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Start ArducopterNG update 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@648 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-10-11 12:14:04 +00:00
parent 5c18e5a185
commit 0540bbbe28
2 changed files with 4 additions and 63 deletions
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61
ArducopterNG/ArducopterNG.pde
View File

@ -3,8 +3,8 @@
Copyright (c) 2010. All rights reserved.
An Open Source Arduino based multicopter.
File : Arducopter.pde
Version : v0.1, October 2010
File : ArducopterNG.pde
Version : v1.0, 11 October 2010
Author(s): ArduCopter Team
Ted Carancho (AeroQuad), Jose Julio, Jordi Muñoz,
Jani Hirvinen, Ken McEwans, Roberto Navoni,
@ -32,7 +32,7 @@
/* DataFlash : DataFlash log library */
/* APM_BMP085 : BMP085 barometer library */
/* APM_Compass : HMC5843 compass library [optional] */
/* GPS_UBLOX or GPS_NMEA or GPS_MTK : GPS library [optional] */
/* GPS_MTK or GPS_UBLOX or GPS_NMEA : GPS library [optional] */
/* ********************************************************************** */
/* ************************************************************ */
@ -130,61 +130,6 @@ void setup() {
//APM_Init_Serial();
//APM_Init_xx
pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
pinMode(LED_Green,OUTPUT); //Green LED C (PC0)
pinMode(SW1_pin,INPUT); //Switch SW1 (pin PG0)
pinMode(RELE_pin,OUTPUT); // Rele output
digitalWrite(RELE_pin,LOW);
// APM Radio initialization
APM_RC.Init();
// RC channels Initialization (Quad motors)
APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
APM_RC.OutputCh(1,MIN_THROTTLE);
APM_RC.OutputCh(2,MIN_THROTTLE);
APM_RC.OutputCh(3,MIN_THROTTLE);
for(i = 0; i <= 50; i++) {
digitalWrite(LED_Green, HIGH);
digitalWrite(LED_Yellow, HIGH);
digitalWrite(LED_Red, HIGH);
delay(20);
digitalWrite(LED_Green, LOW);
digitalWrite(LED_Yellow, LOW);
digitalWrite(LED_Red, LOW);
delay(20);
}
APM_ADC.Init(); // APM ADC library initialization
DataFlash.Init(); // DataFlash log initialization
DataFlash.StartWrite(1); // Start a write session on page 1
// Check if we enable the DataFlash log Read Mode (switch)
// If we press switch 1 at startup we read the Dataflash eeprom
while (digitalRead(SW1_pin)==0) {
SerPriln("Entering Log Read Mode...");
Log_Read(1,2000);
delay(30000);
}
#ifdef IsGPS
GPS.Init(); // GPS Initialization
#ifdef IsNEWMTEK
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("$PGCMD,16,0,0,0,0,0*6A\r\n");
#endif
#endif
readUserConfig(); // Load user configurable items from EEPROM
if (MAGNETOMETER == 1)
APM_Compass.Init(); // I2C initialization
calibrateSensors();
previousTime = millis();
motorArmed = 0;
digitalWrite(LED_Green,HIGH); // Ready to go...

6
ArducopterNG/System.pde
View File

@ -42,17 +42,13 @@ void APM_Init() {
pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
pinMode(LED_Green,OUTPUT); //Green LED C (PC0)
pinMode(SW1_pin,INPUT); //Switch SW1 (pin PG0)
pinMode(RELE_pin,OUTPUT); // Rele output
digitalWrite(RELE_pin,LOW);
// delay(1000); // Wait until frame is not moving after initial power cord has connected
FullBlink(50,20);
APM_RC.Init(); // APM Radio initialization
APM_ADC.Init(); // APM ADC library initialization
DataFlash.Init(); // DataFlash log initialization
@ -200,4 +196,4 @@ void resetPerfData(void) {
perf_mon_timer = millis();
}