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Removed default Rate_I for pitch and roll

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added change speed control for missions
This commit is contained in:
Jason Short 2011-09-24 09:49:11 -07:00
parent e5c248e2bf
commit e961d3f3d4
2 changed files with 14 additions and 8 deletions
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18
ArduCopter/commands_logic.pde
View File

@ -75,7 +75,7 @@ static void handle_process_now()
break;
case MAV_CMD_DO_CHANGE_SPEED:
//do_change_speed();
do_change_speed();
break;
case MAV_CMD_DO_SET_HOME:
@ -193,6 +193,7 @@ static bool verify_may()
static void do_RTL(void)
{
// TODO: Altitude option from mission planner
Location temp = home;
temp.alt = read_alt_to_hold();
@ -451,7 +452,7 @@ static bool verify_loiter_turns()
static bool verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
//gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
return true;
}else{
return false;
@ -466,7 +467,7 @@ static void do_wait_delay()
{
//Serial.print("dwd ");
condition_start = millis();
condition_value = next_command.lat * 1000; // convert to milliseconds
condition_value = next_command.lat * 1000; // convert to milliseconds
Serial.println(condition_value,DEC);
}
@ -494,9 +495,9 @@ static void do_yaw()
command_yaw_start_time = millis();
command_yaw_dir = next_command.p1; // 1 = clockwise, 0 = counterclockwise
command_yaw_speed = next_command.lat * 100; // ms * 100
command_yaw_relative = next_command.lng; // 1 = Relative, 0 = Absolute
command_yaw_speed = next_command.lat * 100; // ms * 100
// if unspecified go 30° a second
@ -613,6 +614,11 @@ static bool verify_yaw()
// Do (Now) commands
/********************************************************************************/
static void do_change_speed()
{
g.waypoint_speed_max = next_command.p1 * 100;
}
static void do_target_yaw()
{
yaw_tracking = next_command.p1;
@ -680,9 +686,9 @@ static void do_repeat_servo()
if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) {
event_timer = 0;
event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
event_repeat = next_command.lat * 2;
event_value = next_command.alt;
event_repeat = next_command.lat * 2;
event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
switch(next_command.p1) {
case CH_5:

4
ArduCopter/config.h
View File

@ -429,7 +429,7 @@
# define RATE_ROLL_P 0.14
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.18
# define RATE_ROLL_I 0 //0.18
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 15 // degrees
@ -439,7 +439,7 @@
# define RATE_PITCH_P 0.14
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.18
# define RATE_PITCH_I 0 //0.18
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 15 // degrees