lowered DCM RP gains

made Instant_PWM optional
upped PWM output to 400hz

ArduCopter/ArduCopter.pde

@@ -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;
 					}

ArduCopter/config.h

@@ -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
 
 

ArduCopter/motors.pde

@@ -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

ArduCopter/motors_hexa.pde

@@ -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()

ArduCopter/motors_octa.pde

@@ -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);

ArduCopter/motors_octa_quad.pde

@@ -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()

ArduCopter/motors_quad.pde

@@ -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()

ArduCopter/motors_tri.pde

@@ -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()

ArduCopter/motors_y6.pde

@@ -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()

ArduCopter/radio.pde

@@ -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

ArduCopter/system.pde

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