From 4e3c9ce510775516b21637ef4516de7b6a6810d0 Mon Sep 17 00:00:00 2001 From: wareck Date: Thu, 22 Jan 2015 20:48:46 +0100 Subject: [PATCH 1/2] Variometer not worked without LCD Now it can work with or without LCD Signed-off-by: wareck --- Alarms.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Alarms.cpp b/Alarms.cpp index 41132963..fd59e2b3 100644 --- a/Alarms.cpp +++ b/Alarms.cpp @@ -692,13 +692,17 @@ void vario_output(uint16_t d, uint8_t up) { uint8_t d1 = d/2; #endif if (d1<1) d1 = 1; + #if defined (LCD_CONF) || defined(LCD_TELEMETRY) || defined(HAS_LCD) for (uint8_t i=0; i Date: Fri, 11 Sep 2015 11:03:29 +0200 Subject: [PATCH 2/2] Create README.md --- README.md | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 00000000..fce3962d --- /dev/null +++ b/README.md @@ -0,0 +1,26 @@ +# Multiwii 2.4 with autoland on battery fail + +This is based on official Multiwii 2.4 code. + +This feature allow to setup a warning level.After the battery reach this level copter autoland safely and smoothly. +If you try to take off with bad battery, system will disable arming and give you alarm "take off is not safe" + +How it works: +- + - You need a GPS (mandatory): before land , copter must be leveled and stopped to land verticaly so gps is needed to know copter velocity) + - Need a buzzer (optional): before start landing you can choose at how many buzzing warning autoland start (between 3 and 6 buzz, 3 to disable false alarm like on heavy climb, and 6 max to be safe) + - If battery level is under "Warning level 2" you are not allowed to arm your copter + - If battery level reach "Warning level 2" during flight and reach your alarm thershold number, copter stop what's is doing (mission, manual flight, hold , return to home ect) and automaticly goes in "GPS hold" + - When copter stop moving, slowly decrease throttle and land. + - After landed, motors shutdown + +How to use it: +- +in "config.h" file: + +- you need to enable "vbat" : #define VBAT +- you need to enable "vbat autoland feature" : #define VBAT_ALAND +- you need to chosse "alarm counting" (the value is how many warning before start autoland process) : #define VBAT_ALAND_CNT 3 +- that's all... + +Olivier