2.0.35

Added camera reversing parameters in AP_Var
Added RTL Throttle Hold set/check
Added dynamic speed control to slow down as you reach waypoints and RTL Home
upped Yaw Dead zone slightly.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2841 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -259,6 +259,7 @@ const char* flight_mode_strings[] = {
 // Radio
 // -----
 byte 		control_mode		= STABILIZE;
+byte 		old_control_mode	= STABILIZE;
 byte 		oldSwitchPosition;					// for remembering the control mode switch
 int 		motor_out[8];
 

ArduCopterMega/Camera.pde

@@ -8,34 +8,51 @@ void init_camera()
 	g.rc_camera_pitch.radio_min 	= 1000;
 	g.rc_camera_pitch.radio_trim 	= 1500;
 	g.rc_camera_pitch.radio_max 	= 2000;
+	g.rc_camera_pitch.set_reverse(g.cam_pitch_reverse);
 
 	g.rc_camera_roll.set_angle(4500);
 	g.rc_camera_roll.radio_min 		= 1000;
 	g.rc_camera_roll.radio_trim 	= 1500;
 	g.rc_camera_roll.radio_max 		= 2000;
+	g.rc_camera_roll.set_reverse(g.cam_roll_reverse);
 }
 
 void
 camera_stabilization()
 {
-	g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
 
+	// PITCH
+	// -----
 	// allow control mixing
+	g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
 	g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(-dcm.pitch_sensor);
 
 	// dont allow control mixing
-	//g.rc_camera_pitch.servo_out = dcm.pitch_sensor  * -1;
+	/*
-	g.rc_camera_pitch.calc_pwm();
+	g.rc_camera_pitch.servo_out = dcm.pitch_sensor  * -1;
-	APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
+	*/
 
+
+	// ROLL
+	// -----
+	// allow control mixing
+	/*
+	g.rc_camera_roll.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
+	g.rc_camera_roll.servo_out = g.rc_camera_roll.control_mix(-dcm.roll_sensor);
+	*/
+
+	// dont allow control mixing
 	g.rc_camera_roll.servo_out = -dcm.roll_sensor;
+
+
+
+	// Output
+	// ------
+	g.rc_camera_pitch.calc_pwm();
 	g.rc_camera_roll.calc_pwm();
-	APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
 
-	//If you want to do control mixing use this function.
+	APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
-	// set servo_out to the control input from radio
+	APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
-	//rc_camera_roll 	= g.rc_2.control_mix(dcm.pitch_sensor);
-	//rc_camera_roll.calc_pwm();
 }
 
 #endif

ArduCopterMega/Parameters.h

@@ -104,6 +104,9 @@ public:
 	k_param_throttle_cruise,
 	k_param_flight_modes,
 	k_param_esc_calibrate,
+	k_param_cam_pitch_reverse,
+	k_param_cam_roll_reverse,
+
 
 	#if FRAME_CONFIG ==	HELI_FRAME
 	//
@@ -239,6 +242,9 @@ public:
 	RC_Channel	rc_camera_pitch;
 	RC_Channel	rc_camera_roll;
 
+	AP_Int8		cam_pitch_reverse;
+	AP_Int8		cam_roll_reverse;
+
 		// PID controllers
 	PID			pid_rate_roll;
 	PID			pid_rate_pitch;
@@ -327,6 +333,10 @@ public:
 	rc_camera_pitch			(k_param_rc_9,		NULL),
 	rc_camera_roll			(k_param_rc_10,		NULL),
 
+	cam_pitch_reverse		(0, 						k_param_cam_pitch_reverse,		PSTR("CAM_P_REV")),
+	cam_roll_reverse		(0, 						k_param_cam_roll_reverse,		PSTR("CAM_R_REV")),
+
+
 	// PID controller	group key						name				initial P			initial I			initial D			initial imax
 	//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
 	pid_rate_roll		(k_param_pid_rate_roll,			PSTR("RATE_RLL_"),	RATE_ROLL_P,		RATE_ROLL_I,		0,					RATE_ROLL_IMAX * 100),

ArduCopterMega/navigation.pde

@@ -144,12 +144,12 @@ void calc_rate_nav()
 	int groundspeed 	= (float)g_gps->ground_speed * cos(radians((float)target_error/100));
 
 	// Reduce speed on RTL
-	if(control_mode == RTL){
+	//if(control_mode == RTL){
-		waypoint_speed 		= min((wp_distance * 100), 600);
+		waypoint_speed 		= min((wp_distance * 100), g.waypoint_speed_max.get());
-		waypoint_speed		= max(g.waypoint_speed_max.get(), 30);
+		waypoint_speed		= max(waypoint_speed, 80);
-	}else{
+	//}else{
-		waypoint_speed 		= g.waypoint_speed_max.get();
+	//	waypoint_speed 		= g.waypoint_speed_max.get();
-	}
+	//}
 
 	int error 		= constrain(waypoint_speed - groundspeed, -1000, 1000);
 	// Scale response by kP

ArduCopterMega/radio.pde

@@ -14,6 +14,10 @@ void init_rc_in()
 	g.rc_3.scale_output = .9;
 	g.rc_4.set_angle(4500);
 
+	// reverse: CW = left
+	// normal:  CW = left???
+
+
 	g.rc_1.set_type(RC_CHANNEL_ANGLE_RAW);
 	g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW);
 	g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
@@ -22,7 +26,7 @@ void init_rc_in()
 	g.rc_1.dead_zone = 60;		// 60 = .6 degrees
 	g.rc_2.dead_zone = 60;
 	g.rc_3.dead_zone = 60;
-	g.rc_4.dead_zone = 500;// 0 = hybrid rate approach
+	g.rc_4.dead_zone = 600;// 0 = hybrid rate approach
 
 	//set auxiliary ranges
 	g.rc_5.set_range(0,1000);

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 2.0.34 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.35 Beta", main_menu_commands);
 
 void init_ardupilot()
 {
@@ -350,6 +350,7 @@ void set_mode(byte mode)
 		// don't switch modes if we are already in the correct mode.
 		return;
 	}
+	old_control_mode = control_mode;
 
 	control_mode = mode;
 	control_mode = constrain(control_mode, 0, NUM_MODES - 1);
@@ -394,11 +395,12 @@ void set_mode(byte mode)
 			break;
 
 		case GUIDED:
+			init_throttle_cruise();
 			set_next_WP(&guided_WP);
 			break;
 
 		case RTL:
-			//init_throttle_cruise();
+			init_throttle_cruise();
 			do_RTL();
 			break;
 
@@ -479,11 +481,10 @@ init_simple_bearing()
 void
 init_throttle_cruise()
 {
-	//if(set_throttle_cruise_flag == false){
+	// are we moving from manual throttle to auto_throttle?
-		if(g.rc_3.control_in > 200){
+	if((old_control_mode <= SIMPLE) && (g.rc_3.control_in > 150)){
 		g.throttle_cruise.set_and_save(g.rc_3.control_in);
 	}
-	//}
 }
 
 #if BROKEN_SLIDER == 1