发布时间 : 星期一 文章APM飞控程序解读更新完毕开始阅读98c111cf8762caaedd33d496
break;
case CH6_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s wp_nav.set_horizontal_velocity(g.rc_6.control_in); break;
// Acro roll pitch gain case CH6_ACRO_RP_KP:
g.acro_rp_p = tuning_value; break;
// Acro yaw gain
case CH6_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value; break;
case CH6_RELAY:
if (g.rc_6.control_in > 525) relay.on(); if (g.rc_6.control_in < 475) relay.off(); break;
#if FRAME_CONFIG == HELI_FRAME case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain = tuning_value; break; #endif
case CH6_OPTFLOW_KP:
g.pid_optflow_roll.kP(tuning_value); g.pid_optflow_pitch.kP(tuning_value); break;
case CH6_OPTFLOW_KI:
g.pid_optflow_roll.kI(tuning_value); g.pid_optflow_pitch.kI(tuning_value); break;
case CH6_OPTFLOW_KD:
g.pid_optflow_roll.kD(tuning_value); g.pid_optflow_pitch.kD(tuning_value); break; #if HIL_MODE != HIL_MODE_ATTITUDE // gains in HIL mode
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value); break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value); break; #endif
case CH6_INAV_TC:
// To-Do: allowing tuning TC for xy and z separately inertial_nav.set_time_constant_xy(tuning_value); inertial_nav.set_time_constant_z(tuning_value); break;
case CH6_DECLINATION:
// set declination to +-20degrees
do not allow modifying _kp or _kp_yaw compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact break;
case CH6_CIRCLE_RATE: // set circle rate
g.circle_rate.set(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
break;
case CH6_SONAR_GAIN: // set sonar gain
g.sonar_gain.set(tuning_value); break; } }
AP_HAL_MAIN();