Kajosek píše:tak jsem o vikendu pěkně rozchodil GPS
testoval jsem:
- GPS HOLD - funkční; podle větru max. do 2m
- GPS HOME - funkční; po aktivaci se otočí a doletí chlapec
- FAILSAFE RTH - funkční; když vypnu vysílačku, nebo bych byl daleko a ztratilo to signál, tak se přepne do RTH a doletí zpět a přistane
jen otázka, dá se GPS HOME někde v Configu říct, aby k aktuální výšce přidal třeba 4m a v té se vracel? Ve Failsafe to je, ale co normální letový režim?
.. je to na konci Config.h .. tam se dá navolit jestli při klasickém RTH se to má vracet ve stejne vysce, nebo tam nejakou zadat, a on se podle toho zaridi (stoupne nebo klesne) člověk byl totiž zvyklý zadat pouze desku, typ rámu a hotovo .. Kdežto v NHAdrianovým fw, je víc možností, jak si to nastavit dle svého gusta Kód: Vybrat vše
/*****************************/
/* ALT HOLD code by NHADRIAN */
/*****************************/
/* Experimental altitude hold code. It uses "vario mode" which means reising/descending vario relates to the throttle stick position.
When RTH_ALT_MODE is uncommented, in RTH mode copter rises to defined altitude, and when reaches the target, descends back to defined home altitude.
By deffault, copter descends back to RTH altitude, if is higher. When RTH_KEEP_ALT is uncommented,
it means copter will keep altitude if higher than RTH_ALT. Only descends when reached home.
Please note that these modes can be used separated! (So for example, when only RTH_MODE is uncommented, it will return as described previously but for BARO mode
natural alt change will be used.
For working RTH_ALT_MODE Baro should be enabled with switch!
If none of them are uncommented, natural alt change will be used for rapid pilots. It's temporary switch OFF the althold when throttle stick is
out of deadband defined with ALT_HOLD_THROTTLE_NEUTRAL_ZONE
/********** user tunable parameters ************/
//#define VARIO_ALT_MODE // define ALT HOLD code
//#define VARIO_MODE_CHANGE_BEEP // beep if changing between rising/descending - long beep when entering hoover mode, short beep when changing between rising/descending
#define ALT_VARIO_MAX 200 // in cm/s - maximum rising/descending vario when full throttle applied - maximum 250!!!
#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 50 // in us - deadband of stick around hovering point when in ALT HOLD is active (us in PWM signal)
#define ALT_HOLD_THROTTLE_MIDPOINT 1500 // in us - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.
//#define RTH_ALT_MODE // define RTH custom approach height
#define RTH_KEEP_ALT // if the altitude is higher than the RTH_ALT, copter maintains that altitude instead of descending to target - according to Dramida's request
#define RTH_VARIO 100 // in cm/s - vario used for reaching target altitudes during RTH - maximum 250!!!
#define RTH_ALT 1000 // in cm - altitude during approach
#define HOME_ALT 400 // in cm - altitude after reaching home position
//#define WP_ALT_MODE // define WP mode - approach WP altitude with WP vario - USE WITH EZ-GUI and RTH_ALT_MODE
#define WP_VARIO 100 // in cm/s - vario used for reaching WP altitude - maximum 250!!!
#define ALT_SAFETY_DEADBAND 150 // deadband for RTH mode and WP mode. In emergency situations control can be get back with throttle stick
/********************************************************************/
/**** autoland function ****/
/********************************************************************/
/* This feature enables AUTOLAND BOXITEM.
* Use together with RTH_ALT_MODE!
* Works with valid GPS data only!
* when AUTOLAND is active, RTH mode will be activated, so copter first move to home WP, then starts to descend
* over SAFETY_ALT vario is the defined FAST_VARIO, under the SLOW_VARIO. This is for slowing down copter before land
* the trigger for disarm is the BaroPID value. When copter can't descend anymore (touched the ground),
the RPM will slow down until it reaches low BaroPID enough for DISARM.
* Please note that for security reasons, SAFETY DEADBAND is applied, it throttle stick is out of deadband the automatic altitude control will be disabled
*/
#define AUTOLAND
#define AUTOLAND_FAST_VARIO 100 // vario over safety alt (cm/s)
#define AUTOLAND_SLOW_VARIO 25 // vario under safety alt (cm/s)
#define AUTOLAND_SAFETY_ALT 400 // safety altitude (cm)
#define AUTOLAND_SAFETY_DEADBAND 100 // deadband for AUTOLAND mode. See in description.
Kód: Vybrat vše
/******** Failsafe settings ********************/
/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
for best results. This value is depended from your configuration, AUW and some other params. Next, afrer FAILSAFE_OFF_DELAY the copter is disarmed,
and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
#define FAILSAFE // uncomment to activate the failsafe function
#define FAILSAFE_DELAY 5 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
#define FAILSAFE_OFF_DELAY 1200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
#define FAILSAFE_THROTTLE (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
/***************** Failsafe descending to the ground by BARO *********************************/
/* For vario-controlled descending instead of having a fix throttle value, uncomment FAILSAFE_ALT_MODE. This allows to descend with preset vario.
When flying on high altitudes, and would like to descend faster than apply FAILSAFE_SAFE_ALT and FAILSAFE_FAST_VARIO.
This case will let copter descend faster from high altitude till reach the safety altitude, after will slow down to slow vario.
If you have GPS and would like to have RTH activated when in failsafe, uncomment FAILSAFE_RTH_MODE. Please note that in this case FAILSAFE_ALT_MODE doesn't have to be uncommented,
if GPS signal is weak, failsafe will work in FAILSAFE_ALT_MODE.
Both with work only with FAILSAFE uncommented! Also Please note that both modes will work even if SUPPRESS_BARO_ALTHOLD is uncommented, so you can still save some space with better failsafe alt handling!
Please note that FAILSAE_OFF_DELAY is still active for security reasons, so set up long time enough to be able to RTH before this timer ends because motors will stop!!!*/
//#define FAILSAFE_ALT_MODE // uncomment for descending with constant vario if in Failsafe - use with FAILSAFE and define the FAILSAFE_SLOW_VARIO
#define FAILSAFE_SLOW_VARIO 50 // in cm/s - slow desceding speed under SAFETY_ALT, this is default is SAFETY_ALT is not used. - maximum 250!!!
#define FAILSAFE_FAST_VARIO 100 // in cm/s - fast desceding speed over SAFETY_ALT, maximum 250!!!
#define FAILSAFE_SAFETY_ALT 100 // in cm - safety altitude, where to slow down descending before landing, in cm!!!
#define FAILSAFE_RTH_MODE // if GPS present and ready, copter starts RTH when signal lost. When signal is back, control is back again.
#define FAILSAFE_RTH_VARIO 200 // in cm/s - vario for RTH function for failsafe, maximum 250!!!
#define FAILSAFE_RTH_ALT 1000 // in cm - minimum RTH altitude for failsafe. If copter is higher than this, it will keep altitude.
#define FAILSAFE_RTH_HOME 400 // in cm - home altitude for RTH, copter will descend to this altitude and wait.
#define FAILSAFE_RTH_DELAY 15 // in s - safety delay, after reaching HOME altitude, it'll land in FAILSAFE_ALT_MODE when safety delay terminates.
#define FAILSAFE_DETECT_TRESHOLD 985 //Failsafe threshold (in us)
