Flight tested transmitter cal. Yaw is OK. Acro Mode OK. Flew Stable Mode OK.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@254 f9c3cf11-9bcb-44bc-f272-b75c42450872

Arducopter/Arducopter.pde

@@ -49,11 +49,11 @@
 /* User definable modules */
 
 // Comment out with // modules that you are not using
-#define IsGPS    // Do we have a GPS connected
-#define IsNEWMTEK// Do we have MTEK with new firmware
+//#define IsGPS    // Do we have a GPS connected
+//#define IsNEWMTEK// Do we have MTEK with new firmware
 #define IsMAG    // Do we have a Magnetometer connected, if have remember to activate it from Configurator
-#define IsTEL    // Do we have a telemetry connected, eg. XBee connected on Telemetry port
-#define IsAM     // Do we have motormount LED's. AM = Atraction Mode
+//#define IsTEL    // Do we have a telemetry connected, eg. XBee connected on Telemetry port
+//#define IsAM     // Do we have motormount LED's. AM = Atraction Mode
 
 #define CONFIGURATOR  // Do se use Configurator or normal text output over serial link
 
@@ -72,8 +72,8 @@
 /* User definable modules - END */
 
 // Frame build condiguration
-#define FLIGHT_MODE_+    // Traditional "one arm as nose" frame configuration
-//#define FLIGHT_MODE_X  // Frame orientation 45 deg to CCW, nose between two arms
+//#define FLIGHT_MODE_+    // Traditional "one arm as nose" frame configuration
+#define FLIGHT_MODE_X  // Frame orientation 45 deg to CCW, nose between two arms
 
 
 /* ****************************************************************************** */
@@ -500,10 +500,10 @@ void loop(){
     {
       // Commands from radio Rx... 
       // Stick position defines the desired angle in roll, pitch and yaw
-      ch_roll = channel_filter(APM_RC.InputCh(0), ch_roll) * ch_roll_slope + ch_roll_offset;
-      ch_pitch = channel_filter(APM_RC.InputCh(1), ch_pitch) * ch_pitch_slope + ch_pitch_offset;
-      ch_throttle = channel_filter(APM_RC.InputCh(2), ch_throttle) * ch_throttle_slope + ch_throttle_offset;
-      ch_yaw = channel_filter(APM_RC.InputCh(3), ch_yaw) * ch_yaw_slope + ch_yaw_offset;
+      ch_roll = channel_filter(APM_RC.InputCh(0) * ch_roll_slope + ch_roll_offset, ch_roll);
+      ch_pitch = channel_filter(APM_RC.InputCh(1) * ch_pitch_slope + ch_pitch_offset, ch_pitch);
+      ch_throttle = channel_filter(APM_RC.InputCh(2) * ch_throttle_slope + ch_throttle_offset, ch_throttle);
+      ch_yaw = channel_filter(APM_RC.InputCh(3) * ch_yaw_slope + ch_yaw_offset, ch_yaw);
       ch_aux = APM_RC.InputCh(4) * ch_aux_slope + ch_aux_offset;
       ch_aux2 = APM_RC.InputCh(5) * ch_aux2_slope + ch_aux2_offset;
       command_rx_roll_old = command_rx_roll;
@@ -740,4 +740,4 @@ void loop(){
 // END of Arducopter.pde
 
 
-
+

Arducopter/SerialCom.pde

@@ -87,54 +87,10 @@ void readSerialCommand() {
       xmitFactor = readFloatSerial();
       break;
     case 'W': // Write all user configurable values to EEPROM
-      writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
-      writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
-      writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
-      writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
-      writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
-      writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
-      writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
-      writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
-      writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
-      writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
-      writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
-      writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
-      writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
-      writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
-      writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
-      writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
-      writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
-      writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
-      writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
-      writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
-      writeEEPROM(acc_offset_x, acc_offset_x_ADR);
-      writeEEPROM(acc_offset_y, acc_offset_y_ADR);
-      writeEEPROM(acc_offset_z, acc_offset_z_ADR);
-      writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
-      writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
-      writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
-      writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
-      writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
-      writeEEPROM(Kp_YAW, Kp_YAW_ADR);
-      writeEEPROM(Ki_YAW, Ki_YAW_ADR);
-      writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
-      writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
-      writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
-      writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
-      writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
-      writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
-      writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
-      writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
-      writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
-      writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
-      writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
-      writeEEPROM(xmitFactor, XMITFACTOR_ADR);
-      writeEEPROM(roll_mid, CHROLL_MID);
-      writeEEPROM(pitch_mid, CHPITCH_MID);
-      writeEEPROM(yaw_mid, CHYAW_MID);
+      writeUserConfig();
       break;
     case 'Y': // Initialize EEPROM with default values
-      setUserConfig();
+      defaultUserConfig();
       break;
     case '1': // Receive transmitter calibration values
       ch_roll_slope = readFloatSerial();
@@ -158,7 +114,7 @@ void sendSerialTelemetry() {
   float aux_float[3]; // used for sensor calibration
   switch (queryType) {
   case '=': // Reserved debug command to view any variable from Serial Monitor
-    Serial.print("throttle =");
+/*    Serial.print("throttle =");
     Serial.println(ch_throttle);
     Serial.print("control roll =");
     Serial.println(control_roll-CHANN_CENTER);
@@ -185,7 +141,14 @@ void sendSerialTelemetry() {
     Serial.print("command rx yaw =");
     Serial.println(command_rx_yaw);
     Serial.println(); 
-    queryType = 'X';
+    queryType = 'X';*/
+    Serial.print(APM_RC.InputCh(0));
+    comma();
+    Serial.print(ch_roll_slope);
+    comma();
+    Serial.print(ch_roll_offset);
+    comma();
+    Serial.println(ch_roll);
     break;
   case 'B': // Send roll, pitch and yaw PID values
     Serial.print(KP_QUAD_ROLL, 3);
@@ -310,9 +273,9 @@ void sendSerialTelemetry() {
     comma();
     Serial.print(err_pitch);
     comma();
-    Serial.print(degrees(-roll));
+    Serial.print(degrees(roll));
     comma();
-    Serial.print(degrees(-pitch));
+    Serial.print(degrees(pitch));
     comma();
     Serial.println(degrees(yaw));
     break;
@@ -378,6 +341,32 @@ void sendSerialTelemetry() {
     Serial.println(VER);
     queryType = 'X';
     break;
+  case '2': // Send transmitter calibration values
+    Serial.print(ch_roll_slope);
+    comma();
+    Serial.print(ch_roll_offset);
+    comma();
+    Serial.print(ch_pitch_slope);
+    comma();
+    Serial.print(ch_pitch_offset);
+    comma();
+    Serial.print(ch_yaw_slope);
+    comma();
+    Serial.print(ch_yaw_offset);
+    comma();
+    Serial.print(ch_throttle_slope);
+    comma();
+    Serial.print(ch_throttle_offset);
+    comma();
+    Serial.print(ch_aux_slope);
+    comma();
+    Serial.print(ch_aux_offset);
+    comma();
+    Serial.print(ch_aux2_slope);
+    comma();
+    Serial.println(ch_aux2_offset);
+    queryType = 'X';
+  break;
   case '.': // Modify GPS settings
     Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
     break;
@@ -403,4 +392,4 @@ float readFloatSerial() {
   }  
   while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
   return atof(data);
-}
+}

Arducopter/UserConfig.h

@@ -125,7 +125,7 @@ float ch_aux2_offset = 0;
 
 // This function call contains the default values that are set to the ArduCopter
 // when a "Default EEPROM Value" command is sent through serial interface
-void setUserConfig() {
+void defaultUserConfig() {
   KP_QUAD_ROLL = 1.8;
   KI_QUAD_ROLL = 0.30; //0.4
   KD_QUAD_ROLL = 0.4; //0.48
@@ -313,10 +313,9 @@ void readUserConfig() {
   roll_mid = readEEPROM(CHROLL_MID);
   pitch_mid = readEEPROM(CHPITCH_MID);
   yaw_mid = readEEPROM(CHYAW_MID);
-  /* uncommented for now until flight tested
   ch_roll_slope = readEEPROM(ch_roll_slope_ADR);
   ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR);
-  ch_throttle_slope readEEPROM(ch_throttle_slope_ADR);
+  ch_throttle_slope = readEEPROM(ch_throttle_slope_ADR);
   ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR);
   ch_aux_slope = readEEPROM(ch_aux_slope_ADR);
   ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR);
@@ -325,6 +324,65 @@ void readUserConfig() {
   ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR);
   ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR);
   ch_aux_offset = readEEPROM(ch_aux_offset_ADR);
-  ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR); */
+  ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR);
 }
 
+void writeUserConfig() {
+  writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
+  writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
+  writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
+  writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
+  writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
+  writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
+  writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
+  writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
+  writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
+  writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
+  writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
+  writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
+  writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
+  writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
+  writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
+  writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
+  writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
+  writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
+  writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
+  writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
+  writeEEPROM(acc_offset_x, acc_offset_x_ADR);
+  writeEEPROM(acc_offset_y, acc_offset_y_ADR);
+  writeEEPROM(acc_offset_z, acc_offset_z_ADR);
+  writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
+  writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
+  writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
+  writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
+  writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
+  writeEEPROM(Kp_YAW, Kp_YAW_ADR);
+  writeEEPROM(Ki_YAW, Ki_YAW_ADR);
+  writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
+  writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
+  writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
+  writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
+  writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
+  writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
+  writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
+  writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
+  writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
+  writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
+  writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
+  writeEEPROM(xmitFactor, XMITFACTOR_ADR);
+  writeEEPROM(roll_mid, CHROLL_MID);
+  writeEEPROM(pitch_mid, CHPITCH_MID);
+  writeEEPROM(yaw_mid, CHYAW_MID);
+  writeEEPROM(ch_roll_slope, ch_roll_slope_ADR);
+  writeEEPROM(ch_pitch_slope, ch_pitch_slope_ADR);
+  writeEEPROM(ch_throttle_slope, ch_throttle_slope_ADR);
+  writeEEPROM(ch_yaw_slope, ch_yaw_slope_ADR);
+  writeEEPROM(ch_aux_slope, ch_aux_slope_ADR);
+  writeEEPROM(ch_aux2_slope, ch_aux2_slope_ADR);
+  writeEEPROM(ch_roll_offset, ch_roll_offset_ADR);
+  writeEEPROM(ch_pitch_offset, ch_pitch_offset_ADR);
+  writeEEPROM(ch_throttle_offset, ch_throttle_offset_ADR);
+  writeEEPROM(ch_yaw_offset, ch_yaw_offset_ADR);
+  writeEEPROM(ch_aux_offset, ch_aux_offset_ADR);
+  writeEEPROM(ch_aux2_offset, ch_aux2_offset_ADR);
+}

Configurator/Source/ArduCopterConfigurator.ini

@@ -10,6 +10,6 @@ DebugServerWaitOnLaunch = False
 useLocaleDecimalPt = False
 
 [Configuration]
-COMport = "COM10"
+COMport = "COM13"
 Timeout = 10    
 Baud = 115200    

Configurator/Source/ArduCopterConfigurator.lvproj

@@ -122,7 +122,7 @@
 			<Item Name="kernel32.dll" Type="Document" URL="kernel32.dll">
 				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
 			</Item>
-			<Item Name="lvanlys.dll" Type="Document" URL="../../../../../../../../Program Files (x86)/National Instruments/LabVIEW 2009/resource/lvanlys.dll"/>
+			<Item Name="lvanlys.dll" Type="Document" URL="../../../../../../../../Program Files/National Instruments/LabVIEW 2009/resource/lvanlys.dll"/>
 		</Item>
 		<Item Name="Build Specifications" Type="Build">
 			<Item Name="Executable" Type="EXE">