Minor Yaw update, Log adjustment,

Main loop slightly faster at 125 hz


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1912 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -454,7 +454,7 @@ void loop()
 {
 	// We want this to execute at 100Hz
 	// --------------------------------
-	if (millis() - fast_loopTimer > 9) {
+	if (millis() - fast_loopTimer > 7) {
 		delta_ms_fast_loop 	= millis() - fast_loopTimer;
 		fast_loopTimer		= millis();
 		load				= float(fast_loopTimeStamp - fast_loopTimer) / delta_ms_fast_loop;

ArduCopterMega/Attitude.pde

@@ -116,7 +116,7 @@ output_yaw_with_hold(boolean hold)
 		// look to see if we have exited rate control properly - ie stopped turning
 		if(rate_yaw_flag){
 			// we are still in motion from rate control
-			if(fabs(omega.z) < .5){
+			if(fabs(omega.z) < .2){
 				clear_yaw_control();
 				hold = true;			// just to be explicit
 				//Serial.print("C");
@@ -152,12 +152,12 @@ output_yaw_with_hold(boolean hold)
 		yaw_debug = YAW_HOLD; //0
 
 	}else{
-																							// -error = CCW, 	+error = CW
+
 		if(g.rc_4.control_in == 0){
 			// we are breaking;
 			//g.rc_4.servo_out = (omega.z > 0) ? -600 : 600;
 			// adaptive braking
-			g.rc_4.servo_out 	= (int)((-1800.0 * omega.z) / 1.5);
+			g.rc_4.servo_out 	= (int)((-1800.0 * omega.z) / 1);
 								//	-1800 * 0.925 / 6 = -277
 
 			yaw_debug = YAW_BRAKE;  // 1

ArduCopterMega/Log.pde

@@ -381,6 +381,8 @@ void Log_Write_Control_Tuning()
 	DataFlash.WriteInt((int)(g.rc_3.servo_out));
 	DataFlash.WriteInt((int)(g.rc_4.control_in));
 	DataFlash.WriteInt((int)(g.rc_4.servo_out));
+	DataFlash.WriteInt((int)yaw_error);
+
 
 	// Yaw mode
 	DataFlash.WriteByte(yaw_debug);
@@ -492,13 +494,15 @@ void Log_Read_Current()
 // Read an control tuning packet
 void Log_Read_Control_Tuning()
 {
-	Serial.printf_P(PSTR("CTUN: %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %ld\n"),
+	Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %ld\n"),
 				// Control
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 
+				DataFlash.ReadInt(),
+
 				// Yaw Mode
 				(int)DataFlash.ReadByte(),
 

ArduCopterMega/command description.txt

@@ -22,7 +22,7 @@ Command Structure in bytes
 Commands below MAV_CMD_NAV_LAST are commands that have a end criteria, eg "reached waypoint" or "reached altitude"
 ***********************************
 Command ID	Name								Parameter 1			Altitude			Latitude			Longitude
-	0x10 / 16	MAV_CMD_NAV_WAYPOINT				delay (seconds)		altitude			lat					lon
+0x10 / 16	MAV_CMD_NAV_WAYPOINT				delay (seconds)		altitude			lat					lon
 0x11 / 17	MAV_CMD_NAV_LOITER_UNLIM 			(forever)			altitude			lat					lon
 
 0x14 / 20	MAV_CMD_NAV_RETURN_TO_LAUNCH		-					-					-					-