mirror of https://github.com/ArduPilot/ardupilot
240 lines
6.5 KiB
Plaintext
240 lines
6.5 KiB
Plaintext
void init_rc_in()
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{
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read_EEPROM_radio(); // read Radio limits
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rc_1.set_angle(4500);
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rc_1.dead_zone = 60;
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rc_2.set_angle(4500);
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rc_2.dead_zone = 60;
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rc_3.set_range(0,1000);
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rc_3.dead_zone = 20;
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rc_3.scale_output = .8;
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rc_4.set_angle(6000);
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rc_4.dead_zone = 500;
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rc_5.set_range(0,1000);
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rc_5.set_filter(false);
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// for kP values
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rc_6.set_range(200,800);
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// for camera angles
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//rc_6.set_angle(4500);
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//rc_6.dead_zone = 60;
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rc_7.set_range(0,1000);
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rc_8.set_range(0,1000);
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}
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void init_rc_out()
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{
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#if ARM_AT_STARTUP == 1
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motor_armed = 1;
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#endif
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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APM_RC.Init(); // APM Radio initialization
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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}
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void read_radio()
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{
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rc_1.set_pwm(APM_RC.InputCh(CH_1));
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rc_2.set_pwm(APM_RC.InputCh(CH_2));
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rc_3.set_pwm(APM_RC.InputCh(CH_3));
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rc_4.set_pwm(APM_RC.InputCh(CH_4));
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rc_5.set_pwm(APM_RC.InputCh(CH_5));
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rc_6.set_pwm(APM_RC.InputCh(CH_6));
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rc_7.set_pwm(APM_RC.InputCh(CH_7));
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rc_8.set_pwm(APM_RC.InputCh(CH_8));
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//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in);
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}
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void trim_radio()
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{
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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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rc_1.trim(); // roll
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rc_2.trim(); // pitch
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rc_4.trim(); // yaw
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}
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void trim_yaw()
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{
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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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rc_4.trim(); // yaw
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}
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#define ARM_DELAY 10
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#define DISARM_DELAY 10
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void arm_motors()
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{
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static byte arming_counter;
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// Arm motor output : Throttle down and full yaw right for more than 2 seconds
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if (rc_3.control_in == 0){
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if (rc_4.control_in > 2700) {
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if (arming_counter > ARM_DELAY) {
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motor_armed = true;
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} else{
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arming_counter++;
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}
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}else if (rc_4.control_in < -2700) {
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if (arming_counter > DISARM_DELAY){
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motor_armed = false;
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}else{
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arming_counter++;
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}
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}else{
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arming_counter = 0;
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}
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}
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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void set_servos_4(void)
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{
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static byte num;
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// Quadcopter mix
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if (motor_armed == true) {
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int out_min = rc_3.radio_min;
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// Throttle is 0 to 1000 only
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rc_3.servo_out = constrain(rc_3.servo_out, 0, 1000);
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if(rc_3.servo_out > 0)
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out_min = rc_3.radio_min + 50;
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//Serial.printf("out: %d %d %d %d\t\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
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// creates the radio_out and pwm_out values
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rc_1.calc_pwm();
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rc_2.calc_pwm();
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rc_3.calc_pwm();
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rc_4.calc_pwm();
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//Serial.printf("out: %d %d %d %d\n", rc_1.radio_out, rc_2.radio_out, rc_3.radio_out, rc_4.radio_out);
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//Serial.printf("yaw: %d ", rc_4.radio_out);
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if(frame_type == PLUS_FRAME){
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out;
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out;
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motor_out[FRONT] = rc_3.radio_out + rc_2.pwm_out;
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out;
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}else{
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int roll_out = rc_1.pwm_out / 2;
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int pitch_out = rc_2.pwm_out / 2;
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[LEFT] = rc_3.radio_out + roll_out - pitch_out;
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out;
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}
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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motor_out[RIGHT] += rc_4.pwm_out;
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motor_out[LEFT] += rc_4.pwm_out;
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motor_out[FRONT] -= rc_4.pwm_out;
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motor_out[BACK] -= rc_4.pwm_out;
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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motor_out[RIGHT] = constrain(motor_out[RIGHT], out_min, rc_3.radio_max);
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motor_out[LEFT] = constrain(motor_out[LEFT], out_min, rc_3.radio_max);
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motor_out[FRONT] = constrain(motor_out[FRONT], out_min, rc_3.radio_max);
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motor_out[BACK] = constrain(motor_out[BACK], out_min, rc_3.radio_max);
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/*
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int r_out = ((long)(motor_out[RIGHT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int l_out = ((long)(motor_out[LEFT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int f_out = ((long)(motor_out[FRONT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int b_out = ((long)(motor_out[BACK] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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//*/
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//
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/* debugging and dynamic kP
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num++;
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if (num > 50){
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num = 0;
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pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
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stabilize_rate_roll_pitch = pid_stabilize_roll.kP() *.25;
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init_pids();
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//Serial.print("nav_yaw: ");
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//Serial.println(nav_yaw,DEC);
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//Serial.print("kP: ");
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//Serial.println(pid_stabilize_roll.kP(),3);
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}
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// out: 41 38 39 39
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// pwm: 358, 1412 1380 1395 1389
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//*/
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//Serial.printf("set: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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//Serial.printf("s: %d %d %d\t\t", (int)roll_sensor, (int)pitch_sensor, (int)yaw_sensor);
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///Serial.printf("outmin: %d\n", out_min);
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/*
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write_int(r_out);
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write_int(l_out);
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write_int(f_out);
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write_int(b_out);
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write_int((int)(roll_sensor / 100));
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write_int((int)(pitch_sensor / 100));
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write_int((int)(yaw_sensor / 100));
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write_int((int)(yaw_error / 100));
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write_int((int)(current_loc.alt));
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write_int((int)(altitude_error));
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flush(10);
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//*/
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// Send commands to motors
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if(rc_3.servo_out > 0){
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APM_RC.OutputCh(CH_1, motor_out[RIGHT]);
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APM_RC.OutputCh(CH_2, motor_out[LEFT]);
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APM_RC.OutputCh(CH_3, motor_out[FRONT]);
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APM_RC.OutputCh(CH_4, motor_out[BACK]);
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}else{
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APM_RC.OutputCh(CH_1, rc_3.radio_min);
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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}
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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}else{
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// Send commands to motors
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APM_RC.OutputCh(CH_1, rc_3.radio_min);
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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// reset I terms of PID controls
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reset_I();
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// Initialize yaw command to actual yaw when throttle is down...
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rc_4.control_in = ToDeg(yaw);
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}
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} |