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Arming fixes.

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This commit is contained in:
James Goppert 2011-10-19 20:09:06 -04:00
parent 73c3f1098a
commit 9e9da38c67
4 changed files with 9 additions and 9 deletions
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4
apo/QuadArducopter.h
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@ -55,8 +55,8 @@ static const bool rangeFinderDownEnabled = false;
// loop rates // loop rates
static const float loopRate = 250; // attitude nav static const float loopRate = 250; // attitude nav
static const float loop0Rate = 40; // controller static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast static const float loop1Rate = 10; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1; static const float loop3Rate = 0.1;

4
libraries/APO/AP_ArmingMechanism.cpp
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@ -15,7 +15,7 @@ namespace apo {
void AP_ArmingMechanism::update(const float dt) { void AP_ArmingMechanism::update(const float dt) {
// arming // arming
if ( (_hal->getState() != MAV_STATE_ACTIVE) & if ( (_hal->getState() != MAV_STATE_ACTIVE) &&
(_hal->rc[_ch1]->getRadioPosition() < _ch1Min) && (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
(_hal->rc[_ch2]->getRadioPosition() < _ch2Min) ) { (_hal->rc[_ch2]->getRadioPosition() < _ch2Min) ) {
@ -30,7 +30,7 @@ void AP_ArmingMechanism::update(const float dt) {
} }
} }
// disarming // disarming
else if ( (_hal->getState() == MAV_STATE_ACTIVE) & else if ( (_hal->getState() == MAV_STATE_ACTIVE) &&
(_hal->rc[_ch1]->getRadioPosition() < _ch1Min) && (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
(_hal->rc[_ch2]->getRadioPosition() > _ch2Max) ) { (_hal->rc[_ch2]->getRadioPosition() > _ch2Max) ) {

2
libraries/APO/AP_ArmingMechanism.h
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@ -28,7 +28,7 @@ public:
AP_ArmingMechanism(AP_HardwareAbstractionLayer * hal, AP_ArmingMechanism(AP_HardwareAbstractionLayer * hal,
uint8_t ch1, uint8_t ch2, float ch1Min, float ch2Min, uint8_t ch1, uint8_t ch2, float ch1Min, float ch2Min,
float ch2Max) : _armingClock(0), _hal(hal), _ch1(ch1), _ch2(ch2), float ch2Max) : _armingClock(0), _hal(hal), _ch1(ch1), _ch2(ch2),
_ch1Min(ch1Min), _ch2Min(ch2Min) { _ch1Min(ch1Min), _ch2Min(ch2Min), _ch2Max(ch2Max) {
} }
/** /**

8
libraries/APO/AP_Autopilot.cpp
View File

@ -98,9 +98,9 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
*/ */
hal->debug->println_P(PSTR("attaching loops")); hal->debug->println_P(PSTR("attaching loops"));
subLoops().push_back(new Loop(loop0Rate, callback0, this)); subLoops().push_back(new Loop(loop0Rate, callback0, this));
subLoops()[0]->subLoops().push_back(new Loop(loop1Rate, callback1, this)); subLoops().push_back(new Loop(loop1Rate, callback1, this));
subLoops()[0]->subLoops()[0]->subLoops().push_back(new Loop(loop2Rate, callback2, this)); subLoops().push_back(new Loop(loop2Rate, callback2, this));
subLoops()[0]->subLoops()[0]->subLoops()[0]->subLoops().push_back(new Loop(loop3Rate, callback3, this)); subLoops().push_back(new Loop(loop3Rate, callback3, this));
hal->debug->println_P(PSTR("running")); hal->debug->println_P(PSTR("running"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("running")); hal->gcs->sendText(SEVERITY_LOW, PSTR("running"));
@ -162,7 +162,7 @@ void AP_Autopilot::callback1(void * data) {
* slow navigation loop update * slow navigation loop update
*/ */
if (apo->getNavigator()) { if (apo->getNavigator()) {
apo->getNavigator()->updateSlow(apo->subLoops()[0]->subLoops()[0]->dt()); apo->getNavigator()->updateSlow(apo->subLoops()[1]->dt());
} }
/* /*