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FBW bug fixes

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1576 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-30 02:36:03 +00:00
parent 343c6565db
commit b250df996e
8 changed files with 38 additions and 46 deletions
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5
ArduCopterMega/APM_Config.h
View File

@ -5,9 +5,8 @@
#define GPS_PROTOCOL GPS_PROTOCOL_MTK #define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE #define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK #define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
//#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD //#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define ACRO_RATE_TRIGGER 4200 //#define ACRO_RATE_TRIGGER 4200

7
ArduCopterMega/ArduCopterMega.pde
View File

@ -571,9 +571,10 @@ void medium_loop()
if (log_bitmask & MASK_LOG_NTUN) if (log_bitmask & MASK_LOG_NTUN)
Log_Write_Nav_Tuning(); Log_Write_Nav_Tuning();
if (log_bitmask & MASK_LOG_GPS) if (log_bitmask & MASK_LOG_GPS){
Log_Write_GPS(GPS.time, current_loc.lat, current_loc.lng, GPS.altitude, current_loc.alt, (long) GPS.ground_speed, GPS.ground_course, GPS.fix, GPS.num_sats); if(home_is_set)
Log_Write_GPS(GPS.time, current_loc.lat, current_loc.lng, GPS.altitude, current_loc.alt, (long) GPS.ground_speed, GPS.ground_course, GPS.fix, GPS.num_sats);
}
send_message(MSG_ATTITUDE); // Sends attitude data send_message(MSG_ATTITUDE); // Sends attitude data
break; break;

1
ArduCopterMega/EEPROM.pde
View File

@ -17,6 +17,7 @@ void read_EEPROM_startup(void)
imu.load_accel_eeprom(); imu.load_accel_eeprom();
read_EEPROM_alt_RTL(); read_EEPROM_alt_RTL();
read_EEPROM_current(); read_EEPROM_current();
read_EEPROM_nav();
// magnatometer // magnatometer
read_EEPROM_compass(); read_EEPROM_compass();
read_EEPROM_compass_declination(); read_EEPROM_compass_declination();

25
ArduCopterMega/Log.pde
View File

@ -104,6 +104,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
// check that the requested log number can be read // check that the requested log number can be read
dump_log = argv[1].i; dump_log = argv[1].i;
last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM); last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
if ((argc != 2) || (dump_log < 1) || (dump_log > last_log_num)) { if ((argc != 2) || (dump_log < 1) || (dump_log > last_log_num)) {
Serial.printf_P(PSTR("bad log number\n")); Serial.printf_P(PSTR("bad log number\n"));
return(-1); return(-1);
@ -111,6 +112,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
dump_log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log-1)*0x02)); dump_log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log-1)*0x02));
dump_log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log)*0x02))-1; dump_log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log)*0x02))-1;
if (dump_log == last_log_num) { if (dump_log == last_log_num) {
dump_log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE); dump_log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
} }
@ -345,21 +347,21 @@ void Log_Write_Current()
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2); DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CURRENT_MSG); DataFlash.WriteByte(LOG_CURRENT_MSG);
DataFlash.WriteInt(rc_3.control_in);
DataFlash.WriteInt((int)(current_voltage * 100.0)); DataFlash.WriteInt((int)(current_voltage * 100.0));
DataFlash.WriteInt((int)(current_amps * 100.0)); DataFlash.WriteInt((int)(current_amps * 100.0));
DataFlash.WriteInt((int)(current_total * 10.0)); DataFlash.WriteInt((int)current_total);
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
// Read a Current packet // Read a Current packet
void Log_Read_Current() void Log_Read_Current()
{ {
Serial.print("CURR:"); Serial.printf("CURR: %d, %4.4f, %4.4f, %d\n",
Serial.print((float)DataFlash.ReadInt() / 100.f); DataFlash.ReadInt(),
Serial.print(comma); ((float)DataFlash.ReadInt() / 100.f),
Serial.print((float)DataFlash.ReadInt() / 100.f); ((float)DataFlash.ReadInt() / 100.f),
Serial.print(comma); DataFlash.ReadInt());
Serial.print((float)DataFlash.ReadInt() / 10.f);
Serial.println();
} }
// Read an control tuning packet // Read an control tuning packet
@ -474,17 +476,13 @@ void Log_Read_Attitude()
// Read a mode packet // Read a mode packet
void Log_Read_Mode() void Log_Read_Mode()
{ {
byte mode;
mode = DataFlash.ReadByte();
Serial.print("MOD:"); Serial.print("MOD:");
Serial.println(flight_mode_strings[control_mode]); Serial.println(flight_mode_strings[DataFlash.ReadByte()]);
} }
// Read a GPS packet // Read a GPS packet
void Log_Read_GPS() void Log_Read_GPS()
{ {
Serial.print("GPS:"); Serial.print("GPS:");
Serial.print(DataFlash.ReadLong()); // Time Serial.print(DataFlash.ReadLong()); // Time
Serial.print(comma); Serial.print(comma);
@ -503,7 +501,6 @@ void Log_Read_GPS()
Serial.print((float)DataFlash.ReadLong()/100.0); // Ground Speed Serial.print((float)DataFlash.ReadLong()/100.0); // Ground Speed
Serial.print(comma); Serial.print(comma);
Serial.println((float)DataFlash.ReadLong()/100.0); // Ground Course Serial.println((float)DataFlash.ReadLong()/100.0); // Ground Course
} }
// Read a raw accel/gyro packet // Read a raw accel/gyro packet

6
ArduCopterMega/config.h
View File

@ -355,7 +355,7 @@
// //
// how much to we pitch towards the target // how much to we pitch towards the target
#ifndef PITCH_MAX #ifndef PITCH_MAX
# define PITCH_MAX 22 # define PITCH_MAX 21
#endif #endif
@ -366,13 +366,13 @@
# define NAV_P 1.2 # define NAV_P 1.2
#endif #endif
#ifndef NAV_I #ifndef NAV_I
# define NAV_I 0.1 # define NAV_I 0.01
#endif #endif
#ifndef NAV_D #ifndef NAV_D
# define NAV_D 0.005 # define NAV_D 0.005
#endif #endif
#ifndef NAV_IMAX #ifndef NAV_IMAX
# define NAV_IMAX 1200 # define NAV_IMAX 250
#endif #endif

9
ArduCopterMega/control_modes.pde
View File

@ -4,10 +4,6 @@ void read_control_switch()
//motor_armed = (switchPosition < 5); //motor_armed = (switchPosition < 5);
if (oldSwitchPosition != switchPosition){ if (oldSwitchPosition != switchPosition){
if(motor_armed)
Serial.println("motor_armed");
else
Serial.println("motor disarmed");
set_mode(flight_modes[switchPosition]); set_mode(flight_modes[switchPosition]);
@ -76,16 +72,13 @@ void read_trim_switch()
if(trim_flag){ if(trim_flag){
// switch was just released // switch was just released
if((millis() - trim_timer) > 2000){ if((millis() - trim_timer) > 2000){
// not being used // not being used
} else { } else {
// set the throttle nominal // set the throttle nominal
if(rc_3.control_in > 50){ if(rc_3.control_in > 50){
throttle_cruise = rc_3.control_in; throttle_cruise = rc_3.control_in;
//Serial.print("tnom "); Serial.printf("tnom %d\n", throttle_cruise);
//Serial.println(throttle_cruise, DEC);
save_EEPROM_throttle_cruise(); save_EEPROM_throttle_cruise();
} }
} }

20
ArduCopterMega/setup.pde
View File

@ -718,7 +718,7 @@ void report_current()
print_enabled(current_enabled); print_enabled(current_enabled);
Serial.printf_P(PSTR("mah: %d"),milliamp_hours); Serial.printf_P(PSTR("mah: %d"),milliamp_hours);
print_blanks(2); print_blanks(1);
} }
@ -740,7 +740,7 @@ void report_frame()
Serial.printf_P(PSTR("HEXA ")); Serial.printf_P(PSTR("HEXA "));
Serial.printf_P(PSTR("frame (%d)"), (int)frame_type); Serial.printf_P(PSTR("frame (%d)"), (int)frame_type);
print_blanks(2); print_blanks(1);
} }
void report_radio() void report_radio()
@ -751,7 +751,7 @@ void report_radio()
// radio // radio
read_EEPROM_radio(); read_EEPROM_radio();
print_radio_values(); print_radio_values();
print_blanks(2); print_blanks(1);
} }
void report_gains() void report_gains()
@ -789,7 +789,7 @@ void report_gains()
print_PID(&pid_baro_throttle); print_PID(&pid_baro_throttle);
Serial.printf_P(PSTR("sonar throttle:\n")); Serial.printf_P(PSTR("sonar throttle:\n"));
print_PID(&pid_sonar_throttle); print_PID(&pid_sonar_throttle);
print_blanks(2); print_blanks(1);
} }
void report_xtrack() void report_xtrack()
@ -801,11 +801,11 @@ void report_xtrack()
read_EEPROM_nav(); read_EEPROM_nav();
Serial.printf_P(PSTR("XTRACK: %4.2f\n" Serial.printf_P(PSTR("XTRACK: %4.2f\n"
"XTRACK angle: %d\n" "XTRACK angle: %d\n"
"PITCH_MAX: %d"), "PITCH_MAX: %ld"),
x_track_gain, x_track_gain,
x_track_angle, x_track_angle,
pitch_max); pitch_max);
print_blanks(2); print_blanks(1);
} }
void report_throttle() void report_throttle()
@ -825,7 +825,7 @@ void report_throttle()
throttle_cruise, throttle_cruise,
throttle_failsafe_enabled, throttle_failsafe_enabled,
throttle_failsafe_value); throttle_failsafe_value);
print_blanks(2); print_blanks(1);
} }
void report_imu() void report_imu()
@ -836,7 +836,7 @@ void report_imu()
imu.print_gyro_offsets(); imu.print_gyro_offsets();
imu.print_accel_offsets(); imu.print_accel_offsets();
print_blanks(2); print_blanks(1);
} }
void report_compass() void report_compass()
@ -860,7 +860,7 @@ void report_compass()
mag_offset_x, mag_offset_x,
mag_offset_y, mag_offset_y,
mag_offset_z); mag_offset_z);
print_blanks(2); print_blanks(1);
} }
@ -874,7 +874,7 @@ void report_flight_modes()
for(int i = 0; i < 6; i++ ){ for(int i = 0; i < 6; i++ ){
print_switch(i, flight_modes[i]); print_switch(i, flight_modes[i]);
} }
print_blanks(2); print_blanks(1);
} }
/***************************************************************************/ /***************************************************************************/

7
ArduCopterMega/test.pde
View File

@ -355,16 +355,17 @@ test_fbw(uint8_t argc, const Menu::arg *argv)
GPS.latitude = 0; GPS.latitude = 0;
calc_nav(); calc_nav();
Serial.printf_P(PSTR(" ys:%ld, next_WP.lat:%ld, next_WP.lng:%ld, n_lat:%ld, n_lon:%ld \n"), Serial.printf_P(PSTR("ys:%ld, WP.lat:%ld, WP.lng:%ld, n_lat:%ld, n_lon:%ld, nroll:%ld, npitch:%ld, pmax:%ld, \t- "),
dcm.yaw_sensor, dcm.yaw_sensor,
next_WP.lat, next_WP.lat,
next_WP.lng, next_WP.lng,
nav_lat, nav_lat,
nav_lon, nav_lon,
nav_pitch, nav_pitch,
nav_roll); nav_roll,
pitch_max);
//print_motor_out(); print_motor_out();
} }
if(Serial.available() > 0){ if(Serial.available() > 0){