undid accidentical commit of local changes

sorry about that!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1806 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -1,3 +1,28 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
+// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
+// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
+
+// GPS is auto-selected
+
+#define GCS_PROTOCOL        GCS_PROTOCOL_NONE
+
+//#define MAG_ORIENTATION	AP_COMPASS_COMPONENTS_UP_PINS_BACK
+
+# define SERIAL0_BAUD			38400
+
+//# define STABILIZE_ROLL_P 		0.4
+//# define STABILIZE_PITCH_P		0.4
+//# define STABILIZE_DAMPENER		0.1
+
+
+//#define ACRO_RATE_TRIGGER 4200
+// if you want full ACRO mode, set value to 0
+// if you want safe ACRO mode, set value to 100
+// if you want mostly stabilize with flips, set value to 4200
+
+
+
+// Logging
+//#define LOG_CURRENT ENABLED
+
 
-#include "configs/tridge.h"

ArduCopterMega/config.h

@@ -558,16 +558,3 @@
 #ifndef ALLOW_RC_OVERRIDE
 # define ALLOW_RC_OVERRIDE DISABLED
 #endif
-
-//////////////////////////////////////////////////////////////////////////////
-// Motor arming
-//
-// The default is for MODE2 setups. We wait for throttle to reach
-// zero, and rudder to be at maximum extent.
-#ifndef MOTOR_ARM_CONDITION
-# define MOTOR_ARM_CONDITION (g.rc_3.control_in == 0 && g.rc_4.control_in > 2700)
-#endif
-
-#ifndef MOTOR_DISARM_CONDITION
-# define MOTOR_DISARM_CONDITION (g.rc_3.control_in == 0 && g.rc_4.control_in < -2700)
-#endif

ArduCopterMega/configs/tridge.h

@@ -1,49 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
-// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
-// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
-
-// GPS is auto-selected
-
-#define MAG_ORIENTATION	AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
-
-#define SERIAL0_BAUD			115200
-#define SERIAL3_BAUD		    115200
-
-// Hardware in the loop  protocol
-#if 0
-# define HIL_MODE            HIL_MODE_NONE
-#else
-# define HIL_MODE            HIL_MODE_ATTITUDE
-# define HIL_PROTOCOL        HIL_PROTOCOL_MAVLINK
-# define HIL_PORT			 0
-#endif
-
-// You can set your gps protocol here for your actual
-// hardware and leave it without affecting the hardware
-// in the loop simulation
-
-// Ground control station comms
-#define GCS_PROTOCOL        GCS_PROTOCOL_MAVLINK
-#define GCS_PORT            0
-
-//#define RADIO_OVERRIDE_DEFAULTS { 1500, 1500, 1000, 1500, 1000, 1000, 1000, 1815 }
-
-#define FLIGHT_MODE_CHANNEL CH_8
-
-#define FLIGHT_MODE_1			STABILIZE
-#define FLIGHT_MODE_2			ALT_HOLD
-#define FLIGHT_MODE_3			ACRO
-#define FLIGHT_MODE_4			STABILIZE
-#define FLIGHT_MODE_5			STABILIZE
-#define FLIGHT_MODE_6			STABILIZE
-
-//#define ALWAYS_RESET_RADIO_RANGE 1
-//#define ALWAYS_RESET_MODES 1
-
-#define GPS_PROTOCOL  GPS_PROTOCOL_UBLOX
-
-// Use MODE1 arming
-#define MOTOR_ARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in > 2700)
-#define MOTOR_DISARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in < -2700)

ArduCopterMega/control_modes.pde

@@ -6,14 +6,12 @@ void read_control_switch()
 	//motor_armed = (switchPosition < 5);
 
 	if (oldSwitchPosition != switchPosition){
+
 		set_mode(g.flight_modes[switchPosition]);
 
 		oldSwitchPosition = switchPosition;
 		prev_WP = current_loc;
 
-		Serial.print("Changed to flight mode: ");
-		Serial.println(flight_mode_strings[g.flight_modes[switchPosition]]);
-
 		// reset navigation integrators
 		// -------------------------
 		reset_I();

ArduCopterMega/motors.pde

@@ -6,28 +6,24 @@
 void arm_motors()
 {
 	static byte arming_counter;
-	// Serial.printf("rc3: %u  rc4: %u\n", g.rc_3.control_in, g.rc_4.control_in);
+
 	// Arm motor output : Throttle down and full yaw right for more than 2 seconds
-	if (MOTOR_ARM_CONDITION) {
-		if (arming_counter > ARM_DELAY) {
-			if (!motor_armed) {
-				gcs.send_text(SEVERITY_MEDIUM, "Arming motors");
+	if (g.rc_3.control_in == 0){
+		if (g.rc_4.control_in > 2700) {
+			if (arming_counter > ARM_DELAY) {
+				motor_armed = true;
+			} else{
+				arming_counter++;
 			}
-			motor_armed = true;
-		} else{
-			arming_counter++;
-		}
-	} else if (MOTOR_DISARM_CONDITION) {
-		if (arming_counter > DISARM_DELAY){
-			if (motor_armed) {
-				gcs.send_text(SEVERITY_MEDIUM, "Dis-arming motors");
+		}else if (g.rc_4.control_in < -2700) {
+			if (arming_counter > DISARM_DELAY){
+				motor_armed = false;
+			}else{
+				arming_counter++;
 			}
-			motor_armed = false;
-		} else {
-			arming_counter++;
+		}else{
+			arming_counter = 0;
 		}
-	} else {
-		arming_counter = 0;
 	}
 }
 

ArduCopterMega/system.pde

@@ -123,22 +123,6 @@ void init_ardupilot()
 
 	init_rc_in();		// sets up rc channels from radio
 	init_rc_out();		// sets up the timer libs
-
-#ifdef ALWAYS_RESET_RADIO_RANGE
-	{
-		RC_Channel *rcp = &g.rc_1;
-		for (unsigned char i=0; i<8; i++) {
-			rcp[i].radio_min = 1000;
-			rcp[i].radio_max = 2000;
-			rcp[i].save_eeprom();
-		}
-	}
-#endif
-
-#ifdef ALWAYS_RESET_MODES
-	default_flight_modes();
-#endif
-
 	init_camera();
 #if HIL_MODE != HIL_MODE_ATTITUDE
 	adc.Init();	 		// APM ADC library initialization