mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-23 16:23:56 -04:00
uncrustify ArduPlane/system.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
e73834d6eb
commit
09d5af6920
@ -1,43 +1,43 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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* The init_ardupilot function processes everything we need for an in - air restart
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We will determine later if we are actually on the ground and process a
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* We will determine later if we are actually on the ground and process a
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ground start in that case.
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* ground start in that case.
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*
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*****************************************************************************/
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*****************************************************************************/
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#if CLI_ENABLED == ENABLED
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#if CLI_ENABLED == ENABLED
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// Functions called from the top-level menu
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// Functions called from the top-level menu
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
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static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
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static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
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static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
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static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
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static int8_t planner_mode(uint8_t argc, const Menu::arg *argv); // in planner.pde
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static int8_t planner_mode(uint8_t argc, const Menu::arg *argv); // in planner.pde
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// This is the help function
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of print_f that reads from flash memory
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// printf_P is a version of print_f that reads from flash memory
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
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{
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{
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Serial.printf_P(PSTR("Commands:\n"
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Serial.printf_P(PSTR("Commands:\n"
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" logs log readback/setup mode\n"
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" logs log readback/setup mode\n"
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" setup setup mode\n"
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" setup setup mode\n"
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" test test mode\n"
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" test test mode\n"
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"\n"
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"\n"
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"Move the slide switch and reset to FLY.\n"
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"Move the slide switch and reset to FLY.\n"
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"\n"));
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"\n"));
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return(0);
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return(0);
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}
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}
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// Command/function table for the top-level menu.
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// Command/function table for the top-level menu.
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static const struct Menu::command main_menu_commands[] PROGMEM = {
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static const struct Menu::command main_menu_commands[] PROGMEM = {
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// command function called
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// command function called
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// ======= ===============
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// ======= ===============
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{"logs", process_logs},
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{"logs", process_logs},
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{"setup", setup_mode},
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{"setup", setup_mode},
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{"test", test_mode},
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{"test", test_mode},
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{"help", main_menu_help},
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{"help", main_menu_help},
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{"planner", planner_mode}
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{"planner", planner_mode}
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};
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};
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// Create the top-level menu object.
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// Create the top-level menu object.
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@ -76,25 +76,25 @@ static void init_ardupilot()
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}
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}
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#endif
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#endif
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// Console serial port
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// Console serial port
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//
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//
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// The console port buffers are defined to be sufficiently large to support
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// The console port buffers are defined to be sufficiently large to support
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// the MAVLink protocol efficiently
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// the MAVLink protocol efficiently
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//
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//
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Serial.begin(SERIAL0_BAUD, 128, 256);
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Serial.begin(SERIAL0_BAUD, 128, 256);
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// GPS serial port.
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// GPS serial port.
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//
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//
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// standard gps running
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// standard gps running
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Serial1.begin(38400, 256, 16);
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Serial1.begin(38400, 256, 16);
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Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
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Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n"),
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"\n\nFree RAM: %u\n"),
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memcheck_available_memory());
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memcheck_available_memory());
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//
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//
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// Initialize Wire and SPI libraries
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// Initialize Wire and SPI libraries
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//
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//
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#ifndef DESKTOP_BUILD
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#ifndef DESKTOP_BUILD
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I2c.begin();
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I2c.begin();
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I2c.timeOut(5);
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I2c.timeOut(5);
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@ -103,31 +103,31 @@ static void init_ardupilot()
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#endif
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#endif
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SPI.begin();
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
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SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
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//
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//
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// Initialize the ISR registry.
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// Initialize the ISR registry.
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//
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//
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isr_registry.init();
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isr_registry.init();
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//
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//
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// Initialize the timer scheduler to use the ISR registry.
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// Initialize the timer scheduler to use the ISR registry.
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//
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//
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timer_scheduler.init( & isr_registry );
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timer_scheduler.init( &isr_registry );
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// initialise the analog port reader
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// initialise the analog port reader
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AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
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AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
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//
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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//
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load_parameters();
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load_parameters();
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// keep a record of how many resets have happened. This can be
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// keep a record of how many resets have happened. This can be
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// used to detect in-flight resets
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// used to detect in-flight resets
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g.num_resets.set_and_save(g.num_resets+1);
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g.num_resets.set_and_save(g.num_resets+1);
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// init the GCS
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// init the GCS
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gcs0.init(&Serial);
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gcs0.init(&Serial);
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#if USB_MUX_PIN > 0
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#if USB_MUX_PIN > 0
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if (!usb_connected) {
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if (!usb_connected) {
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@ -138,71 +138,71 @@ static void init_ardupilot()
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#else
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#else
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// we have a 2nd serial port for telemetry
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// we have a 2nd serial port for telemetry
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Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
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Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
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gcs3.init(&Serial3);
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gcs3.init(&Serial3);
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#endif
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#endif
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mavlink_system.sysid = g.sysid_this_mav;
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mavlink_system.sysid = g.sysid_this_mav;
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#if LOGGING_ENABLED == ENABLED
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init(); // DataFlash log initialization
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DataFlash.Init(); // DataFlash log initialization
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if (!DataFlash.CardInserted()) {
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if (!DataFlash.CardInserted()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
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gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
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g.log_bitmask.set(0);
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g.log_bitmask.set(0);
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} else if (DataFlash.NeedErase()) {
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} else if (DataFlash.NeedErase()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
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gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
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do_erase_logs();
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do_erase_logs();
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}
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if (g.log_bitmask != 0) {
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DataFlash.start_new_log();
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}
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}
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if (g.log_bitmask != 0) {
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DataFlash.start_new_log();
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}
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#endif
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#endif
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if CONFIG_ADC == ENABLED
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#if CONFIG_ADC == ENABLED
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adc.Init(&timer_scheduler); // APM ADC library initialization
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adc.Init(&timer_scheduler); // APM ADC library initialization
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#endif
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#endif
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// initialise the analog port reader
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// initialise the analog port reader
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AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
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AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
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barometer.init(&timer_scheduler);
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barometer.init(&timer_scheduler);
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if (g.compass_enabled==true) {
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if (g.compass_enabled==true) {
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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if (!compass.init() || !compass.read()) {
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if (!compass.init() || !compass.read()) {
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Serial.println_P(PSTR("Compass initialisation failed!"));
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Serial.println_P(PSTR("Compass initialisation failed!"));
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g.compass_enabled = false;
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g.compass_enabled = false;
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} else {
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} else {
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ahrs.set_compass(&compass);
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ahrs.set_compass(&compass);
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}
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}
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}
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}
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#endif
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#endif
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// give AHRS the airspeed sensor
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// give AHRS the airspeed sensor
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ahrs.set_airspeed(&airspeed);
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ahrs.set_airspeed(&airspeed);
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// Do GPS init
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// Do GPS init
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g_gps = &g_gps_driver;
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g_gps = &g_gps_driver;
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// GPS Initialization
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// GPS Initialization
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g_gps->init(GPS::GPS_ENGINE_AIRBORNE_4G);
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g_gps->init(GPS::GPS_ENGINE_AIRBORNE_4G);
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g_gps->callback = mavlink_delay;
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g_gps->callback = mavlink_delay;
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//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
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//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
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mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
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mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
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mavlink_system.type = MAV_TYPE_FIXED_WING;
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mavlink_system.type = MAV_TYPE_FIXED_WING;
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rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
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rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
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RC_Channel::set_apm_rc( &APM_RC ); // Provide reference to RC outputs.
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RC_Channel::set_apm_rc( &APM_RC ); // Provide reference to RC outputs.
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init_rc_in(); // sets up rc channels from radio
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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init_rc_out(); // sets up the timer libs
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED
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pinMode(A_LED_PIN, OUTPUT); // GPS status LED
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pinMode(A_LED_PIN, OUTPUT); // GPS status LED
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pinMode(B_LED_PIN, OUTPUT); // GPS status LED
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pinMode(B_LED_PIN, OUTPUT); // GPS status LED
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#if CONFIG_RELAY == ENABLED
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#if CONFIG_RELAY == ENABLED
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DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
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DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
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#endif
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#endif
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#if FENCE_TRIGGERED_PIN > 0
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#if FENCE_TRIGGERED_PIN > 0
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@ -211,56 +211,56 @@ static void init_ardupilot()
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#endif
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#endif
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/*
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/*
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setup the 'main loop is dead' check. Note that this relies on
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* setup the 'main loop is dead' check. Note that this relies on
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the RC library being initialised.
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* the RC library being initialised.
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*/
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*/
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timer_scheduler.set_failsafe(failsafe_check);
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timer_scheduler.set_failsafe(failsafe_check);
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Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
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Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
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if (ENABLE_AIR_START == 1) {
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if (ENABLE_AIR_START == 1) {
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// Perform an air start and get back to flying
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// Perform an air start and get back to flying
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gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
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gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
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// Get necessary data from EEPROM
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// Get necessary data from EEPROM
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//----------------
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//----------------
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//read_EEPROM_airstart_critical();
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//read_EEPROM_airstart_critical();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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imu.init(IMU::WARM_START, mavlink_delay, flash_leds, &timer_scheduler);
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imu.init(IMU::WARM_START, mavlink_delay, flash_leds, &timer_scheduler);
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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ahrs.init();
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_fly_forward(true);
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#endif
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#endif
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// This delay is important for the APM_RC library to work.
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// This delay is important for the APM_RC library to work.
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// We need some time for the comm between the 328 and 1280 to be established.
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// We need some time for the comm between the 328 and 1280 to be established.
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int old_pulse = 0;
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int old_pulse = 0;
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while (millis()<=1000 && (abs(old_pulse - APM_RC.InputCh(g.flight_mode_channel)) > 5 ||
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while (millis()<=1000 && (abs(old_pulse - APM_RC.InputCh(g.flight_mode_channel)) > 5 ||
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APM_RC.InputCh(g.flight_mode_channel) == 1000 ||
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APM_RC.InputCh(g.flight_mode_channel) == 1000 ||
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APM_RC.InputCh(g.flight_mode_channel) == 1200)) {
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APM_RC.InputCh(g.flight_mode_channel) == 1200)) {
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old_pulse = APM_RC.InputCh(g.flight_mode_channel);
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old_pulse = APM_RC.InputCh(g.flight_mode_channel);
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delay(25);
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delay(25);
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}
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}
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GPS_enabled = false;
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GPS_enabled = false;
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g_gps->update();
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g_gps->update();
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if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) GPS_enabled = true;
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if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) GPS_enabled = true;
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if (g.log_bitmask & MASK_LOG_CMD)
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Startup(TYPE_AIRSTART_MSG);
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Log_Write_Startup(TYPE_AIRSTART_MSG);
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reload_commands_airstart(); // Get set to resume AUTO from where we left off
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reload_commands_airstart(); // Get set to resume AUTO from where we left off
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}else {
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}else {
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startup_ground();
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startup_ground();
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if (g.log_bitmask & MASK_LOG_CMD)
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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}
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}
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set_mode(MANUAL);
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set_mode(MANUAL);
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// set the correct flight mode
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// set the correct flight mode
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// ---------------------------
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// ---------------------------
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reset_control_switch();
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reset_control_switch();
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}
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}
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//********************************************************************************
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//********************************************************************************
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@ -270,53 +270,53 @@ static void startup_ground(void)
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{
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{
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set_mode(INITIALISING);
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set_mode(INITIALISING);
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
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#if(GROUND_START_DELAY > 0)
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#if (GROUND_START_DELAY > 0)
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
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delay(GROUND_START_DELAY * 1000);
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delay(GROUND_START_DELAY * 1000);
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#endif
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#endif
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// Makes the servos wiggle
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// Makes the servos wiggle
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// step 1 = 1 wiggle
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// step 1 = 1 wiggle
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// -----------------------
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// -----------------------
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demo_servos(1);
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demo_servos(1);
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//IMU ground start
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//IMU ground start
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//------------------------
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//------------------------
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//
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//
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startup_IMU_ground(false);
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startup_IMU_ground(false);
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// read the radio to set trims
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// read the radio to set trims
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// ---------------------------
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// ---------------------------
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trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
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trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
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// Save the settings for in-air restart
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// Save the settings for in-air restart
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// ------------------------------------
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// ------------------------------------
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//save_EEPROM_groundstart();
|
//save_EEPROM_groundstart();
|
||||||
|
|
||||||
// initialize commands
|
// initialize commands
|
||||||
// -------------------
|
// -------------------
|
||||||
init_commands();
|
init_commands();
|
||||||
|
|
||||||
// Read in the GPS - see if one is connected
|
// Read in the GPS - see if one is connected
|
||||||
GPS_enabled = false;
|
GPS_enabled = false;
|
||||||
for (byte counter = 0; ; counter++) {
|
for (byte counter = 0;; counter++) {
|
||||||
g_gps->update();
|
g_gps->update();
|
||||||
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED){
|
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) {
|
||||||
GPS_enabled = true;
|
GPS_enabled = true;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (counter >= 2) {
|
if (counter >= 2) {
|
||||||
GPS_enabled = false;
|
GPS_enabled = false;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Makes the servos wiggle - 3 times signals ready to fly
|
// Makes the servos wiggle - 3 times signals ready to fly
|
||||||
// -----------------------
|
// -----------------------
|
||||||
demo_servos(3);
|
demo_servos(3);
|
||||||
|
|
||||||
// we don't want writes to the serial port to cause us to pause
|
// we don't want writes to the serial port to cause us to pause
|
||||||
// mid-flight, so set the serial ports non-blocking once we are
|
// mid-flight, so set the serial ports non-blocking once we are
|
||||||
@ -326,93 +326,93 @@ static void startup_ground(void)
|
|||||||
Serial3.set_blocking_writes(false);
|
Serial3.set_blocking_writes(false);
|
||||||
}
|
}
|
||||||
|
|
||||||
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
|
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
|
||||||
}
|
}
|
||||||
|
|
||||||
static void set_mode(byte mode)
|
static void set_mode(byte mode)
|
||||||
{
|
{
|
||||||
if(control_mode == mode){
|
if(control_mode == mode) {
|
||||||
// don't switch modes if we are already in the correct mode.
|
// don't switch modes if we are already in the correct mode.
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
if(g.auto_trim > 0 && control_mode == MANUAL)
|
if(g.auto_trim > 0 && control_mode == MANUAL)
|
||||||
trim_control_surfaces();
|
trim_control_surfaces();
|
||||||
|
|
||||||
control_mode = mode;
|
control_mode = mode;
|
||||||
crash_timer = 0;
|
crash_timer = 0;
|
||||||
|
|
||||||
switch(control_mode)
|
switch(control_mode)
|
||||||
{
|
{
|
||||||
case INITIALISING:
|
case INITIALISING:
|
||||||
case MANUAL:
|
case MANUAL:
|
||||||
case CIRCLE:
|
case CIRCLE:
|
||||||
case STABILIZE:
|
case STABILIZE:
|
||||||
case FLY_BY_WIRE_A:
|
case FLY_BY_WIRE_A:
|
||||||
case FLY_BY_WIRE_B:
|
case FLY_BY_WIRE_B:
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case AUTO:
|
case AUTO:
|
||||||
update_auto();
|
update_auto();
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case RTL:
|
case RTL:
|
||||||
do_RTL();
|
do_RTL();
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case LOITER:
|
case LOITER:
|
||||||
do_loiter_at_location();
|
do_loiter_at_location();
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case GUIDED:
|
case GUIDED:
|
||||||
set_guided_WP();
|
set_guided_WP();
|
||||||
break;
|
break;
|
||||||
|
|
||||||
default:
|
default:
|
||||||
do_RTL();
|
do_RTL();
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (g.log_bitmask & MASK_LOG_MODE)
|
if (g.log_bitmask & MASK_LOG_MODE)
|
||||||
Log_Write_Mode(control_mode);
|
Log_Write_Mode(control_mode);
|
||||||
}
|
}
|
||||||
|
|
||||||
static void check_long_failsafe()
|
static void check_long_failsafe()
|
||||||
{
|
{
|
||||||
// only act on changes
|
// only act on changes
|
||||||
// -------------------
|
// -------------------
|
||||||
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS){
|
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS) {
|
||||||
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
|
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
|
||||||
failsafe_long_on_event(FAILSAFE_LONG);
|
failsafe_long_on_event(FAILSAFE_LONG);
|
||||||
}
|
}
|
||||||
if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
|
if(!rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
|
||||||
failsafe_long_on_event(FAILSAFE_LONG);
|
failsafe_long_on_event(FAILSAFE_LONG);
|
||||||
}
|
}
|
||||||
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
|
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
|
||||||
failsafe_long_on_event(FAILSAFE_GCS);
|
failsafe_long_on_event(FAILSAFE_GCS);
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
// We do not change state but allow for user to change mode
|
// We do not change state but allow for user to change mode
|
||||||
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
|
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
|
||||||
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
|
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
|
||||||
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
|
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
static void check_short_failsafe()
|
static void check_short_failsafe()
|
||||||
{
|
{
|
||||||
// only act on changes
|
// only act on changes
|
||||||
// -------------------
|
// -------------------
|
||||||
if(failsafe == FAILSAFE_NONE){
|
if(failsafe == FAILSAFE_NONE) {
|
||||||
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
|
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
|
||||||
failsafe_short_on_event(FAILSAFE_SHORT);
|
failsafe_short_on_event(FAILSAFE_SHORT);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if(failsafe == FAILSAFE_SHORT){
|
if(failsafe == FAILSAFE_SHORT) {
|
||||||
if(!ch3_failsafe) {
|
if(!ch3_failsafe) {
|
||||||
failsafe_short_off_event();
|
failsafe_short_off_event();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -420,27 +420,27 @@ static void startup_IMU_ground(bool force_accel_level)
|
|||||||
{
|
{
|
||||||
#if HIL_MODE != HIL_MODE_ATTITUDE
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
||||||
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
|
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
|
||||||
mavlink_delay(500);
|
mavlink_delay(500);
|
||||||
|
|
||||||
// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
|
// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
|
||||||
// -----------------------
|
// -----------------------
|
||||||
demo_servos(2);
|
demo_servos(2);
|
||||||
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
|
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
|
||||||
mavlink_delay(1000);
|
mavlink_delay(1000);
|
||||||
|
|
||||||
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
|
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
|
||||||
if (force_accel_level || g.manual_level == 0) {
|
if (force_accel_level || g.manual_level == 0) {
|
||||||
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
|
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
|
||||||
// levelling on each boot, and instead rely on the user to do
|
// levelling on each boot, and instead rely on the user to do
|
||||||
// it once via the ground station
|
// it once via the ground station
|
||||||
imu.init_accel(mavlink_delay, flash_leds);
|
imu.init_accel(mavlink_delay, flash_leds);
|
||||||
}
|
}
|
||||||
ahrs.set_fly_forward(true);
|
ahrs.set_fly_forward(true);
|
||||||
ahrs.reset();
|
ahrs.reset();
|
||||||
|
|
||||||
// read Baro pressure at ground
|
// read Baro pressure at ground
|
||||||
//-----------------------------
|
//-----------------------------
|
||||||
init_barometer();
|
init_barometer();
|
||||||
|
|
||||||
if (airspeed.enabled()) {
|
if (airspeed.enabled()) {
|
||||||
// initialize airspeed sensor
|
// initialize airspeed sensor
|
||||||
@ -452,54 +452,54 @@ static void startup_IMU_ground(bool force_accel_level)
|
|||||||
|
|
||||||
#endif // HIL_MODE_ATTITUDE
|
#endif // HIL_MODE_ATTITUDE
|
||||||
|
|
||||||
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate IMU ready
|
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate IMU ready
|
||||||
digitalWrite(A_LED_PIN, LED_OFF);
|
digitalWrite(A_LED_PIN, LED_OFF);
|
||||||
digitalWrite(C_LED_PIN, LED_OFF);
|
digitalWrite(C_LED_PIN, LED_OFF);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
static void update_GPS_light(void)
|
static void update_GPS_light(void)
|
||||||
{
|
{
|
||||||
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
|
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
|
||||||
// ---------------------------------------------------------------------
|
// ---------------------------------------------------------------------
|
||||||
switch (g_gps->status()) {
|
switch (g_gps->status()) {
|
||||||
case(2):
|
case (2):
|
||||||
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
|
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case(1):
|
case (1):
|
||||||
if (g_gps->valid_read == true){
|
if (g_gps->valid_read == true) {
|
||||||
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
|
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
|
||||||
if (GPS_light){
|
if (GPS_light) {
|
||||||
digitalWrite(C_LED_PIN, LED_OFF);
|
digitalWrite(C_LED_PIN, LED_OFF);
|
||||||
} else {
|
} else {
|
||||||
digitalWrite(C_LED_PIN, LED_ON);
|
digitalWrite(C_LED_PIN, LED_ON);
|
||||||
}
|
}
|
||||||
g_gps->valid_read = false;
|
g_gps->valid_read = false;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
|
|
||||||
default:
|
default:
|
||||||
digitalWrite(C_LED_PIN, LED_OFF);
|
digitalWrite(C_LED_PIN, LED_OFF);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
static void resetPerfData(void) {
|
static void resetPerfData(void) {
|
||||||
mainLoop_count = 0;
|
mainLoop_count = 0;
|
||||||
G_Dt_max = 0;
|
G_Dt_max = 0;
|
||||||
imu.adc_constraints = 0;
|
imu.adc_constraints = 0;
|
||||||
ahrs.renorm_range_count = 0;
|
ahrs.renorm_range_count = 0;
|
||||||
ahrs.renorm_blowup_count = 0;
|
ahrs.renorm_blowup_count = 0;
|
||||||
gps_fix_count = 0;
|
gps_fix_count = 0;
|
||||||
pmTest1 = 0;
|
pmTest1 = 0;
|
||||||
perf_mon_timer = millis();
|
perf_mon_timer = millis();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
/*
|
/*
|
||||||
map from a 8 bit EEPROM baud rate to a real baud rate
|
* map from a 8 bit EEPROM baud rate to a real baud rate
|
||||||
*/
|
*/
|
||||||
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
|
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
|
||||||
{
|
{
|
||||||
@ -539,13 +539,13 @@ static void check_usb_mux(void)
|
|||||||
|
|
||||||
|
|
||||||
/*
|
/*
|
||||||
called by gyro/accel init to flash LEDs so user
|
* called by gyro/accel init to flash LEDs so user
|
||||||
has some mesmerising lights to watch while waiting
|
* has some mesmerising lights to watch while waiting
|
||||||
*/
|
*/
|
||||||
void flash_leds(bool on)
|
void flash_leds(bool on)
|
||||||
{
|
{
|
||||||
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
|
digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
|
||||||
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
|
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
|
||||||
}
|
}
|
||||||
|
|
||||||
/*
|
/*
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user