syouichi imamori
Quad X Type Multicopter
Diff: config.cpp
- Revision:
- 3:27407c4984cf
- Parent:
- 2:59ac9df97701
- Child:
- 4:4060309b9cc0
--- a/config.cpp Fri Nov 15 20:53:36 2013 +0000
+++ b/config.cpp Thu Feb 13 16:07:07 2014 +0000
@@ -92,11 +92,13 @@
break;
case CALIBURATE+1: //Calibrate Transmitter
LCD_printf("Start Calibrate");
+ wait(1);
for(i=0; i<4; i++) {
conf.Stick_Ref[i] = 0;
}
for(i=0; i<16; i++) {
- wait(0.3);
+ wait(0.03);
+ Get_Stick_Pos();
conf.Stick_Ref[ROL] += AIL;
conf.Stick_Ref[PIT] += ELE;
conf.Stick_Ref[YAW] += RUD;
@@ -193,21 +195,21 @@
hmax = 3;
break;
case ACCELCORRECT+1:
- Param_Set_Prompt1("Accel>ROL",&conf.Accel_Ref[ROL],2,-10.0,10.0f,0.01f,sw);
+ Param_Set_Prompt1("Accel>Rol",&conf.Accel_Ref[ROL],2,-10.0,10.0f,0.001f,sw);
break;
case ACCELCORRECT+2:
- Param_Set_Prompt1("Accel>PIT",&conf.Accel_Ref[PIT],2,-10.0,10.0f,0.01f,sw);
+ Param_Set_Prompt1("Accel>Pitch",&conf.Accel_Ref[PIT],2,-10.0,10.0f,0.001f,sw);
break;
case ACCELCORRECT+3:
- Param_Set_Prompt1("Accel>YAW",&conf.Accel_Ref[YAW],3,-10.0,10.0f,0.01f,sw);
+ Param_Set_Prompt1("Accel>Yaw",&conf.Accel_Ref[YAW],3,-10.0,10.0f,0.001f,sw);
break;
case PIDSET: //PID Setting
LCD_printf("PID Setting");
Set_Arrow(1);
- hmax = 8;
+ hmax = 9;
break;
case PIDSET+1:
- Param_Set_Prompt1("PID>RoolPitch>kp",&conf.kp[0],2,0.00f,5.00f,0.01f,sw);
+ Param_Set_Prompt1("PID>RoolPitch>kp",&conf.kp[0],2,0.00f,15.00f,0.01f,sw);
conf.kp[1] = conf.kp[0];
break;
case PIDSET+2:
@@ -219,7 +221,7 @@
conf.kd[1] = conf.kd[0];
break;
case PIDSET+4:
- Param_Set_Prompt1("PID>YAW>kp",&conf.kp[2],2,0.00f,5.00f,0.01f,sw);
+ Param_Set_Prompt1("PID>YAW>kp",&conf.kp[2],2,0.00f,15.00f,0.01f,sw);
break;
case PIDSET+5:
Param_Set_Prompt1("PID>YAW>ki",&conf.ki[2],2,0.00f,5.00f,0.01f,sw);
@@ -228,10 +230,13 @@
Param_Set_Prompt1("PID>YAW>kd",&conf.kd[2],2,0.00f,5.00f,0.01f,sw);
break;
case PIDSET+7:
+ Param_Set_Prompt1("PID Interval",&conf.PID_Interval,2,0.002f,0.015f,0.001f,sw);
+ break;
+ case PIDSET+8:
Param_Set_Prompt1("PID Limit",&conf.PID_Limit,2,0.00f,400.00f,10.00f,sw);
break;
- case PIDSET+8:
- Param_Set_Prompt1("Integral Limit",&conf.Integral_Limit,3,0.00f,100.00f,1.00f,sw);
+ case PIDSET+9:
+ Param_Set_Prompt1("differential Lim",&conf.Differential_Limit,3,0.00f,300.00f,10.00f,sw);
break;
case STICKMIX: //Set Stick Mixing
LCD_printf("Set Stick Mixing");
@@ -278,32 +283,37 @@
hmax = 7;
for ( i=0; i<3; i++ ) {
pid[i].init(conf.kp[i],conf.ki[i],conf.kd[i]*(float)abs(Stick[GAIN])/50.0
- ,conf.PID_Limit,conf.Integral_Limit);
+ ,conf.PID_Limit,conf.Differential_Limit);
Angle[i] = 0;
}
break;
case DISPSENSOR+1: //Gyro
- Get_Gyro();
+// Get_Gyro();
+ if ( conf.Gyro_Dir[3] ==1 ) i2c.angular(&x,&y,&z);
+ else i2c.angular(&y,&x,&z);
+ x -= Gyro_Ref[0];
+ y -= Gyro_Ref[1];
+ z -= Gyro_Ref[2];
LCD_locate(0,0);
- sprintf(str,"[Gyro]X=%5.1f",Gyro[ROL]);
+ sprintf(str,"[Gyro]X=%5.1f",x);
LCD_printf(str);
LCD_locate(0,1);
- sprintf(str,"y=%5.1f,Z=%5.1f",Gyro[PIT],Gyro[YAW]);
+ sprintf(str,"y=%5.1f,Z=%5.1f",y,z);
LCD_printf(str);
ret_mode = 'R';
break;
case DISPSENSOR+2: //Accelerometer
- Get_Accel();
+// Get_Accel();
if ( conf.Gyro_Dir[3] ==1 ) i2c.Acceleration(&x,&y,&z);
else i2c.Acceleration(&y,&x,&z);
x -= conf.Accel_Ref[0];
y -= conf.Accel_Ref[1];
z -= conf.Accel_Ref[2];
LCD_locate(0,0);
- sprintf(str,"[Accel]X=%5.1f",x);
+ sprintf(str,"[Accel]X=%5.2f",x);
LCD_printf(str);
LCD_locate(0,1);
- sprintf(str,"Y=%5.1f,Z=%5.1f",y,z);
+ sprintf(str,"Y=%5.2f,Z=%5.2f",y,z);
LCD_printf(str);
// Set_Arrow(2);
ret_mode = 'R';
@@ -336,7 +346,7 @@
Get_Pressure();
elaps.stop();
LCD_locate(0,0);
- sprintf(str,"Press=%9.3f",Press/4096);
+ sprintf(str,"Press=%9.1f",Press/4096);
LCD_printf(str);
LCD_locate(0,1);
sprintf(str,"Elaps=%6d",elaps.read_us());
@@ -439,9 +449,9 @@
hmax = 3;
break;
case CONFRESET+1:
- LCD_printf("If want to reset");
+ LCD_printf("Ailron stick");
LCD_locate(0,1);
- LCD_printf("Aileron right");
+ LCD_printf("Move to right");
Set_Arrow(2);
break;
case CONFRESET+2: //E2PROM reset
@@ -581,7 +591,7 @@
LCD_locate(0,0);
LCD_printf(hd);
LCD_locate(0,1);
- sprintf(str,"%7.2f",*num);
+ sprintf(str,"%7.3f",*num);
LCD_printf(str);
Set_Arrow(arrow);
switch ( sw ) {
@@ -651,3 +661,11 @@
+
+
+
+
+
+
+
+