From 91edeeeef27cbc70fd021955b92bfd87aa072a19 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Wed, 15 Feb 2012 09:05:17 -0800 Subject: [PATCH] added RTL_land_enabled added auto_pilot slew rate --- ArduCopter/Parameters.h | 36 +++++++++++++++++++++++++----------- 1 file changed, 25 insertions(+), 11 deletions(-) diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 82edc8949cc..1ef65531441 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -106,8 +106,10 @@ public: k_param_optflow_enabled, k_param_low_voltage, k_param_ch7_option, + k_param_auto_slew_rate, k_param_sonar_type, k_param_super_simple, //155 + k_param_rtl_land_enabled, // // 160: Navigation parameters @@ -177,6 +179,8 @@ public: k_param_pi_stabilize_yaw, k_param_pi_loiter_lat, k_param_pi_loiter_lon, + k_param_pid_loiter_rate_lat, + k_param_pid_loiter_rate_lon, k_param_pid_nav_lat, k_param_pid_nav_lon, k_param_pi_alt_hold, @@ -209,6 +213,7 @@ public: AP_Int8 optflow_enabled; AP_Float low_voltage; AP_Int8 super_simple; + AP_Int8 rtl_land_enabled; // Waypoints @@ -255,7 +260,7 @@ public: AP_Int8 frame_orientation; AP_Float top_bottom_ratio; AP_Int8 ch7_option; - + AP_Int16 auto_slew_rate; #if FRAME_CONFIG == HELI_FRAME // Heli @@ -288,9 +293,13 @@ public: AP_Float stabilize_d; // PI/D controllers + AP_Float acro_P; + AC_PID pid_rate_roll; AC_PID pid_rate_pitch; AC_PID pid_rate_yaw; + AC_PID pid_loiter_rate_lat; + AC_PID pid_loiter_rate_lon; AC_PID pid_nav_lat; AC_PID pid_nav_lon; @@ -328,6 +337,7 @@ public: optflow_enabled (OPTFLOW), low_voltage (LOW_VOLTAGE), super_simple (SUPER_SIMPLE), + rtl_land_enabled (RTL_AUTO_LAND), waypoint_mode (0), command_total (0), @@ -363,6 +373,7 @@ public: frame_orientation (FRAME_ORIENTATION), top_bottom_ratio (TOP_BOTTOM_RATIO), ch7_option (CH7_OPTION), + auto_slew_rate (AUTO_SLEW_RATE), #if FRAME_CONFIG == HELI_FRAME heli_servo_1 (k_param_heli_servo_1), @@ -389,18 +400,21 @@ public: camera_roll_gain (CAM_ROLL_GAIN), stabilize_d (STABILIZE_D), - // PID controller initial P initial I initial D initial imax - //-------------------------------------------------------------------------------------- - pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), - pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), - pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), + // PID controller initial P initial I initial D initial imax + //----------------------------------------------------------------------------------------------------- + pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), + pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), + pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), - pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), - pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), + pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), - pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX), - pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), - pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D,OPTFLOW_IMAX * 100), + pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + + pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX), + pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), + pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), // PI controller initial P initial I initial imax //----------------------------------------------------------------------