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System.pde update 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@649 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-10-11 12:20:30 +00:00
parent 0540bbbe28
commit 018e8efc00
2 changed files with 13 additions and 49 deletions
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11
ArducopterNG/ArducopterNG.pde
View File

@ -124,14 +124,13 @@ unsigned long motorLoop = 0;
/* **************** MAIN PROGRAM - SETUP ********************** */
/* ************************************************************ */
void setup() {
APM_Init();
//APM_Init_ADC();
//APM_Init_Radio();
//APM_Init_Serial();
//APM_Init_xx
APM_Init(); // APM Hardware initialization
previousTime = millis();
motorArmed = 0;
Read_adc_raw(); // Initialize ADC readings...
delay(20);
digitalWrite(LED_Green,HIGH); // Ready to go...
}

51
ArducopterNG/System.pde
View File

@ -59,6 +59,8 @@ void APM_Init() {
delay(250);
// DIY Drones MTEK GPS needs binary sentences activated if you upgraded to latest firmware.
// If your GPS shows solid blue but LED C (Red) does not go on, your GPS is on NMEA mode
Serial1.print("$PMTK220,200*2C\r\n"); // 5Hz update rate
delay(200);
Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
#endif
#endif
@ -94,7 +96,7 @@ void APM_Init() {
}
Read_adc_raw();
delay(20);
delay(10);
// Offset values for accels and gyros...
AN_OFFSET[3] = acc_offset_x;
@ -143,57 +145,20 @@ void APM_Init() {
Serial.print(yaw_mid);
#endif
#ifdef RADIO_TEST_MODE // RADIO TEST MODE TO TEST RADIO CHANNELS
while(1)
{
if (APM_RC.GetState()==1)
{
Serial.print("AIL:");
Serial.print(APM_RC.InputCh(0));
Serial.print("ELE:");
Serial.print(APM_RC.InputCh(1));
Serial.print("THR:");
Serial.print(APM_RC.InputCh(2));
Serial.print("YAW:");
Serial.print(APM_RC.InputCh(3));
Serial.print("AUX(mode):");
Serial.print(APM_RC.InputCh(4));
Serial.print("AUX2:");
Serial.print(APM_RC.InputCh(5));
Serial.println();
delay(200);
}
}
#endif
#ifdef UseBMP
APM_BMP085.Init();
#endif
delay(1000);
DataFlash.StartWrite(1); // Start a write session on page 1
timer = millis();
tlmTimer = millis();
Read_adc_raw(); // Initialize ADC readings...
delay(20);
//timer = millis();
//tlmTimer = millis();
#ifdef IsAM
// Switch Left & Right lights on
digitalWrite(RI_LED, HIGH);
digitalWrite(LE_LED, HIGH);
#endif
motorArmed = 0;
digitalWrite(LED_Green,HIGH); // Ready to go...
}
void resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;
gyro_sat_count = 0;
adc_constraints = 0;
renorm_sqrt_count = 0;
renorm_blowup_count = 0;
gps_fix_count = 0;
perf_mon_timer = millis();
}