2.0.27

Fixed GCS updates, 
Clear GCS Streamrates by default.
moved fast PWM functions to run all the time (for quads, experiment)
cleaned up Mavlink a bit.




git-svn-id: https://arducopter.googlecode.com/svn/trunk@2678 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -528,10 +528,17 @@ void loop()
 	if (millis() - fiftyhz_loopTimer > 19) {
 		delta_ms_fiftyhz 		= millis() - fiftyhz_loopTimer;
 		fiftyhz_loopTimer		= millis();
+		//PORTK |= B01000000;
+
+		// reads all of the necessary trig functions for cameras, throttle, etc.
+		update_trig();
 
 		medium_loop();
 
+
+		// Stuff to run at full 50hz, but after the loops
 		fifty_hz_loop();
+
 		counter_one_herz++;
 
 		if(counter_one_herz == 50){
@@ -550,10 +557,13 @@ void loop()
                 resetPerfData();
             }
         }
+		//PORTK &= B10111111;
 	}
 	//PORTK &= B11101111;
 }
-
+//  PORTK |= B01000000;
+//	PORTK &= B10111111;
+//
 // Main loop
 void fast_loop()
 {
@@ -589,10 +599,6 @@ void fast_loop()
 
 void medium_loop()
 {
-
-	// reads all of the necessary trig functions for cameras, throttle, etc.
-	update_trig();
-
 	// This is the start of the medium (10 Hz) loop pieces
 	// -----------------------------------------
 	switch(medium_loopCounter) {
@@ -690,9 +696,7 @@ void medium_loop()
 			// perform next command
 			// --------------------
 			if(control_mode == AUTO){
-				//if(home_is_set){
-					update_commands();
-				//}
+				update_commands();
 			}
 
 			#if HIL_MODE != HIL_MODE_ATTITUDE
@@ -712,9 +716,9 @@ void medium_loop()
 				gcs.send_message(MSG_ATTITUDE);     // Sends attitude data
 			#endif
 
-			//#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
-			//	hil.data_stream_send(5,45);
-			//#endif
+			#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
+				hil.data_stream_send(5,45);
+			#endif
 
 			if (g.log_bitmask & MASK_LOG_MOTORS)
 				Log_Write_Motors();
@@ -826,6 +830,7 @@ void slow_loop()
 			loop_step = 6;
 			slow_loopCounter++;
 			superslow_loopCounter++;
+			Serial.printf("sc: %4.4f \n", imu._sensor_compensation(0,50));
 
 			if(superslow_loopCounter > 800){ // every 4 minutes
 				#if HIL_MODE != HIL_MODE_ATTITUDE
@@ -882,10 +887,9 @@ void slow_loop()
 				gcs.send_message(MSG_CPU_LOAD, load*100);
 			#endif
 
-			// XXX This was taking 14ms for no reason!!!
-			//#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
-				//hil.data_stream_send(1,5);
-			//#endif
+			#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
+				hil.data_stream_send(1,5);
+			#endif
 
 			#if CHANNEL_6_TUNING != CH6_NONE
 				tuning();

ArduCopterMega/motors_quad.pde

@@ -64,9 +64,6 @@ void output_motors_armed()
 			APM_RC.OutputCh(CH_2, motor_out[CH_2]);
 			APM_RC.OutputCh(CH_3, motor_out[CH_3]);
 			APM_RC.OutputCh(CH_4, motor_out[CH_4]);
-			// InstantPWM
-			APM_RC.Force_Out0_Out1();
-			APM_RC.Force_Out2_Out3();
 		}else{
 			APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
 			APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
@@ -78,10 +75,10 @@ void output_motors_armed()
 		APM_RC.OutputCh(CH_2, motor_out[CH_2]);
 		APM_RC.OutputCh(CH_3, motor_out[CH_3]);
 		APM_RC.OutputCh(CH_4, motor_out[CH_4]);
-		// InstantPWM
-		APM_RC.Force_Out0_Out1();
-		APM_RC.Force_Out2_Out3();
 	#endif
+	// InstantPWM
+	APM_RC.Force_Out0_Out1();
+	APM_RC.Force_Out2_Out3();
 }
 
 void output_motors_disarmed()
@@ -102,6 +99,10 @@ void output_motors_disarmed()
 	APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
 	APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
 	APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+
+	// InstantPWM
+	APM_RC.Force_Out0_Out1();
+	APM_RC.Force_Out2_Out3();
 }
 
 void output_motor_test()

ArduCopterMega/system.pde

@@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.26 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.27 Beta", main_menu_commands);
 
 void init_ardupilot()
 {
@@ -100,8 +100,8 @@ void init_ardupilot()
 	DDRL |= B00000100;						// Set Port L, pin 2 to output for the relay
 
 	// XXX set Analog out 14 to output
-	//		 76543210
-//	DDRK |= B01010000;
+	//  	   76543210
+	//DDRK |= B01010000;
 
 	#if MOTOR_LEDS == 1
 		pinMode(FR_LED, OUTPUT);			// GPS status LED