Commit 954713d3d10e0188b94907ffb313ef083d5f2528 - droidcopter

+4

-2

Pilot/.classpath less more

2	2	<classpathentry excluding="org/haldean/blob/JavaImage.java\|org/haldean/blob/SegmentTest.java\|org/haldean/chopper/pilot/nav/NavListTest.java\|org/haldean/chopper/pilot/nav/NavVelTest.java\|org/haldean/chopper/pilot/test/\|org/haldean/chopper/server/" kind="src" path="src"/>
3	3	<classpathentry kind="src" path="gen"/>
4	4	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
5		<classpathentry kind="lib" path="/home/benjamin/workspace/droidcopter/jars/AndroidBluetoothLibrary.jar"/>
6		<classpathentry kind="output" path="bin"/>
	5	<classpathentry exported="true" kind="lib" path="/home/benjamin/workspace/droidcopter/jars/AndroidBluetoothLibrary.jar"/>
	6	<classpathentry kind="lib" path="libs/AmarinoLibrary.jar"/>
	7	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
	8	<classpathentry kind="output" path="bin/classes"/>
7	9	</classpath>

+0

-13

~~Pilot/default.properties~~ less more

0		# This file is automatically generated by Android Tools.
1		# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
2		#
3		# This file must be checked in Version Control Systems.
4		#
5		# To customize properties used by the Ant build system use,
6		# "build.properties", and override values to adapt the script to your
7		# project structure.
8
9		# Indicates whether an apk should be generated for each density.
10		split.density=false
11		# Project target.
12		target=android-10

+2

-1

PilotTest/.classpath less more

3	3	<classpathentry excluding="org/haldean/chopper/pilot/" including="org/haldean/chopper/pilot/test/" kind="src" path="gen"/>
4	4	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
5	5	<classpathentry combineaccessrules="false" kind="src" path="/Pilot"/>
6		<classpathentry kind="output" path="bin"/>
	6	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
	7	<classpathentry kind="output" path="bin/classes"/>
7	8	</classpath>

PilotTest/bin/resources.ap_ less more

Binary diff not shown

+0

-11

~~PilotTest/default.properties~~ less more

0		# This file is automatically generated by Android Tools.
1		# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
2		#
3		# This file must be checked in Version Control Systems.
4		#
5		# To customize properties used by the Ant build system use,
6		# "build.properties", and override values to adapt the script to your
7		# project structure.
8
9		# Project target.
10		target=android-10

+3

-2

at/abraxas/amarino/AmarinoService.java less more

756	756
757	757	/* ---------- use setForeground() but be also backward compatible ---------- */
758	758
759		@SuppressWarnings("unchecked")
	759
	760	@SuppressWarnings("rawtypes")
760	761	private static final Class[] mStartForegroundSignature = new Class[] {
761	762	int.class, Notification.class};
762		@SuppressWarnings("unchecked")
	763	@SuppressWarnings("rawtypes")
763	764	private static final Class[] mStopForegroundSignature = new Class[] {
764	765	boolean.class};
765	766

+1

-1

org/haldean/chopper/pilot/ChopperStatusImpl.java less more

430	430	setReadingField(ROLL, orientation[2] * -180.0 / Math.PI);
431	431	break;
432	432	case Sensor.TYPE_ROTATION_VECTOR:
433		Log.v(TAG, "my grav time: " + ((time - grav_time)/1000000));
	433	//Log.v(TAG, "my grav time: " + ((time - grav_time)/1000000));
434	434	grav_time = time;
435	435	String timestring = Long.toString(time/1000000);
436	436	try {

+12

-9

org/haldean/chopper/pilot/Guidance.java less more

125	125	//Temporary: need real tuning values at some point. Crap.
126	126	for (int i = 0; i < 3; i++)
127	127	mGain[i][0] = .01;
128		mGain[3][0] = .01;
	128	//mGain[3][0] = .01;
129	129
130	130	try {
131	131	if (mEnableLogging)

261	261	}
262	262	if (parts[1].equals("MANUAL")) {
263	263	//autoPilot(false);
	264	@SuppressWarnings("unused")
264	265	String log = "manual mode: ";
265	266	if (parts.length > 2) {
266	267	double[] newTarget = new double[4];

271	272	//Log.v(TAG, log);
272	273	newTarget[0] *= Angler.MAX_ANGLE;
273	274	newTarget[1] *= Angler.MAX_ANGLE;
274		newTarget[2] *= 3.0;
	275	// newTarget[2] *= 3.0;
275	276	synchronized (mAngleTarget) {
276	277	System.arraycopy(newTarget, 0, mAngleTarget, 0, 4);
277	278	}

307	308
308	309	double[] errors = new double[4];
309	310	synchronized (mAngleTarget) {
310		logArray("mAngleTarget", mAngleTarget);
	311	//logArray("mAngleTarget", mAngleTarget);
311	312	errors[0] = mAngleTarget[0] - mRollDeg;
312	313	errors[1] = mAngleTarget[1] - mPitchDeg;
313	314	errors[2] = mAngleTarget[2] - mStatus.getGpsField(dALT);
314	315	errors[3] = mAngleTarget[3] - mAzimuth;
315		logArray("errors", errors);
316		}
317
	316	//logArray("errors", errors);
	317	}
	318
	319	@SuppressWarnings("unused")
318	320	String errs = "errors: ";
319	321	for (int i = 0; i < 4; i++) {
320	322	errs += errors[i] + ": ";

366	368	// Constrain control vars:
367	369	mControlVars[0] = constrainValue(mControlVars[0], -1, 1);
368	370	mControlVars[1] = constrainValue(mControlVars[1], -1, 1);
369		mControlVars[2] = constrainValue(mControlVars[2], 0, 4);
	371	mControlVars[2] = constrainValue(mControlVars[2], 0, 1);
370	372	mControlVars[3] = constrainValue(mControlVars[3], -2, 2);
371	373
372	374	/*String vars = "Control vars: ";

383	385	//Log.v(TAG, "motors: " + mMotorSpeed[0] + ", " + mMotorSpeed[1] + ", " + mMotorSpeed[2] + ", " + mMotorSpeed[3]);
384	386	//Sleep a while
385	387	long timetonext = (1000 / PIDREPS) - (System.currentTimeMillis() - starttime);
386		Log.v(TAG, "time to next: " + timetonext);
	388	//Log.v(TAG, "time to next: " + timetonext);
387	389	int currentMode = mGuidanceMode.get();
388	390	if ((currentMode == MANUAL) \|\| (currentMode == AUTOPILOT)) {
389	391	if (timetonext > 0)

413	415	if (cosGrad != 0) {
414	416	z = mControlVars[2] / cosGrad;
415	417	} else {
416		z = mControlVars[2];
	418	z = mControlVars[2]; // Chopper is vertical, we got other problems.
417	419	}
418	420	double t = mControlVars[3];
419	421

421	423	mMotorSpeed[1] = Math.sqrt(constrainValue(t + 2*y + z, 0, 1));
422	424	mMotorSpeed[2] = Math.sqrt(constrainValue(-t - 2*x + z, 0, 1));
423	425	mMotorSpeed[3] = Math.sqrt(constrainValue(-t + 2*x + z, 0, 1));
	426	logArray("motorSpeeds", mMotorSpeed);
424	427	}
425	428
426	429	private void updateAngleTarget() {