Autonomous flight

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Autonomous flight

Postby snow-man-01 » Mon Jul 18, 2016 10:07 am

Hello,

I hope that you can help me with the problem.

For an autonomous flight with my quadrocopter I want to change the multiwii code. I want to find the values for pitch, roll, yaw and throttle in the code. These angles will changed by using the transmitter+receiver. But I do not find these angle in the code to change them. Can anybody tell me where these values in the code are?
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Re: Autonomous flight

Postby gregd72002 » Mon Jul 18, 2016 10:56 am

one way of finding them is through Protocol.cpp.
There will be a message for RC (MSP_SET_RAW_RC), you can trace it down to the right places.

Normally you would want to use MSP for changing pitch,roll, yaw, throttle...
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Re: Autonomous flight

Postby snow-man-01 » Mon Jul 18, 2016 11:10 am

I do not want to work with the raw data of the RC. I only want to change four values: pitch, roll, yaw and throttle. It means I do not want to change the values with the transmitter/receiver but I want to change them manually in the code.
snow-man-01
 
Posts: 18
Joined: Mon Jul 18, 2016 9:50 am

Re: Autonomous flight

Postby gregd72002 » Fri Jul 22, 2016 5:08 pm

Not sure if I get you. You can change RC data directly in the code. I would modify Protocol.cpp and overwrite serialCom function and set rcSerial and rcSerialCount.
3 lines change is all you need to change them in the code.
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