Changed gas parameters from variable (in drone.var) to mask (external file...

Changed gas parameters from variable (in drone.var) to mask (external file like mask_gas.txt). That way, it is faster to change without compiling. Update readme.

Promethe_scripts/navigation/drone/drone.draw

@@ -345,19 +345,7 @@
 	</liaison>
 	<liaison>
 		<depart>negative_error</depart>
-		<arrivee>gas_low2</arrivee>
-		<style>0</style>
-		<coude_list />
-	</liaison>
-	<liaison>
-		<depart>gas_high</depart>
-		<arrivee>gas_high2</arrivee>
-		<style>0</style>
-		<coude_list />
-	</liaison>
-	<liaison>
-		<depart>gas_low</depart>
-		<arrivee>gas_low2</arrivee>
+		<arrivee>gas_mid2</arrivee>
 		<style>0</style>
 		<coude_list />
 	</liaison>
@@ -368,7 +356,7 @@
 		<coude_list />
 	</liaison>
 	<liaison>
-		<depart>gas_low2</depart>
+		<depart>gas_mid2</depart>
 		<arrivee>throttle_decision</arrivee>
 		<style>0</style>
 		<coude_list />
@@ -409,12 +397,6 @@
 		<style>0</style>
 		<coude_list />
 	</liaison>
-	<liaison>
-		<depart>gas_low</depart>
-		<arrivee>gas_lower2</arrivee>
-		<style>0</style>
-		<coude_list />
-	</liaison>
 	<liaison>
 		<depart>gas_lower2</depart>
 		<arrivee>throttle_decision</arrivee>
@@ -623,14 +605,7 @@
 		<depart>alt_2</depart>
 		<arrivee>alt_2</arrivee>
 		<style>0</style>
-		<coude_list>
-			<coude>
-				<x>511</x>
-				<y>394</y>
-				<relatif>1</relatif>
-				<legende>2</legende>
-			</coude>
-		</coude_list>
+		<coude_list />
 	</liaison>
 	<liaison>
 		<depart>alt_2</depart>
@@ -660,14 +635,7 @@
 		<depart>mem</depart>
 		<arrivee>97</arrivee>
 		<style>0</style>
-		<coude_list>
-			<coude>
-				<x>481</x>
-				<y>521</y>
-				<relatif>1</relatif>
-				<legende>2</legende>
-			</coude>
-		</coude_list>
+		<coude_list />
 	</liaison>
 	<liaison>
 		<depart>87</depart>
@@ -819,4 +787,64 @@
 		<style>0</style>
 		<coude_list />
 	</liaison>
+	<liaison>
+		<depart>12</depart>
+		<arrivee>98</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>98</depart>
+		<arrivee>90</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>98</depart>
+		<arrivee>89</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>6</depart>
+		<arrivee>three_gas</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>three_gas</depart>
+		<arrivee>gas_high</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>three_gas</depart>
+		<arrivee>gas_mid</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>three_gas</depart>
+		<arrivee>gas_lower</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>gas_high</depart>
+		<arrivee>gas_high2</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>gas_mid</depart>
+		<arrivee>gas_mid2</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
+	<liaison>
+		<depart>gas_lower</depart>
+		<arrivee>gas_lower2</arrivee>
+		<style>0</style>
+		<coude_list />
+	</liaison>
 </liaison_list>

Promethe_scripts/navigation/drone/drone.var

-@DYNAMIC_GAIN 0.5
+@DYNAMIC_GAIN 1.0
 @COMPASS_GAIN 1.0
 
 % convert altitude from cm to [0-1] range, for example 200 means 200 cm = 1
 @MAX_ALT_CM 1000
 
-% gas percentage enough to climb if desired altitude is above measured
-@GAS_HIGH 0.75
-
-% gas percentage enough to stay stabilized if measured altitude is a little below desired altitude
-@GAS_LOW 0.5
-
-% value to substract to gas_low which will lower gas to descent/land when measured altitude is clearly below desired altitude
-@GAS_MORE_LOW 0.3
-

Promethe_scripts/navigation/drone/mask_gas.txt

+0.80
+0.5
+0.1

Promethe_scripts/navigation/drone/readme.md

@@ -5,3 +5,18 @@ There is two altitude measures for gas control: alt and altitude_2. However only
 alt is simply from the ultrasonic distance sensor which an accurate distance from ground, it requires no processing but is fragile to ultrasound absorbing surfaces (such as wet grass).
 
 altitude_2 is a more robust altitude measure but has high variance and drifts over time. First, we simply use a recursive filter to take the mean value of the altitude (alt_2), this will help for the variance problem. Then, a checkbox is created in order to substract the current distance, this means that the current distance will be our zero (departure_alt) and the next altitudes (alt_2_offset) will be relative to this zero, this will help temporarily for the drift problem.
+
+## Mask
+
+### mask_3rd_axs.txt
+
+Mask to isolate the third axis (normally, the rotation of the joystick).
+
+### mask_gas.txt
+
+Files for the gas power command for each desired action.
+
+- 1st value: gas percentage enough to climb if desired altitude is above measured
+- 2nd value: gas percentage enough to stay stabilized if measured altitude is a little below desired altitude
+- 3rd value: value to substract to gas_low which will lower gas to descent/land when measured altitude is clearly below desired altitude
+