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Added FlyByWire mode. Simulates Position hold using the control sticks. Untested. Reset your "modes" in setup CLI before flying this code.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1278 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-26 19:49:11 +00:00
parent e259a22f2f
commit d4c3574a88
2 changed files with 53 additions and 20 deletions
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60
ArduCopterMega/ArduCopterMega.pde
View File

@ -86,6 +86,7 @@ byte control_mode = STABILIZE;
boolean failsafe = false; // did our throttle dip below the failsafe value?
boolean ch3_failsafe = false;
byte oldSwitchPosition; // for remembering the control mode switch
byte fbw_timer; // for limiting the execution of FBW input
const char *comma = ",";
@ -94,6 +95,7 @@ const char* flight_mode_strings[] = {
"ACRO",
"STABILIZE",
"ALT_HOLD",
"FBW",
"AUTO",
"POSITION_HOLD",
"RTL",
@ -736,9 +738,6 @@ void update_current_flight_mode(void)
// perform stabilzation
output_stabilize();
// hold yaw
//output_yaw_hold();
// apply throttle control
output_auto_throttle();
break;
@ -760,11 +759,53 @@ void update_current_flight_mode(void)
// Output Pitch, Roll, Yaw and Throttle
// ------------------------------------
// apply throttle control
output_manual_throttle();
// perform stabilzation
output_stabilize();
break;
case FBW:
// we are currently using manual throttle for testing.
fbw_timer++;
//call at 5 hz
if(fbw_timer > 20){
fbw_timer = 0;
current_loc.lat = 0;
current_loc.lng = 0;
next_WP.lat = rc_1.control_in /5; // 10 meteres
next_WP.lng = -rc_2.control_in /5; // 10 meteres
// waypoint distance from plane
// ----------------------------
wp_distance = GPS_wp_distance = getDistance(&current_loc, &next_WP);
// target_bearing is where we should be heading
// --------------------------------------------
nav_bearing = target_bearing = get_bearing(&current_loc, &next_WP);
// not really needed
//update_navigation();
}
// Intput Pitch, Roll, Yaw and Throttle
// ------------------------------------
calc_nav_pid();
calc_nav_roll();
calc_nav_pitch();
// get desired yaw control from radio
input_yaw_hold();
// Output Pitch, Roll, Yaw and Throttle
// ------------------------------------
// apply throttle control
output_manual_throttle();
// hold yaw
//output_yaw_hold();
// perform stabilzation
output_stabilize();
@ -793,9 +834,6 @@ void update_current_flight_mode(void)
// apply throttle control
output_auto_throttle();
// hold yaw
//output_yaw_hold();
// perform stabilzation
output_stabilize();
break;
@ -816,9 +854,6 @@ void update_current_flight_mode(void)
// apply throttle control
output_auto_throttle();
// hold yaw
//output_yaw_hold();
// perform stabilzation
output_stabilize();
break;
@ -843,9 +878,6 @@ void update_current_flight_mode(void)
// apply throttle control
output_auto_throttle();
// hold yaw
//output_yaw_hold();
// perform stabilzation
output_stabilize();
break;

13
ArduCopterMega/defines.h
View File

@ -74,12 +74,13 @@
#define ACRO 0 // rate control
#define STABILIZE 1 // hold level position
#define ALT_HOLD 2 // AUTO control
#define AUTO 3 // AUTO control
#define POSITION_HOLD 4 // Hold a single location
#define RTL 5 // AUTO control
#define TAKEOFF 6 // controlled decent rate
#define LAND 7 // controlled decent rate
#define NUM_MODES 8
#define FBW 3 // AUTO control
#define AUTO 4 // AUTO control
#define POSITION_HOLD 5 // Hold a single location
#define RTL 6 // AUTO control
#define TAKEOFF 7 // controlled decent rate
#define LAND 8 // controlled decent rate
#define NUM_MODES 9
// Command IDs - Must
#define CMD_BLANK 0x00 // there is no command stored in the mem location requested