ardupilot/Arducopter/Arducopter.pde

810 lines
26 KiB
Plaintext
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

/* ********************************************************************** */
/* 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>
#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()
{
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;
// 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;
// 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;
}
// 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
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