro reading plus Omega_I, so it´s bias corrected
err_roll = ((ch_roll- roll_mid) * xmitFactor) - currentRollRate;
roll_I += err_roll*G_Dt;
roll_I = constrain(roll_I,-20,20);
roll_D = (currentRollRate - previousRollRate)/G_Dt;
previousRollRate = currentRollRate;
// PID control
control_roll = Kp_RateRoll*err_roll + Kd_RateRoll*roll_D + Ki_RateRoll*roll_I;
// PITCH CONTROL
currentPitchRate = ToDeg(Omega[1]); // Omega[] is the raw gyro reading plus Omega_I, so it´s bias corrected
err_pitch = ((ch_pitch - pitch_mid) * xmitFactor) - currentPitchRate;
pitch_I += err_pitch*G_Dt;
pitch_I = constrain(pitch_I,-20,20);
pitch_D = (currentPitchRate - previousPitchRate)/G_Dt;
previousPitchRate = currentPitchRate;
// PID control
control_pitch = Kp_RatePitch*err_pitch + Kd_RatePitch*pitch_D + Ki_RatePitch*pitch_I;
// YAW CONTROL
currentYawRate = ToDeg(Omega[2]); // Omega[] is the raw gyro reading plus Omega_I, so it´s bias corrected;
err_yaw = ((ch_yaw - yaw_mid)* xmitFactor) - currentYawRate;
yaw_I += err_yaw*G_Dt;
yaw_I = constrain(yaw_I,-20,20);
yaw_D = (currentYawRate - previousYawRate)/G_Dt;
previousYawRate = currentYawRate;
// PID control
K_aux = KP_QUAD_YAW; // Comment this out if you want to use transmitter to adjust gain
control_yaw = Kp_RateYaw*err_yaw + Kd_RateYaw*yaw_D + Ki_RateYaw*yaw_I;
}
// Maximun slope filter for radio inputs... (limit max differences between readings)
int channel_filter(int ch, int ch_old)
{
int diff_ch_old;
if (ch_old==0) // ch_old not initialized
return(ch);
diff_ch_old = ch - ch_old; // Difference with old reading
if (diff_ch_old < 0)
{
if (diff_ch_old <- 60)
return(ch_old - 60); // We limit the max difference between readings
}
else
{
if (diff_ch_old > 60)
return(ch_old + 60);
}
return((ch + ch_old) >> 1); // Small filtering
//return(ch);
}
/* ************************************************************ */
/* **************** MAIN PROGRAM - SETUP ********************** */
/* ************************************************************ */
void setup()
{
int i, j;
float aux_float[3];
pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
pinMode(LED_Green,OUTPUT); //Green LED C (PC0)
pinMode(SW1_pin,INPUT); //Switch SW1 (pin PG0)
pinMode(RELE_pin,OUTPUT); // Rele output
digitalWrite(RELE_pin,LOW);
APM_RC.Init(); // APM Radio initialization
// RC channels Initialization (Quad motors)
APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
APM_RC.OutputCh(1,MIN_THROTTLE);
APM_RC.OutputCh(2,MIN_THROTTLE);
APM_RC.OutputCh(3,MIN_THROTTLE);
// delay(1000); // Wait until frame is not moving after initial power cord has connected
for(i = 0; i <= 50; i++) {
digitalWrite(LED_Green, HIGH);
digitalWrite(LED_Yellow, HIGH);
digitalWrite(LED_Red, HIGH);
delay(20);
digitalWrite(LED_Green, LOW);
digitalWrite(LED_Yellow, LOW);
digitalWrite(LED_Red, LOW);
delay(20);
}
APM_ADC.Init(); // APM ADC library initialization
DataFlash.Init(); // DataFlash log initialization
#ifdef IsGPS
GPS.Init(); // GPS Initialization
#ifdef IsNEWMTEK
delay(250);
// DIY Drones MTEK GPS needs binary sentences activated if you upgraded to latest firmware.
// If your GPS shows solid blue but LED C (Red) does not go on, your GPS is on NMEA mode
Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
#endif
#endif
readUserConfig(); // Load user configurable items from EEPROM
// Safety measure for Channel mids
if(roll_mid < 1400 || roll_mid > 1600) roll_mid = 1500;
if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500;
if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500;
if (MAGNETOMETER == 1) {
APM_Compass.Init(); // I2C initialization
APM_Compass.SetOrientation(APM_COMPASS_COMPONENTS_UP_PINS_BACK);
APM_Compass.SetOffsets(0,0,0);
APM_Compass.SetDeclination(ToRad(0.0));
}
DataFlash.StartWrite(1); // Start a write session on page 1
SerBeg(SerBau); // Initialize SerialXX.port, IsXBEE define declares which port
#ifndef CONFIGURATOR
SerPri("ArduCopter Quadcopter v");
SerPriln(VER)
SerPri("Serial ready on port: "); // Printout greeting to selecter serial port
SerPriln(SerPor); // Printout serial port name
#endif
// Check if we enable the DataFlash log Read Mode (switch)
// If we press switch 1 at startup we read the Dataflash eeprom
while (digitalRead(SW1_pin)==0)
{
SerPriln("Entering Log Read Mode...");
Log_Read(1,2000);
delay(30000);
}
Read_adc_raw();
delay(10);
// Offset values for accels and gyros...
AN_OFFSET[3] = acc_offset_x;
AN_OFFSET[4] = acc_offset_y;
AN_OFFSET[5] = acc_offset_z;
aux_float[0] = gyro_offset_roll;
aux_float[1] = gyro_offset_pitch;
aux_float[2] = gyro_offset_yaw;
j = 0;
// Take the gyro offset values
for(i=0;i<300;i++)
{
Read_adc_raw();
for(int y=0; y<=2; y++) // Read initial ADC values for gyro offset.
{
aux_float[y]=aux_float[y]*0.8 + AN[y]*0.2;
//SerPri(AN[y]);
//SerPri(",");
}
//SerPriln();
Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],ch_throttle);
delay(10);
// Runnings lights effect to let user know that we are taking mesurements
if(j == 0) {
digitalWrite(LED_Green, HIGH);
digitalWrite(LED_Yellow, LOW);
digitalWrite(LED_Red, LOW);
}
else if (j == 1) {
digitalWrite(LED_Green, LOW);
digitalWrite(LED_Yellow, HIGH);
digitalWrite(LED_Red, LOW);
}
else {
digitalWrite(LED_Green, LOW);
digitalWrite(LED_Yellow, LOW);
digitalWrite(LED_Red, HIGH);
}
if((i % 5) == 0) j++;
if(j >= 3) j = 0;
}
digitalWrite(LED_Green, LOW);
digitalWrite(LED_Yellow, LOW);
digitalWrite(LED_Red, LOW);
for(int y=0; y<=2; y++)
AN_OFFSET[y]=aux_float[y];
// Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
#ifndef CONFIGURATOR
for(i=0;i<6;i++)
{
SerPri("AN[]:");
SerPriln(AN_OFFSET[i]);
}
SerPri("Yaw neutral value:");
// SerPriln(Neutro_yaw);
SerPri(yaw_mid);
#endif
delay(1000);
DataFlash.StartWrite(1); // Start a write session on page 1
timer = millis();
tlmTimer = millis();
Read_adc_raw(); // Initialize ADC readings...
delay(20);
#ifdef IsAM
// Switch Left & Right lights on
digitalWrite(RI_LED, HIGH);
digitalWrite(LE_LED, HIGH);
#endif
motorArmed = 0;
digitalWrite(LED_Green,HIGH); // Ready to go...
}
/* ************************************************************ */
/* ************** MAIN PROGRAM - MAIN LOOP ******************** */
/* ************************************************************ */
void loop(){
int aux;
int i;
float aux_float;
//Log variables
int log_roll;
int log_pitch;
int log_yaw;
if((millis()-timer)>=10) // Main loop 100Hz
{
counter++;
timer_old = timer;
timer=millis();
G_Dt = (timer-timer_old)*0.001; // Real time of loop run
// IMU DCM Algorithm
Read_adc_raw();
#ifdef IsMAG
if (MAGNETOMETER == 1) {
if (counter > 10) // Read compass data at 10Hz... (10 loop runs)
{
counter=0;
APM_Compass.Read(); // Read magnetometer
APM_Compass.Calculate(roll,pitch); // Calculate heading
}
}
#endif
Matrix_update();
Normalize();
Drift_correction();
Euler_angles();
// *****************
// Output data
log_roll = ToDeg(roll) * 10;
log_pitch = ToDeg(pitch) * 10;
log_yaw = ToDeg(yaw) * 10;
#ifndef CONFIGURATOR
SerPri(log_roll);
SerPri(",");
SerPri(log_pitch);
SerPri(",");
SerPri(log_yaw);
//for (int i = 0; i < 6; i++)
//{
// SerPri(AN[i]);
// SerPri(",");
//}
#endif
// Write Sensor raw data to DataFlash log
Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],gyro_temp);
// Write attitude to DataFlash log
Log_Write_Attitude(log_roll,log_pitch,log_yaw);
if (APM_RC.GetState() == 1) // New radio frame?
{
// Commands from radio Rx...
// Stick position defines the desired angle in roll, pitch and yaw
ch_roll = channel_filter(APM_RC.InputCh(0) * ch_roll_slope + ch_roll_offset, ch_roll);
ch_pitch = channel_filter(APM_RC.InputCh(1) * ch_pitch_slope + ch_pitch_offset, ch_pitch);
//ch_throttle = channel_filter(APM_RC.InputCh(2) * ch_throttle_slope + ch_throttle_offset, ch_throttle);
ch_throttle = channel_filter(APM_RC.InputCh(2), ch_throttle); // Transmiter calibration not used on throttle
ch_yaw = channel_filter(APM_RC.InputCh(3) * ch_yaw_slope + ch_yaw_offset, ch_yaw);
ch_aux = APM_RC.InputCh(4) * ch_aux_slope + ch_aux_offset;
ch_aux2 = APM_RC.InputCh(5) * ch_aux2_slope + ch_aux2_offset;
command_rx_roll = (ch_roll-roll_mid) / 12.0;
command_rx_pitch = (ch_pitch-pitch_mid) / 12.0;
#ifdef AUTOMODE
// New Automatic Stable <=> Acro switch. If pitch/roll stick is more than 60% from center, change to Acro
if(command_rx_roll >= 30 || command_rx_roll <= -30 ||
command_rx_pitch >= 30 || command_rx_pitch <= -30 ) {
FL_mode = 1;
} else FL_mode = 0;
#endif
if(ch_aux2 > 1800) FL_mode = 1; // Force to Acro mode from radio
/*
// Debuging channels and fl_mode
SerPri(command_rx_roll);
comma();
SerPri(command_rx_pitch);
comma();
SerPri(FL_mode, DEC);
SerPriln();
*/
//aux_float = (ch_yaw-Neutro_yaw) / 180.0;
if (abs(ch_yaw-yaw_mid)<12) // Take into account a bit of "dead zone" on yaw
aux_float = 0.0;
else
aux_float = (ch_yaw-yaw_mid) / 180.0;
command_rx_yaw += aux_float;
if (command_rx_yaw > 180) // Normalize yaw to -180,180 degrees
command_rx_yaw -= 360.0;
else if (command_rx_yaw < -180)
command_rx_yaw += 360.0;
// Read through comments in Attitude_control() if you wish to use transmitter to adjust P gains
// I use K_aux (channel 6) to adjust gains linked to a knob in the radio... [not used now]
//K_aux = K_aux*0.8 + ((ch_aux-1500)/100.0 + 0.6)*0.2;
K_aux = K_aux * 0.8 + ((ch_aux2-AUX_MID) / 300.0 + 1.7) * 0.2; // /300 + 1.0
if (K_aux < 0) K_aux = 0;
//SerPri(",");
//SerPri(K_aux);
// We read the Quad Mode from Channel 5
if (ch_aux > 1800) // We really need to switch it ON from radio to activate GPS hold
{
AP_mode = 1; // Position hold mode (GPS position control)
digitalWrite(LED_Yellow,HIGH); // Yellow LED On
}
else
{
AP_mode = 2; // Normal mode (Stabilization assist mode)
digitalWrite(LED_Yellow,LOW); // Yellow LED off
}
// Write Radio data to DataFlash log
Log_Write_Radio(ch_roll,ch_pitch,ch_throttle,ch_yaw,int(K_aux*100),(int)AP_mode);
} // END new radio data
if (AP_mode==1) // Position Control
{
if (target_position==0) // If this is the first time we switch to Position control, actual position is our target position
{
target_lattitude = GPS.Lattitude;
target_longitude = GPS.Longitude;
#ifndef CONFIGURATOR
SerPriln();
SerPri("* Target:");
SerPri(target_longitude);
SerPri(",");
SerPriln(target_lattitude);
#endif
target_position=1;
//target_sonar_altitude = sonar_value;
//Initial_Throttle = ch3;
// Reset I terms
altitude_I = 0;
gps_roll_I = 0;
gps_pitch_I = 0;
}
}
else
target_position=0;
//Read GPS
GPS.Read();
if (GPS.NewData) // New GPS data?
{
GPS_timer_old=GPS_timer; // Update GPS timer
GPS_timer = timer;
GPS_Dt = (GPS_timer-GPS_timer_old)*0.001; // GPS_Dt
GPS.NewData=0; // We Reset the flag...
//Output GPS data
//SerPri(",");
//SerPri(GPS.Lattitude);
//SerPri(",");
//SerPri(GPS.Longitude);
// Write GPS data to DataFlash log
Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
//if (GPS.Fix >= 2)
if (GPS.Fix)
digitalWrite(LED_Red,HIGH); // GPS Fix => Blue LED
else
digitalWrite(LED_Red,LOW);
if (AP_mode==1)
{
if ((target_position==1) && (GPS.Fix))
{
Position_control(target_lattitude,target_longitude); // Call position hold routine
}
else
{
//SerPri("NOFIX");
command_gps_roll=0;
command_gps_pitch=0;
}
}
}
// Control methodology selected using AUX2
// if (ch_aux2 < 1200) {
if(FL_mode == 0) { // Changed for variable
gled_speed = 1200;
Attitude_control_v3();
}
else
{
gled_speed = 400;
Rate_control_v2();
// Reset yaw, so if we change to stable mode we continue with the actual yaw direction
command_rx_yaw = ToDeg(yaw);
}
// Arm motor output : Throttle down and full yaw right for more than 2 seconds
if (ch_throttle < (MIN_THROTTLE + 100)) {
control_yaw = 0;
command_rx_yaw = ToDeg(yaw);
if (ch_yaw > 1850) {
if (Arming_counter > ARM_DELAY){
if(ch_throttle > 800) {
motorArmed = 1;
minThrottle = MIN_THROTTLE+60; // A minimun value for mantain a bit if throttle
}
}
else
Arming_counter++;
}
else
Arming_counter=0;
// To Disarm motor output : Throttle down and full yaw left for more than 2 seconds
if (ch_yaw < 1150) {
if (Disarming_counter > DISARM_DELAY){
motorArmed = 0;
minThrottle = MIN_THROTTLE;
}
else
Disarming_counter++;
}
else
Disarming_counter=0;
}
else{
Arming_counter=0;
Disarming_counter=0;
}
// Quadcopter mix
if (motorArmed == 1) {
#ifdef IsAM
digitalWrite(FR_LED, HIGH); // AM-Mode
#endif
#ifdef FLIGHT_MODE_+
rightMotor = constrain(ch_throttle - control_roll + control_yaw, minThrottle, 2000);
leftMotor = constrain(ch_throttle + control_roll + control_yaw, minThrottle, 2000);
frontMotor = constrain(ch_throttle + control_pitch - control_yaw, minThrottle, 2000);
backMotor = constrain(ch_throttle - control_pitch - control_yaw, minThrottle, 2000);
#endif
#ifdef FLIGHT_MODE_X
rightMotor = constrain(ch_throttle - control_roll + control_pitch + control_yaw, minThrottle, 2000); // front right motor
leftMotor = constrain(ch_throttle + control_roll - control_pitch + control_yaw, minThrottle, 2000); // rear left motor
frontMotor = constrain(ch_throttle + control_roll + control_pitch - control_yaw, minThrottle, 2000); // front left motor
backMotor = constrain(ch_throttle - control_roll - control_pitch - control_yaw, minThrottle, 2000); // rear right motor
#endif
}
if (motorArmed == 0) {
#ifdef IsAM
digitalWrite(FR_LED, LOW); // AM-Mode
#endif
digitalWrite(LED_Green,HIGH); // Ready LED on
rightMotor = MIN_THROTTLE;
leftMotor = MIN_THROTTLE;
frontMotor = MIN_THROTTLE;
backMotor = MIN_THROTTLE;
roll_I = 0; // reset I terms of PID controls
pitch_I = 0;
yaw_I = 0;
// Initialize yaw command to actual yaw when throttle is down...
command_rx_yaw = ToDeg(yaw);
}
APM_RC.OutputCh(0, rightMotor); // Right motor
APM_RC.OutputCh(1, leftMotor); // Left motor
APM_RC.OutputCh(2, frontMotor); // Front motor
APM_RC.OutputCh(3, backMotor); // Back motor
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
#ifndef CONFIGURATOR
SerPriln(); // Line END
#endif
}
#ifdef CONFIGURATOR
if((millis()-tlmTimer)>=100) {
readSerialCommand();
sendSerialTelemetry();
tlmTimer = millis();
}
#endif
// AM and Mode status LED lights
if(millis() - gled_timer > gled_speed) {
gled_timer = millis();
if(gled_status == HIGH) {
digitalWrite(LED_Green, LOW);
#ifdef IsAM
digitalWrite(RE_LED, LOW);
#endif
gled_status = LOW;
}
else {
digitalWrite(LED_Green, HIGH);
#ifdef IsAM
if(motorArmed) digitalWrite(RE_LED, HIGH);
#endif
gled_status = HIGH;
}
}
} // End of void loop()
// END of Arducopter.pde
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