mirror of https://github.com/ArduPilot/ardupilot
400 lines
13 KiB
C
400 lines
13 KiB
C
/*
|
|
www.ArduCopter.com - www.DIYDrones.com
|
|
Copyright (c) 2010. All rights reserved.
|
|
An Open Source Arduino based multicopter.
|
|
|
|
File : UserConfig.h
|
|
Version : v1.0, Aug 27, 2010
|
|
Author(s): ArduCopter Team
|
|
Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
|
|
Jani Hirvinen, Ken McEwans, Roberto Navoni,
|
|
Sandro Benigno, Chris Anderson
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
* ************************************************************** *
|
|
ChangeLog:
|
|
|
|
- 27-08-2010, New header layout
|
|
|
|
* ************************************************************** *
|
|
TODO:
|
|
|
|
- List of thigs
|
|
- that still need to be done
|
|
|
|
* ************************************************************** */
|
|
|
|
|
|
|
|
/*************************************************************/
|
|
// Safety & Security
|
|
|
|
// Arm & Disarm delays
|
|
#define ARM_DELAY 200 // milliseconds of how long you need to keep rudder to max right for arming motors
|
|
#define DISARM_DELAY 100 // milliseconds of how long you need to keep rudder to max left for disarming motors
|
|
|
|
|
|
/*************************************************************/
|
|
// AM Mode & Flight information
|
|
|
|
/* AM PIN Definitions */
|
|
/* Will be moved in future to AN extension ports */
|
|
/* due need to have PWM pins free for sonars and servos */
|
|
|
|
#define FR_LED 3 // Mega PE4 pin, OUT7
|
|
#define RE_LED 2 // Mega PE5 pin, OUT6
|
|
#define RI_LED 7 // Mega PH4 pin, OUT5
|
|
#define LE_LED 8 // Mega PH5 pin, OUT4
|
|
|
|
/* AM PIN Definitions - END */
|
|
|
|
|
|
/*************************************************************/
|
|
// Radio related definitions
|
|
|
|
// If you don't know these values, you can activate RADIO_TEST_MODE below
|
|
// and check your mid values
|
|
|
|
//#define RADIO_TEST_MODE
|
|
|
|
#define ROLL_MID 1500 // Radio Roll channel mid value
|
|
#define PITCH_MID 1500 // Radio Pitch channel mid value
|
|
#define YAW_MID 1500 // Radio Yaw channel mid value
|
|
#define THROTTLE_MID 1505 // Radio Throttle channel mid value
|
|
#define AUX_MID 1500
|
|
|
|
#define CHANN_CENTER 1500 // Channel center, legacy
|
|
#define MIN_THROTTLE 1040 // Throttle pulse width at minimun...
|
|
|
|
// Following variables stored in EEPROM
|
|
float KP_QUAD_ROLL;
|
|
float KI_QUAD_ROLL;
|
|
float STABLE_MODE_KP_RATE_ROLL;
|
|
float KP_QUAD_PITCH;
|
|
float KI_QUAD_PITCH;
|
|
float STABLE_MODE_KP_RATE_PITCH;
|
|
float KP_QUAD_YAW;
|
|
float KI_QUAD_YAW;
|
|
float STABLE_MODE_KP_RATE_YAW;
|
|
float STABLE_MODE_KP_RATE; // NOT USED NOW
|
|
float KP_GPS_ROLL;
|
|
float KI_GPS_ROLL;
|
|
float KD_GPS_ROLL;
|
|
float KP_GPS_PITCH;
|
|
float KI_GPS_PITCH;
|
|
float KD_GPS_PITCH;
|
|
float GPS_MAX_ANGLE;
|
|
float KP_ALTITUDE;
|
|
float KI_ALTITUDE;
|
|
float KD_ALTITUDE;
|
|
int acc_offset_x;
|
|
int acc_offset_y;
|
|
int acc_offset_z;
|
|
int gyro_offset_roll;
|
|
int gyro_offset_pitch;
|
|
int gyro_offset_yaw;
|
|
float Kp_ROLLPITCH;
|
|
float Ki_ROLLPITCH;
|
|
float Kp_YAW;
|
|
float Ki_YAW;
|
|
float GEOG_CORRECTION_FACTOR;
|
|
int MAGNETOMETER;
|
|
float Kp_RateRoll;
|
|
float Ki_RateRoll;
|
|
float Kd_RateRoll;
|
|
float Kp_RatePitch;
|
|
float Ki_RatePitch;
|
|
float Kd_RatePitch;
|
|
float Kp_RateYaw;
|
|
float Ki_RateYaw;
|
|
float Kd_RateYaw;
|
|
float xmitFactor;
|
|
float ch_roll_slope = 1;
|
|
float ch_pitch_slope = 1;
|
|
float ch_throttle_slope = 1;
|
|
float ch_yaw_slope = 1;
|
|
float ch_aux_slope = 1;
|
|
float ch_aux2_slope = 1;
|
|
float ch_roll_offset = 0;
|
|
float ch_pitch_offset = 0;
|
|
float ch_throttle_offset = 0;
|
|
float ch_yaw_offset = 0;
|
|
float ch_aux_offset = 0;
|
|
float ch_aux2_offset = 0;
|
|
|
|
// This function call contains the default values that are set to the ArduCopter
|
|
// when a "Default EEPROM Value" command is sent through serial interface
|
|
void defaultUserConfig() {
|
|
KP_QUAD_ROLL = 4.0;
|
|
KI_QUAD_ROLL = 0.15;
|
|
STABLE_MODE_KP_RATE_ROLL = 1.2;
|
|
KP_QUAD_PITCH = 4.0;
|
|
KI_QUAD_PITCH = 0.15;
|
|
STABLE_MODE_KP_RATE_PITCH = 1.2;
|
|
KP_QUAD_YAW = 3.0;
|
|
KI_QUAD_YAW = 0.15;
|
|
STABLE_MODE_KP_RATE_YAW = 2.4;
|
|
STABLE_MODE_KP_RATE = 0.2; // NOT USED NOW
|
|
KP_GPS_ROLL = 0.015;
|
|
KI_GPS_ROLL = 0.005;
|
|
KD_GPS_ROLL = 0.01;
|
|
KP_GPS_PITCH = 0.015;
|
|
KI_GPS_PITCH = 0.005;
|
|
KD_GPS_PITCH = 0.01;
|
|
GPS_MAX_ANGLE = 22;
|
|
KP_ALTITUDE = 0.8;
|
|
KI_ALTITUDE = 0.2;
|
|
KD_ALTITUDE = 0.2;
|
|
acc_offset_x = 2073;
|
|
acc_offset_y = 2056;
|
|
acc_offset_z = 2010;
|
|
gyro_offset_roll = 1659;
|
|
gyro_offset_pitch = 1618;
|
|
gyro_offset_yaw = 1673;
|
|
Kp_ROLLPITCH = 0.0014;
|
|
Ki_ROLLPITCH = 0.00000015;
|
|
Kp_YAW = 1.2;
|
|
Ki_YAW = 0.00005;
|
|
GEOG_CORRECTION_FACTOR = 0.87;
|
|
MAGNETOMETER = 0;
|
|
Kp_RateRoll = 1.95;
|
|
Ki_RateRoll = 0.0;
|
|
Kd_RateRoll = 0.0;
|
|
Kp_RatePitch = 1.95;
|
|
Ki_RatePitch = 0.0;
|
|
Kd_RatePitch = 0.0;
|
|
Kp_RateYaw = 3.2;
|
|
Ki_RateYaw = 0.0;
|
|
Kd_RateYaw = 0.0;
|
|
xmitFactor = 0.32;
|
|
roll_mid = 1500;
|
|
pitch_mid = 1500;
|
|
yaw_mid = 1500;
|
|
ch_roll_slope = 1;
|
|
ch_pitch_slope = 1;
|
|
ch_throttle_slope = 1;
|
|
ch_yaw_slope = 1;
|
|
ch_aux_slope = 1;
|
|
ch_aux2_slope = 1;
|
|
ch_roll_offset = 0;
|
|
ch_pitch_offset = 0;
|
|
ch_throttle_offset = 0;
|
|
ch_yaw_offset = 0;
|
|
ch_aux_offset = 0;
|
|
ch_aux2_offset = 0;
|
|
}
|
|
|
|
// EEPROM storage addresses
|
|
#define KP_QUAD_ROLL_ADR 0
|
|
#define KI_QUAD_ROLL_ADR 8
|
|
#define STABLE_MODE_KP_RATE_ROLL_ADR 4
|
|
#define KP_QUAD_PITCH_ADR 12
|
|
#define KI_QUAD_PITCH_ADR 20
|
|
#define STABLE_MODE_KP_RATE_PITCH_ADR 16
|
|
#define KP_QUAD_YAW_ADR 24
|
|
#define KI_QUAD_YAW_ADR 32
|
|
#define STABLE_MODE_KP_RATE_YAW_ADR 28
|
|
#define STABLE_MODE_KP_RATE_ADR 36 // NOT USED NOW
|
|
#define KP_GPS_ROLL_ADR 40
|
|
#define KI_GPS_ROLL_ADR 48
|
|
#define KD_GPS_ROLL_ADR 44
|
|
#define KP_GPS_PITCH_ADR 52
|
|
#define KI_GPS_PITCH_ADR 60
|
|
#define KD_GPS_PITCH_ADR 56
|
|
#define GPS_MAX_ANGLE_ADR 64
|
|
#define KP_ALTITUDE_ADR 68
|
|
#define KI_ALTITUDE_ADR 76
|
|
#define KD_ALTITUDE_ADR 72
|
|
#define acc_offset_x_ADR 80
|
|
#define acc_offset_y_ADR 84
|
|
#define acc_offset_z_ADR 88
|
|
#define gyro_offset_roll_ADR 92
|
|
#define gyro_offset_pitch_ADR 96
|
|
#define gyro_offset_yaw_ADR 100
|
|
#define Kp_ROLLPITCH_ADR 104
|
|
#define Ki_ROLLPITCH_ADR 108
|
|
#define Kp_YAW_ADR 112
|
|
#define Ki_YAW_ADR 116
|
|
#define GEOG_CORRECTION_FACTOR_ADR 120
|
|
#define MAGNETOMETER_ADR 124
|
|
#define XMITFACTOR_ADR 128
|
|
#define KP_RATEROLL_ADR 132
|
|
#define KI_RATEROLL_ADR 136
|
|
#define KD_RATEROLL_ADR 140
|
|
#define KP_RATEPITCH_ADR 144
|
|
#define KI_RATEPITCH_ADR 148
|
|
#define KD_RATEPITCH_ADR 152
|
|
#define KP_RATEYAW_ADR 156
|
|
#define KI_RATEYAW_ADR 160
|
|
#define KD_RATEYAW_ADR 164
|
|
#define CHROLL_MID 168
|
|
#define CHPITCH_MID 172
|
|
#define CHYAW_MID 176
|
|
#define ch_roll_slope_ADR 180
|
|
#define ch_pitch_slope_ADR 184
|
|
#define ch_throttle_slope_ADR 188
|
|
#define ch_yaw_slope_ADR 192
|
|
#define ch_aux_slope_ADR 196
|
|
#define ch_aux2_slope_ADR 200
|
|
#define ch_roll_offset_ADR 204
|
|
#define ch_pitch_offset_ADR 208
|
|
#define ch_throttle_offset_ADR 212
|
|
#define ch_yaw_offset_ADR 216
|
|
#define ch_aux_offset_ADR 220
|
|
#define ch_aux2_offset_ADR 224
|
|
|
|
// Utilities for writing and reading from the EEPROM
|
|
float readEEPROM(int address) {
|
|
union floatStore {
|
|
byte floatByte[4];
|
|
float floatVal;
|
|
} floatOut;
|
|
|
|
for (int i = 0; i < 4; i++)
|
|
floatOut.floatByte[i] = EEPROM.read(address + i);
|
|
return floatOut.floatVal;
|
|
}
|
|
|
|
void writeEEPROM(float value, int address) {
|
|
union floatStore {
|
|
byte floatByte[4];
|
|
float floatVal;
|
|
} floatIn;
|
|
|
|
floatIn.floatVal = value;
|
|
for (int i = 0; i < 4; i++)
|
|
EEPROM.write(address + i, floatIn.floatByte[i]);
|
|
}
|
|
|
|
void readUserConfig() {
|
|
KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
|
|
KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
|
|
STABLE_MODE_KP_RATE_ROLL = readEEPROM(STABLE_MODE_KP_RATE_ROLL_ADR);
|
|
KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
|
|
KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
|
|
STABLE_MODE_KP_RATE_PITCH = readEEPROM(STABLE_MODE_KP_RATE_PITCH_ADR);
|
|
KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
|
|
KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
|
|
STABLE_MODE_KP_RATE_YAW = readEEPROM(STABLE_MODE_KP_RATE_YAW_ADR);
|
|
STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR); // NOT USED NOW
|
|
KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
|
|
KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
|
|
KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
|
|
KP_GPS_PITCH = readEEPROM(KP_GPS_PITCH_ADR);
|
|
KI_GPS_PITCH = readEEPROM(KI_GPS_PITCH_ADR);
|
|
KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
|
|
GPS_MAX_ANGLE = readEEPROM(GPS_MAX_ANGLE_ADR);
|
|
KP_ALTITUDE = readEEPROM(KP_ALTITUDE_ADR);
|
|
KI_ALTITUDE = readEEPROM(KI_ALTITUDE_ADR);
|
|
KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
|
|
acc_offset_x = readEEPROM(acc_offset_x_ADR);
|
|
acc_offset_y = readEEPROM(acc_offset_y_ADR);
|
|
acc_offset_z = readEEPROM(acc_offset_z_ADR);
|
|
gyro_offset_roll = readEEPROM(gyro_offset_roll_ADR);
|
|
gyro_offset_pitch = readEEPROM(gyro_offset_pitch_ADR);
|
|
gyro_offset_yaw = readEEPROM(gyro_offset_yaw_ADR);
|
|
Kp_ROLLPITCH = readEEPROM(Kp_ROLLPITCH_ADR);
|
|
Ki_ROLLPITCH = readEEPROM(Ki_ROLLPITCH_ADR);
|
|
Kp_YAW = readEEPROM(Kp_YAW_ADR);
|
|
Ki_YAW = readEEPROM(Ki_YAW_ADR);
|
|
GEOG_CORRECTION_FACTOR = readEEPROM(GEOG_CORRECTION_FACTOR_ADR);
|
|
MAGNETOMETER = readEEPROM(MAGNETOMETER_ADR);
|
|
Kp_RateRoll = readEEPROM(KP_RATEROLL_ADR);
|
|
Ki_RateRoll = readEEPROM(KI_RATEROLL_ADR);
|
|
Kd_RateRoll = readEEPROM(KD_RATEROLL_ADR);
|
|
Kp_RatePitch = readEEPROM(KP_RATEPITCH_ADR);
|
|
Ki_RatePitch = readEEPROM(KI_RATEPITCH_ADR);
|
|
Kd_RatePitch = readEEPROM(KD_RATEPITCH_ADR);
|
|
Kp_RateYaw = readEEPROM(KP_RATEYAW_ADR);
|
|
Ki_RateYaw = readEEPROM(KI_RATEYAW_ADR);
|
|
Kd_RateYaw = readEEPROM(KD_RATEYAW_ADR);
|
|
xmitFactor = readEEPROM(XMITFACTOR_ADR);
|
|
roll_mid = readEEPROM(CHROLL_MID);
|
|
pitch_mid = readEEPROM(CHPITCH_MID);
|
|
yaw_mid = readEEPROM(CHYAW_MID);
|
|
ch_roll_slope = readEEPROM(ch_roll_slope_ADR);
|
|
ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR);
|
|
ch_throttle_slope = readEEPROM(ch_throttle_slope_ADR);
|
|
ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR);
|
|
ch_aux_slope = readEEPROM(ch_aux_slope_ADR);
|
|
ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR);
|
|
ch_roll_offset = readEEPROM(ch_roll_offset_ADR);
|
|
ch_pitch_offset = readEEPROM(ch_pitch_offset_ADR);
|
|
ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR);
|
|
ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR);
|
|
ch_aux_offset = readEEPROM(ch_aux_offset_ADR);
|
|
ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR);
|
|
}
|
|
|
|
void writeUserConfig() {
|
|
writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
|
|
writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
|
|
writeEEPROM(STABLE_MODE_KP_RATE_ROLL, STABLE_MODE_KP_RATE_ROLL_ADR);
|
|
writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
|
|
writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
|
|
writeEEPROM(STABLE_MODE_KP_RATE_PITCH, STABLE_MODE_KP_RATE_PITCH_ADR);
|
|
writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
|
|
writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
|
|
writeEEPROM(STABLE_MODE_KP_RATE_YAW, STABLE_MODE_KP_RATE_YAW_ADR);
|
|
writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR); // NOT USED NOW
|
|
writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
|
|
writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
|
|
writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
|
|
writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
|
|
writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
|
|
writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
|
|
writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
|
|
writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
|
|
writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
|
|
writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
|
|
writeEEPROM(acc_offset_x, acc_offset_x_ADR);
|
|
writeEEPROM(acc_offset_y, acc_offset_y_ADR);
|
|
writeEEPROM(acc_offset_z, acc_offset_z_ADR);
|
|
writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
|
|
writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
|
|
writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
|
|
writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
|
|
writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
|
|
writeEEPROM(Kp_YAW, Kp_YAW_ADR);
|
|
writeEEPROM(Ki_YAW, Ki_YAW_ADR);
|
|
writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
|
|
writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
|
|
writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
|
|
writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
|
|
writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
|
|
writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
|
|
writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
|
|
writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
|
|
writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
|
|
writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
|
|
writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
|
|
writeEEPROM(xmitFactor, XMITFACTOR_ADR);
|
|
writeEEPROM(roll_mid, CHROLL_MID);
|
|
writeEEPROM(pitch_mid, CHPITCH_MID);
|
|
writeEEPROM(yaw_mid, CHYAW_MID);
|
|
writeEEPROM(ch_roll_slope, ch_roll_slope_ADR);
|
|
writeEEPROM(ch_pitch_slope, ch_pitch_slope_ADR);
|
|
writeEEPROM(ch_throttle_slope, ch_throttle_slope_ADR);
|
|
writeEEPROM(ch_yaw_slope, ch_yaw_slope_ADR);
|
|
writeEEPROM(ch_aux_slope, ch_aux_slope_ADR);
|
|
writeEEPROM(ch_aux2_slope, ch_aux2_slope_ADR);
|
|
writeEEPROM(ch_roll_offset, ch_roll_offset_ADR);
|
|
writeEEPROM(ch_pitch_offset, ch_pitch_offset_ADR);
|
|
writeEEPROM(ch_throttle_offset, ch_throttle_offset_ADR);
|
|
writeEEPROM(ch_yaw_offset, ch_yaw_offset_ADR);
|
|
writeEEPROM(ch_aux_offset, ch_aux_offset_ADR);
|
|
writeEEPROM(ch_aux2_offset, ch_aux2_offset_ADR);
|
|
}
|