Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: remove APM1, APM2 support

Browse Source
This commit is contained in:
Randy Mackay 2015-03-13 15:25:08 +09:00
parent 385558db4d
commit 088a49abbf
3 changed files with 12 additions and 104 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduCopter/ArduCopter.pde
View File

@ -221,11 +221,7 @@ static void gcs_send_text_fmt(const prog_char_t *fmt, ...);
////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
static DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
static DataFlash_APM1 DataFlash;
#elif defined(HAL_BOARD_LOG_DIRECTORY)
#if defined(HAL_BOARD_LOG_DIRECTORY)
static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
#else
static DataFlash_Empty DataFlash;
@ -275,10 +271,6 @@ static AP_Compass_AK8963_MPU9250 compass;
#error Unrecognized CONFIG_COMPASS setting
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
AP_InertialSensor ins;
// Inertial Navigation EKF
@ -634,7 +626,7 @@ static uint32_t rtl_loiter_start_time;
// Used to exit the roll and pitch auto trim function
static uint8_t auto_trim_counter;
// Reference to the relay object (APM1 -> PORTL 2) (APM2 -> PORTB 7)
// Reference to the relay object
static AP_Relay relay;
// handle repeated servo and relay events

73
ArduCopter/config.h
View File

@ -40,18 +40,10 @@
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
#ifdef CONFIG_APM_HARDWARE
#error CONFIG_APM_HARDWARE option is deprecated! use CONFIG_HAL_BOARD instead
#endif
#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build ArduCopter
#endif
#ifdef __AVR_ATmega1280__
#error ATmega1280 is not supported
#endif
//////////////////////////////////////////////////////////////////////////////
// sensor types
@ -74,19 +66,14 @@
#define MAGNETOMETER ENABLED
// disable some features for APM1/APM2
// low power cpus are not supported
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75
# define PARACHUTE DISABLED
# define AC_RALLY DISABLED
# define EPM_ENABLED DISABLED
# define CLI_ENABLED DISABLED
# define FRSKY_TELEM_ENABLED DISABLED
# define NAV_GUIDED DISABLED
# error ArduCopter ver3.3 and higher is not supported on APM1, APM2 boards
#endif
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// low power CPUs (APM1, APM2 and SITL)
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// slow loop rate in SITL, Linux
# define MAIN_LOOP_RATE 100
# define MAIN_LOOP_SECONDS 0.01
# define MAIN_LOOP_MICROS 10000
@ -151,17 +138,6 @@
# define RATE_YAW_I 0.015f
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
# if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
@ -169,20 +145,6 @@
# define RC_FAST_SPEED 490
#endif
////////////////////////////////////////////////////////
// LED and IO Pins
//
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define LED_ON LOW
# define LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#endif
//////////////////////////////////////////////////////////////////////////////
// Barometer
//
@ -342,14 +304,8 @@
#endif
// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#ifndef COMPASS_MAGFIELD_EXPECTED
# define COMPASS_MAGFIELD_EXPECTED 330 // pre arm will fail if mag field > 544 or < 115
#endif
#else // PX4, SITL
#ifndef COMPASS_MAGFIELD_EXPECTED
#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
#endif
#ifndef COMPASS_MAGFIELD_EXPECTED
#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
#endif
// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
@ -357,7 +313,7 @@
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
#endif
#else // APM1, APM2, SITL, FLYMAPLE, etc
#else // SITL, FLYMAPLE, etc
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 500
#endif
@ -734,19 +690,8 @@
# define LOGGING_ENABLED ENABLED
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// APM1 & APM2 default logging
# define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \
MASK_LOG_PM | \
MASK_LOG_CTUN | \
MASK_LOG_NTUN | \
MASK_LOG_RCIN | \
MASK_LOG_CMD | \
MASK_LOG_CURRENT
#else
// PX4, Pixhawk, FlyMaple default logging
// Default logging bitmask
#ifndef DEFAULT_LOG_BITMASK
# define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \

31
ArduCopter/system.pde
View File

@ -89,14 +89,6 @@ static void init_ardupilot()
"\n\nFree RAM: %u\n"),
hal.util->available_memory());
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
/*
run the timer a bit slower on APM2 to reduce the interrupt load
on the CPU
*/
hal.scheduler->set_timer_speed(500);
#endif
//
// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
//
@ -139,12 +131,8 @@ static void init_ardupilot()
// init the GCS connected to the console
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
#if CONFIG_HAL_BOARD != HAL_BOARD_APM2
// we have a 2nd serial port for telemetry on all boards except
// APM2. We actually do have one on APM2 but it isn't necessary as
// a MUX is used
// init telemetry port
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 2
// setup serial port for telem2
@ -185,11 +173,6 @@ static void init_ardupilot()
*/
hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
#if CONFIG_ADC == ENABLED
// begin filtering the ADC Gyros
apm1_adc.Init(); // APM ADC library initialization
#endif // CONFIG_ADC
// Do GPS init
gps.init(&DataFlash, serial_manager);
@ -394,18 +377,6 @@ static void check_usb_mux(void)
// the user has switched to/from the telemetry port
ap.usb_connected = usb_check;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
// the APM2 has a MUX setup where the first serial port switches
// between USB and a TTL serial connection. When on USB we use
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL1_BAUD.
if (ap.usb_connected) {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
} else {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1);
}
#endif
}
// frsky_telemetry_send - sends telemetry data using frsky telemetry