mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.8 KiB
Plaintext
110 lines
2.8 KiB
Plaintext
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void init_tracker()
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{
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hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
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// gps port
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hal.uartB->begin(38400, 256, 16);
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cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n"),
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memcheck_available_memory());
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// Check the EEPROM format version before loading any parameters from EEPROM
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load_parameters();
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// reset the uartA baud rate after parameter load
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hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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// init the GCS
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gcs0.init(hal.uartA);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
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// we have a 2nd serial port for telemetry
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hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD),
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128, SERIAL2_BUFSIZE);
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gcs3.init(hal.uartC);
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mavlink_system.sysid = g.sysid_this_mav;
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if (g.compass_enabled==true) {
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if (!compass.init() || !compass.read()) {
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cliSerial->println_P(PSTR("Compass initialisation failed!"));
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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}
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}
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// Do GPS init
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g_gps = &g_gps_driver;
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// GPS Initialization
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g_gps->init(hal.uartB, GPS::GPS_ENGINE_STATIONARY);
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mavlink_system.compid = 4;
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mavlink_system.type = MAV_TYPE_ANTENNA_TRACKER;
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ahrs.init();
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ahrs.set_fly_forward(false);
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ins.init(AP_InertialSensor::WARM_START, ins_sample_rate);
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ahrs.reset();
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init_barometer();
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hal.uartA->set_blocking_writes(false);
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hal.uartC->set_blocking_writes(false);
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// setup antenna control PWM channels
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channel_yaw.set_angle(4500);
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channel_pitch.set_angle(4500);
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channel_yaw.output_trim();
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channel_pitch.output_trim();
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channel_yaw.calc_pwm();
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channel_pitch.calc_pwm();
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channel_yaw.enable_out();
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channel_pitch.enable_out();
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gcs_send_text_P(SEVERITY_LOW,PSTR("\nReady to track."));
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hal.scheduler->delay(1000);
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}
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// updates the status of the notify objects
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// should be called at 50hz
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static void update_notify()
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{
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notify.update();
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}
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/*
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* map from a 8 bit EEPROM baud rate to a real baud rate
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*/
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static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
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{
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switch (rate) {
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case 1: return 1200;
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case 2: return 2400;
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case 4: return 4800;
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case 9: return 9600;
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case 19: return 19200;
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case 38: return 38400;
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case 57: return 57600;
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case 111: return 111100;
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case 115: return 115200;
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}
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cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
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return default_baud;
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}
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