zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

2.0.36 

Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter
Fixed issue with AUTO not getting proper input.
Added Limit to high side of motors

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2874 f9c3cf11-9bcb-44bc-f272-b75c42450872
mission-4.1.18
jasonshort 14 years ago
parent
df26281296
commit
b6db64f9be
6 changed files with 63 additions and 7 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 21
      ArduCopterMega/motors_hexa.pde
  2. 11
      ArduCopterMega/motors_octa.pde
  3. 11
      ArduCopterMega/motors_octa_quad.pde
  4. 6
      ArduCopterMega/motors_quad.pde
  5. 5
      ArduCopterMega/motors_tri.pde
  6. 16
      ArduCopterMega/motors_y6.pde

21
ArduCopterMega/motors_hexa.pde
Unescape View File

@ -6,6 +6,7 @@ void output_motors_armed() @@ -6,6 +6,7 @@ void output_motors_armed()
{
int roll_out, pitch_out;
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -57,13 +58,19 @@ void output_motors_armed() @@ -57,13 +58,19 @@ void output_motors_armed()
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min);
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
#if CUT_MOTORS == ENABLED

11
ArduCopterMega/motors_octa.pde
Unescape View File

@ -6,6 +6,7 @@ void output_motors_armed() @@ -6,6 +6,7 @@ void output_motors_armed()
{
int roll_out, pitch_out;
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -112,6 +113,16 @@ void output_motors_armed() @@ -112,6 +113,16 @@ void output_motors_armed()
motor_out[CH_10] = max(motor_out[CH_10], out_min);
motor_out[CH_11] = max(motor_out[CH_11], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){

11
ArduCopterMega/motors_octa_quad.pde
Unescape View File

@ -6,6 +6,7 @@ void output_motors_armed() @@ -6,6 +6,7 @@ void output_motors_armed()
{
int roll_out, pitch_out;
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -83,6 +84,16 @@ void output_motors_armed() @@ -83,6 +84,16 @@ void output_motors_armed()
motor_out[CH_10] = max(motor_out[CH_10], out_min);
motor_out[CH_11] = max(motor_out[CH_11], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){

6
ArduCopterMega/motors_quad.pde
Unescape View File

@ -6,6 +6,7 @@ void output_motors_armed() @@ -6,6 +6,7 @@ void output_motors_armed()
{
int roll_out, pitch_out;
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -57,6 +58,11 @@ void output_motors_armed() @@ -57,6 +58,11 @@ void output_motors_armed()
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){

5
ArduCopterMega/motors_tri.pde
Unescape View File

@ -4,6 +4,7 @@ @@ -4,6 +4,7 @@
void output_motors_armed()
{
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -33,6 +34,10 @@ void output_motors_armed() @@ -33,6 +34,10 @@ void output_motors_armed()
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){

16
ArduCopterMega/motors_y6.pde
Unescape View File

@ -5,6 +5,7 @@ @@ -5,6 +5,7 @@
void output_motors_armed()
{
int out_min = g.rc_3.radio_min;
int out_max = g.rc_3.radio_max;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -41,6 +42,21 @@ void output_motors_armed() @@ -41,6 +42,21 @@ void output_motors_armed()
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){

Write Preview
Loading…
Cancel
Save