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2.0.12 Very small Yaw Iterm added. reverted to earlier Loiter limit.

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Slight tweak to Alt hold.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2397 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-25 05:48:33 +00:00
parent 4a1772b5ff
commit 2a53e35ac7
3 changed files with 18 additions and 9 deletions
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2
ArduCopterMega/ArduCopterMega.pde
View File

@ -763,7 +763,7 @@ void slow_loop()
slow_loopCounter++; slow_loopCounter++;
superslow_loopCounter++; superslow_loopCounter++;
if(superslow_loopCounter > 1400){ // every 7 minutes if(superslow_loopCounter > 800){ // every 4 minutes
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
if(g.rc_3.control_in == 0 && g.compass_enabled){ if(g.rc_3.control_in == 0 && g.compass_enabled){
compass.save_offsets(); compass.save_offsets();

19
ArduCopterMega/config.h
View File

@ -61,6 +61,7 @@
# define SONAR_PIN AP_RANGEFINDER_PITOT_TUBE # define SONAR_PIN AP_RANGEFINDER_PITOT_TUBE
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// AIRSPEED_SENSOR // AIRSPEED_SENSOR
// AIRSPEED_RATIO // AIRSPEED_RATIO
@ -72,6 +73,7 @@
# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution # define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// HIL_PROTOCOL OPTIONAL // HIL_PROTOCOL OPTIONAL
// HIL_MODE OPTIONAL // HIL_MODE OPTIONAL
@ -114,6 +116,7 @@
#endif #endif
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL // GPS_PROTOCOL
// //
@ -124,6 +127,7 @@
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO # define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// GCS_PROTOCOL // GCS_PROTOCOL
// GCS_PORT // GCS_PORT
@ -141,6 +145,7 @@
# define MAV_SYSTEM_ID 1 # define MAV_SYSTEM_ID 1
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Serial port speeds. // Serial port speeds.
// //
@ -175,6 +180,7 @@
# define HIGH_DISCHARGE 1760 # define HIGH_DISCHARGE 1760
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE // INPUT_VOLTAGE
// //
@ -182,6 +188,7 @@
# define INPUT_VOLTAGE 5.0 # define INPUT_VOLTAGE 5.0
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER // MAGNETOMETER
#ifndef MAGNETOMETER #ifndef MAGNETOMETER
@ -350,13 +357,13 @@
# define YAW_P 0.4 // increase for more aggressive Yaw Hold, decrease if it's bouncy # define YAW_P 0.4 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
#ifndef YAW_I #ifndef YAW_I
# define YAW_I 0.000 // set to .0001 to try and get over user's steady state error caused by poor balance # define YAW_I 0.0001 // set to .0001 to try and get over user's steady state error caused by poor balance
#endif #endif
#ifndef YAW_D #ifndef YAW_D
# define YAW_D 0.05 // Trying a lower value to prevent odd behavior # define YAW_D 0.05 // Trying a lower value to prevent odd behavior
#endif #endif
#ifndef YAW_IMAX #ifndef YAW_IMAX
# define YAW_IMAX 1 // degrees * 100 # define YAW_IMAX .5 // degrees * 100
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -375,7 +382,7 @@
# define NAV_LOITER_P 2.5 // upped to be a bit more aggressive # define NAV_LOITER_P 2.5 // upped to be a bit more aggressive
#endif #endif
#ifndef NAV_LOITER_I #ifndef NAV_LOITER_I
# define NAV_LOITER_I 0.05 // upped a bit to deal with wind faster # define NAV_LOITER_I 0.10 // upped a bit to deal with wind faster
#endif #endif
#ifndef NAV_LOITER_D #ifndef NAV_LOITER_D
# define NAV_LOITER_D 0.00 # define NAV_LOITER_D 0.00
@ -412,14 +419,15 @@
#endif #endif
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Throttle control gains // Throttle control gains
// //
#ifndef THROTTLE_BARO_P #ifndef THROTTLE_BARO_P
# define THROTTLE_BARO_P 0.3 # define THROTTLE_BARO_P 0.25
#endif #endif
#ifndef THROTTLE_BARO_I #ifndef THROTTLE_BARO_I
# define THROTTLE_BARO_I 0.005 # define THROTTLE_BARO_I 0.0045
#endif #endif
#ifndef THROTTLE_BARO_D #ifndef THROTTLE_BARO_D
# define THROTTLE_BARO_D 0.03 # define THROTTLE_BARO_D 0.03
@ -472,6 +480,7 @@
# define CHANNEL_6_TUNING CH6_NONE # define CHANNEL_6_TUNING CH6_NONE
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Dataflash logging control // Dataflash logging control
// //

2
ArduCopterMega/system.pde
View File

@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
}; };
// Create the top-level menu object. // Create the top-level menu object.
MENU(main_menu, "AC 2.0.11 Beta", main_menu_commands); MENU(main_menu, "AC 2.0.12 Beta", main_menu_commands);
void init_ardupilot() void init_ardupilot()
{ {