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Permalink Reply by Michael Pursifull on June 30, 2012 at 12:22pm

* Close Arduino

* move folder "ArduCopter" to folder "Arduino"

* move folder "libraries" to folder "Arduino"

* Open Arduino

* File/Open "ArduCopter/ArduCopter.pde"

* Compile

* Smile

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Permalink Reply by TUFAN OZBEK on June 30, 2012 at 2:00pm

first of all.. very very thank you mike its working great. and really i smile :)

i have another question if you can help me, 

I couldn't find the main() function of the code. I wanna add a feature that the copter will go back home depending on an external command and/or reaching of a timeout value which will be decremented in a timer interrupt... Where should I put my codes to do this?

thank you again.

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Permalink Reply by Michael Pursifull on June 30, 2012 at 4:47pm

For the external command, you need to learn more. You do know "RTL", yes?

I know you are talking about an interrupt, but for the timeout, look at:

slone:ArduCopter mike$ grep -i "loop()" ArduCopter.pde
void loop() <--------- this is what you are thinking of for main(). Don't use this.
fast_loop(); 
medium_loop(); 
fifty_hz_loop();  
super_slow_loop(); 
static void fast_loop()       <--- this is very fast, I don't recommend using this.
static void medium_loop() <--- this is better. But you probably don't need something run every 1/10th of a second?
slow_loop();
static void fifty_hz_loop() <--- too fast also ... remember, anything you put to run a lot will affect your flight stability
static void slow_loop()           <--- too fast also... it is better to run something like this less often....
static void super_slow_loop() <--- this is a one second loop, runs at ~1Hz. This is probably a good place. 

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Permalink Reply by TUFAN OZBEK on July 1, 2012 at 5:04am

thank you so much mike.

yes i know RTL. return to launch mode

but i dont know how can i select and activate this mode in program loop

if i add this line to counter "set_mode(RTL);"  can i activate RTL mode?

thank you again mike..

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DeveloperPermalink Reply by Andreas M. Antonopoulos on July 1, 2012 at 10:21am

Yes, that will put you in RTL mode

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Permalink Reply by TUFAN OZBEK on July 1, 2012 at 2:55pm

thank you dear andreas, i will try this 

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