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removed unused variables, functions,

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moved camera to 10hz loop



git-svn-id: https://arducopter.googlecode.com/svn/trunk@3268 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-09-05 05:09:07 +00:00
parent 2e3ae1a30e
commit 47c3be156b
8 changed files with 30 additions and 41 deletions
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49
ArduCopterMega/ArduCopterMega.pde
View File

@ -271,9 +271,9 @@ int x_rate_error;
// Radio
// -----
static byte control_mode = STABILIZE;
static byte old_control_mode = STABILIZE;
static byte oldSwitchPosition; // for remembering the control mode switch
static byte control_mode = STABILIZE;
static byte old_control_mode = STABILIZE;
static byte oldSwitchPosition; // for remembering the control mode switch
static int motor_out[8];
// Heli
@ -286,8 +286,8 @@ static int heli_servo_out[4];
// Failsafe
// --------
static boolean failsafe; // did our throttle dip below the failsafe value?
static boolean ch3_failsafe;
static boolean failsafe; // did our throttle dip below the failsafe value?
static boolean ch3_failsafe;
static boolean motor_armed;
static boolean motor_auto_armed; // if true,
@ -295,14 +295,12 @@ static boolean motor_auto_armed; // if true,
// ----
//int max_stabilize_dampener; //
//int max_yaw_dampener; //
static boolean rate_yaw_flag; // used to transition yaw control from Rate control to Yaw hold
static Vector3f omega;
// LED output
// ----------
static boolean motor_light; // status of the Motor safety
static boolean GPS_light; // status of the GPS light
static boolean timer_light; // status of the Motor safety
static byte led_mode = NORMAL_LEDS;
// GPS variables
@ -323,10 +321,6 @@ static long target_bearing; // deg * 100 : 0 to 360 location of the plane
static bool xtrack_enabled = false;
static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
static int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
static float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1?
static int last_ground_speed; // used to dampen navigation
static int waypoint_speed;
static byte wp_control; // used to control - navgation or loiter
@ -338,9 +332,8 @@ static byte wp_verify_byte; // used for tracking state of navigating waypoi
static float cos_roll_x = 1;
static float cos_pitch_x = 1;
static float cos_yaw_x = 1;
static float cos_yaw_x = 1;
static float sin_pitch_y, sin_yaw_y, sin_roll_y;
static bool simple_bearing_is_set = false;
static long initial_simple_bearing; // used for Simple mode
@ -358,7 +351,6 @@ static int airspeed; // m/s * 100
static long bearing_error; // deg * 100 : 0 to 36000
static long altitude_error; // meters * 100 we are off in altitude
static long old_altitude;
static long distance_error; // distance to the WP
static long yaw_error; // how off are we pointed
static long long_error, lat_error; // temp for debugging
@ -384,7 +376,7 @@ static int ground_temperature;
// ----------------------
static int sonar_alt;
static int baro_alt;
static int baro_alt_offset;
//static int baro_alt_offset;
static byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
static int altitude_rate;
@ -396,7 +388,7 @@ static byte throttle_mode;
static boolean takeoff_complete; // Flag for using take-off controls
static boolean land_complete;
static int landing_distance; // meters;
//static int landing_distance; // meters;
static long old_alt; // used for managing altitude rates
static int velocity_land;
static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
@ -419,7 +411,7 @@ static int nav_throttle; // 0-1000 for throttle control
static long throttle_integrator; // used to integrate throttle output to predict battery life
static bool invalid_throttle; // used to control when we calculate nav_throttle
static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
//static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
static long command_yaw_start; // what angle were we to begin with
static unsigned long command_yaw_start_time; // when did we start turning
@ -436,7 +428,7 @@ static int auto_level_counter;
// ---------
static long wp_distance; // meters - distance between plane and next waypoint
static long wp_totalDistance; // meters - distance between old and next waypoint
static byte next_wp_index; // Current active command index
//static byte next_wp_index; // Current active command index
// repeating event control
// -----------------------
@ -446,7 +438,7 @@ static unsigned int event_delay; // how long to delay the next firing of
static int event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
static int event_value; // per command value, such as PWM for servos
static int event_undo_value; // the value used to undo commands
static byte repeat_forever;
//static byte repeat_forever;
static byte undo_event; // counter for timing the undo
// delay command
@ -484,15 +476,14 @@ static float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm
// Performance monitoring
// ----------------------
static long perf_mon_timer;
static float imu_health; // Metric based on accel gain deweighting
//static float imu_health; // Metric based on accel gain deweighting
static int G_Dt_max; // Max main loop cycle time in milliseconds
static int gps_fix_count;
static byte gcs_messages_sent;
// GCS
// ---
static char GCS_buffer[53];
static char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed
//static char GCS_buffer[53];
//static char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed
// System Timers
// --------------
@ -516,7 +507,6 @@ static byte simple_timer; // for limiting the execution of flight mode thi
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
static unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
static unsigned long elapsedTime; // for doing custom events
static float load; // % MCU cycles used
static byte counter_one_herz;
@ -607,7 +597,7 @@ static void fast_loop()
read_radio();
// try to send any deferred messages if the serial port now has
// some space available
// some space available
gcs.send_message(MSG_RETRY_DEFERRED);
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
hil.send_message(MSG_RETRY_DEFERRED);
@ -709,6 +699,8 @@ static void medium_loop()
altitude_error = get_altitude_error();
camera_stabilization();
// invalidate the throttle hold value
// ----------------------------------
invalid_throttle = true;
@ -797,7 +789,7 @@ static void fifty_hz_loop()
// Read Sonar
// ----------
if(g.sonar_enabled){
sonar_alt = sonar.read();
sonar_alt = sonar.read();
}
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED
@ -823,11 +815,6 @@ static void fifty_hz_loop()
Log_Write_Raw();
#endif
//#if CAMERA_STABILIZER == ENABLED
camera_stabilization();
//#endif
#if HIL_MODE != HIL_MODE_DISABLED && HIL_PORT != GCS_PORT
// kick the HIL to process incoming sensor packets
hil.update();

2
ArduCopterMega/GCS_Standard.pde
View File

@ -3,6 +3,8 @@
#if GCS_PROTOCOL == GCS_PROTOCOL_STANDARD
static byte gcs_messages_sent;
#if GCS_PORT == 3
# define SendSer Serial3.print
#else

2
ArduCopterMega/Log.pde
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@ -98,7 +98,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
int dump_log_start;
int dump_log_end;
byte last_log_num = get_num_logs();
//byte last_log_num = get_num_logs();
//Serial.printf_P(PSTR("\n%d logs\n"), last_log_num);
// check that the requested log number can be read

2
ArduCopterMega/Parameters.h
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@ -373,7 +373,7 @@ public:
pi_nav_lat (k_param_pi_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_IMAX * 100),
pi_nav_lon (k_param_pi_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_IMAX * 100),
pi_throttle (k_param_pi_throttle, PSTR("THR_BAR_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
pi_throttle (k_param_pi_throttle, PSTR("THR_HOLD_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
pi_crosstrack (k_param_pi_crosstrack, PSTR("XTRACK_"), XTRACK_P, XTRACK_I, XTRACK_IMAX),
junk(0) // XXX just so that we can add things without worrying about the trailing comma

3
ArduCopterMega/commands.pde
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@ -124,12 +124,13 @@ static void increment_WP_index()
SendDebugln(g.waypoint_index,DEC);
}
/*
static void decrement_WP_index()
{
if (g.waypoint_index > 0) {
g.waypoint_index.set_and_save(g.waypoint_index - 1);
}
}
}*/
static long read_alt_to_hold()
{

2
ArduCopterMega/config.h
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@ -522,7 +522,7 @@
//# define THROTTLE_D 0.6 // upped with filter
//#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 40
# define THROTTLE_IMAX 50
#endif

9
ArduCopterMega/control_modes.pde
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@ -37,7 +37,6 @@ static void reset_control_switch()
}
static boolean trim_flag;
static unsigned long trim_timer;
// read at 10 hz
// set this to your trainer switch
@ -72,16 +71,16 @@ static void read_trim_switch()
static void auto_trim()
{
if(auto_level_counter > 0){
g.rc_1.dead_zone = 60; // 60 = .6 degrees
g.rc_2.dead_zone = 60;
//g.rc_1.dead_zone = 60; // 60 = .6 degrees
//g.rc_2.dead_zone = 60;
auto_level_counter--;
trim_accel();
led_mode = AUTO_TRIM_LEDS;
if(auto_level_counter == 1){
g.rc_1.dead_zone = 0; // 60 = .6 degrees
g.rc_2.dead_zone = 0;
//g.rc_1.dead_zone = 0; // 60 = .6 degrees
//g.rc_2.dead_zone = 0;
led_mode = NORMAL_LEDS;
clear_leds();
imu.save();

2
ArduCopterMega/motors.pde
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@ -3,7 +3,7 @@
#define ARM_DELAY 10 // one secon
#define DISARM_DELAY 10 // one secon
#define LEVEL_DELAY 120 // twelve seconds
#define AUTO_LEVEL_DELAY 250 // twentyfive seconds
#define AUTO_LEVEL_DELAY 150 // twentyfive seconds
// called at 10hz