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lowered DCM RP gains

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made Instant_PWM optional
upped PWM output to 400hz
This commit is contained in:
Jason Short 2011-10-11 22:20:23 -07:00
parent 04299122d8
commit 43b3015963
11 changed files with 93 additions and 14 deletions
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6
ArduCopter/ArduCopter.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V2.0.47 Beta"
#define THISFIRMWARE "ArduCopter V2.0.48 Beta"
/*
ArduCopter Version 2.0 Beta
Authors: Jason Short
@ -774,9 +774,9 @@ static void slow_loop()
slow_loopCounter++;
superslow_loopCounter++;
if(superslow_loopCounter > 800){ // every 4 minutes
if(superslow_loopCounter > 1200){
#if HIL_MODE != HIL_MODE_ATTITUDE
if(g.rc_3.control_in == 0 && g.compass_enabled){
if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled){
compass.save_offsets();
superslow_loopCounter = 0;
}

10
ArduCopter/config.h
View File

@ -46,6 +46,14 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
//
#ifndef INSTANT_PWM
# define INSTANT_PWM DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
@ -443,7 +451,7 @@
#endif
#ifndef WAYPOINT_SPEED_MAX
# define WAYPOINT_SPEED_MAX 450 // for 6m/s error = 13mph
# define WAYPOINT_SPEED_MAX 300 // for 6m/s error = 13mph
#endif

2
ArduCopter/motors.pde
View File

@ -39,7 +39,7 @@ static void arm_motors()
// Tune down DCM
// -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.120000);
dcm.kp_roll_pitch(0.030000);
dcm.ki_roll_pitch(0.00001278), // 50 hz I term
//dcm.ki_roll_pitch(0.000006);
#endif

14
ArduCopter/motors_hexa.pde
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@ -2,6 +2,15 @@
#if FRAME_CONFIG == HEXA_FRAME
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR3 = 5000; // 50 hz output CH 7, 8, 11
#endif
}
static void output_motors_armed()
{
int roll_out, pitch_out;
@ -96,10 +105,13 @@ static void output_motors_armed()
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
#if INSTANT_PWM == 1
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
APM_RC.Force_Out6_Out7();
#endif
}
static void output_motors_disarmed()

19
ArduCopter/motors_octa.pde
View File

@ -2,6 +2,15 @@
#if FRAME_CONFIG == OCTA_FRAME
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR3 = 5000; // 50 hz output CH 7, 8, 11
#endif
}
static void output_motors_armed()
{
int roll_out, pitch_out;
@ -149,10 +158,12 @@ static void output_motors_armed()
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
#if INSTANT_PWM == 1
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
APM_RC.Force_Out6_Out7();
#endif
}
static void output_motors_disarmed()
@ -183,7 +194,7 @@ static void output_motors_disarmed()
static void output_motor_test()
{
if( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME )
{
{
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
@ -216,9 +227,9 @@ static void output_motor_test()
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
}
if( g.frame_orientation == V_FRAME )
{
{
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000);

13
ArduCopter/motors_octa_quad.pde
View File

@ -2,6 +2,15 @@
#if FRAME_CONFIG == OCTA_QUAD_FRAME
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR3 = 5000; // 50 hz output CH 7, 8, 11
#endif
}
static void output_motors_armed()
{
int roll_out, pitch_out;
@ -117,10 +126,12 @@ static void output_motors_armed()
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
#if INSTANT_PWM == 1
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
APM_RC.Force_Out6_Out7();
#endif
}
static void output_motors_disarmed()

11
ArduCopter/motors_quad.pde
View File

@ -2,6 +2,15 @@
#if FRAME_CONFIG == QUAD_FRAME
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR3 = 40000; // 50 hz output CH 7, 8, 11
#endif
}
static void output_motors_armed()
{
int roll_out, pitch_out;
@ -87,9 +96,11 @@ static void output_motors_armed()
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
#if INSTANT_PWM == 1
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
#endif
}
static void output_motors_disarmed()

13
ArduCopter/motors_tri.pde
View File

@ -1,6 +1,16 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if FRAME_CONFIG == TRI_FRAME
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR3 = 40000; // 50 hz output CH 7, 8, 11
#endif
}
static void output_motors_armed()
{
int out_min = g.rc_3.radio_min;
@ -64,9 +74,12 @@ static void output_motors_armed()
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
#if INSTANT_PWM == 1
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
#endif
}
static void output_motors_disarmed()

14
ArduCopter/motors_y6.pde
View File

@ -4,6 +4,16 @@
#define YAW_DIRECTION 1
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR3 = 5000; // 50 hz output CH 7, 8, 11
#endif
}
static void output_motors_armed()
{
int out_min = g.rc_3.radio_min;
@ -105,10 +115,12 @@ static void output_motors_armed()
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
#if INSTANT_PWM == 1
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
APM_RC.Force_Out6_Out7();
#endif
}
static void output_motors_disarmed()

1
ArduCopter/radio.pde
View File

@ -51,6 +51,7 @@ static void init_rc_out()
APM_RC.Init(); // APM Radio initialization
init_motors_out();
// fix for crazy output
OCR1B = 0xFFFF; // PB6, OUT3

4
ArduCopter/system.pde
View File

@ -174,8 +174,8 @@ static void init_ardupilot()
init_camera();
#if HIL_MODE != HIL_MODE_ATTITUDE
// begin filtering the ADC Gyros
adc.filter_result = true;
// begin filtering the ADC Gyros
adc.filter_result = true;
adc.Init(); // APM ADC library initialization
barometer.Init(); // APM Abs Pressure sensor initialization