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removed D for nav, added extra timer for FBW and Nav.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1600 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-06 07:06:36 +00:00
parent 20a57b8932
commit c512a0ab64
2 changed files with 14 additions and 7 deletions
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11
ArduCopterMega/ArduCopterMega.pde
View File

@ -388,11 +388,13 @@ byte slow_loopCounter;
byte superslow_loopCounter; byte superslow_loopCounter;
unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
unsigned long nav2_loopTimer; // used to track the elapsed ime for GPS nav
uint8_t delta_ms_medium_loop; uint8_t delta_ms_medium_loop;
uint8_t delta_ms_fast_loop; // Delta Time in miliseconds uint8_t delta_ms_fast_loop; // Delta Time in miliseconds
unsigned long dTnav; // Delta Time in milliseconds for navigation computations unsigned long dTnav; // Delta Time in milliseconds for navigation computations
unsigned long dTnav2; // Delta Time in milliseconds for navigation computations
unsigned long elapsedTime; // for doing custom events unsigned long elapsedTime; // for doing custom events
float load; // % MCU cycles used float load; // % MCU cycles used
@ -535,6 +537,8 @@ void medium_loop()
// calc pitch and roll to target // calc pitch and roll to target
// ----------------------------- // -----------------------------
dTnav2 = millis() - nav2_loopTimer;
nav2_loopTimer = millis();
calc_nav(); calc_nav();
break; break;
@ -860,6 +864,7 @@ void update_current_flight_mode(void)
fbw_timer = 0; fbw_timer = 0;
if(home_is_set == false){ if(home_is_set == false){
scaleLongDown = 1;
// we are not using GPS // we are not using GPS
// reset the location // reset the location
// RTL won't function // RTL won't function
@ -869,8 +874,8 @@ void update_current_flight_mode(void)
dTnav = 200; dTnav = 200;
} }
next_WP.lat = home.lat + rc_2.control_in / 5; // 4500 / 5 = 900 = 10 meteres next_WP.lat = home.lat + rc_2.control_in / 2; // 4500 / 2 = 2250 = 25 meteres
next_WP.lng = home.lng + rc_1.control_in / 5; // 4500 / 5 = 900 = 10 meteres next_WP.lng = home.lng + rc_1.control_in / 2; // 4500 / 2 = 900 = 25 meteres
} }
// Output Pitch, Roll, Yaw and Throttle // Output Pitch, Roll, Yaw and Throttle
@ -1013,4 +1018,6 @@ void read_AHRS(void)
//----------------------------------------------- //-----------------------------------------------
dcm.update_DCM(G_Dt); dcm.update_DCM(G_Dt);
omega = dcm.get_gyro(); omega = dcm.get_gyro();
dcm.roll_sensor = 0;
dcm.pitch_sensor = 0;
} }

10
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 21 # define PITCH_MAX 25
#endif #endif
@ -363,13 +363,13 @@
// Navigation control gains // Navigation control gains
// //
#ifndef NAV_P #ifndef NAV_P
# define NAV_P 2.4 # define NAV_P 1.5
#endif #endif
#ifndef NAV_I #ifndef NAV_I
# define NAV_I 0.01 # define NAV_I 0.00
#endif #endif
#ifndef NAV_D #ifndef NAV_D
# define NAV_D 0.005 # define NAV_D 0.00
#endif #endif
#ifndef NAV_IMAX #ifndef NAV_IMAX
# define NAV_IMAX 250 # define NAV_IMAX 250
@ -386,7 +386,7 @@
# define THROTTLE_BARO_I 0.04 # define THROTTLE_BARO_I 0.04
#endif #endif
#ifndef THROTTLE_BARO_D #ifndef THROTTLE_BARO_D
# define THROTTLE_BARO_D 0.15 # define THROTTLE_BARO_D 0.45
#endif #endif
#ifndef THROTTLE_BARO_IMAX #ifndef THROTTLE_BARO_IMAX
# define THROTTLE_BARO_IMAX 100 # define THROTTLE_BARO_IMAX 100