mirror of https://github.com/ArduPilot/ardupilot
Updates to guided mode from Michael O.
removed or commented unused static vars
This commit is contained in:
Jason Short
parent
65f26f7138
commit
142707711e
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@ -1,6 +1,6 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduCopter V2.0.48 Beta"
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#define THISFIRMWARE "ArduCopter V2.0.49 Beta"
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/*
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ArduCopter Version 2.0 Beta
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Authors: Jason Short
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@ -425,13 +425,13 @@ static int event_repeat; // how many times to fire : 0 = forever, 1 = do
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static int event_value; // per command value, such as PWM for servos
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static int event_undo_value; // the value used to undo commands
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//static byte repeat_forever;
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static byte undo_event; // counter for timing the undo
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//static byte undo_event; // counter for timing the undo
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// delay command
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// --------------
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static long condition_value; // used in condition commands (eg delay, change alt, etc.)
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static long condition_start;
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static int condition_rate;
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//static int condition_rate;
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// land command
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// ------------
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@ -445,12 +445,10 @@ static struct Location prev_WP; // last waypoint
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static struct Location current_loc; // current location
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static struct Location next_WP; // next waypoint
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static struct Location target_WP; // where do we want to you towards?
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static struct Location simple_WP; //
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static struct Location next_command; // command preloaded
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static struct Location guided_WP; // guided mode waypoint
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static long target_altitude; // used for
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static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
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static boolean new_location; // flag to tell us if location has been updated
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// IMU variables
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// -------------
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@ -1047,9 +1045,14 @@ static void update_navigation()
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case GUIDED:
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wp_control = WP_MODE;
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// check if we are close to point > loiter
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verify_nav_wp();
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wp_verify_byte = 0;
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verify_nav_wp();
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update_auto_yaw();
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if (wp_control == WP_MODE) {
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update_auto_yaw();
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} else {
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set_mode(LOITER);
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}
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update_nav_wp();
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break;
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@ -42,7 +42,9 @@ static void reset_control_switch()
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read_control_switch();
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}
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#if CH7_OPTION == CH7_SET_HOVER
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static boolean trim_flag;
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#endif
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// read at 10 hz
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// set this to your trainer switch
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@ -20,30 +20,30 @@ static void heli_init_swash()
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int i;
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int tilt_max[CH_3+1];
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int total_tilt_max = 0;
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// swash servo initialisation
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g.heli_servo_1.set_range(0,1000);
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g.heli_servo_2.set_range(0,1000);
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g.heli_servo_3.set_range(0,1000);
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g.heli_servo_4.set_angle(4500);
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// pitch factors
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heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos));
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heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos));
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heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos));
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// roll factors
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heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90));
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heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90));
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heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90));
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// collective min / max
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total_tilt_max = 0;
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for( i=CH_1; i<=CH_3; i++ ) {
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tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100;
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total_tilt_max = max(total_tilt_max,tilt_max[i]);
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}
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// servo min/max values - or should I use set_range?
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g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1];
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g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1];
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@ -51,11 +51,11 @@ static void heli_init_swash()
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g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2];
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g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3];
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g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3];
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// reset the servo averaging
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for( i=0; i<=3; i++ )
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heli_servo_out[i] = 0;
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// double check heli_servo_averaging is reasonable
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if( g.heli_servo_averaging < 0 || g.heli_servo_averaging < 0 > 5 ) {
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g.heli_servo_averaging = 0;
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@ -87,36 +87,36 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
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g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500);
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if( g.heli_servo_1.get_reverse() )
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g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out;
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g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500);
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if( g.heli_servo_2.get_reverse() )
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g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out;
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g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500);
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if( g.heli_servo_3.get_reverse() )
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g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out;
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if( g.heli_servo_4.get_reverse() )
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g.heli_servo_4.servo_out = -yaw_out; // should probably just use rc_4 directly like we do for a tricopter
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else
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g.heli_servo_4.servo_out = yaw_out;
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// use servo_out to calculate pwm_out and radio_out
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g.heli_servo_1.calc_pwm();
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g.heli_servo_2.calc_pwm();
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g.heli_servo_3.calc_pwm();
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g.heli_servo_4.calc_pwm();
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g.heli_servo_4.calc_pwm();
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// add the servo values to the averaging
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heli_servo_out[0] += g.heli_servo_1.servo_out;
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heli_servo_out[1] += g.heli_servo_2.servo_out;
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heli_servo_out[2] += g.heli_servo_3.servo_out;
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heli_servo_out[3] += g.heli_servo_4.radio_out;
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heli_servo_out_count++;
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// is it time to move the servos?
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if( heli_servo_out_count >= g.heli_servo_averaging ) {
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// average the values if necessary
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if( g.heli_servo_averaging >= 2 ) {
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heli_servo_out[0] /= g.heli_servo_averaging;
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@ -124,22 +124,24 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
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heli_servo_out[2] /= g.heli_servo_averaging;
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heli_servo_out[3] /= g.heli_servo_averaging;
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}
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// actually move the servos
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APM_RC.OutputCh(CH_1, heli_servo_out[0]);
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APM_RC.OutputCh(CH_2, heli_servo_out[1]);
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APM_RC.OutputCh(CH_3, heli_servo_out[2]);
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APM_RC.OutputCh(CH_4, heli_servo_out[3]);
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// output gyro value
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if( g.heli_ext_gyro_enabled ) {
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APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain);
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}
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// InstantPWM - force message to the servos
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#if INSTANT_PWM == 1
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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#endif
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// reset the averaging
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heli_servo_out_count = 0;
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heli_servo_out[0] = 0;
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@ -149,6 +151,15 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
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}
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}
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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ICR5 = 5000; // 400 hz output CH 1, 2, 9
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ICR1 = 5000; // 400 hz output CH 3, 4, 10
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ICR3 = 40000; // 50 hz output CH 7, 8, 11
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#endif
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}
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// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
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static void output_motors_armed()
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{
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@ -95,9 +95,16 @@ static void calc_loiter(int x_error, int y_error)
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// nav_roll, nav_pitch
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static void calc_loiter_pitch_roll()
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{
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float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0);
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float _cos_yaw_x = cos(temp);
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float _sin_yaw_y = sin(temp);
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Serial.printf("ys %ld, cyx %1.4f, _cyx %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x);
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// rotate the vector
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nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
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nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
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nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x;
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nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y;
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// flip pitch because forward is negative
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nav_pitch = -nav_pitch;
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@ -232,7 +239,7 @@ static void reset_crosstrack()
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crosstrack_bearing = get_bearing(¤t_loc, &next_WP); // Used for track following
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}
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*/
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static long get_altitude_above_home(void)
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/*static long get_altitude_above_home(void)
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{
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// This is the altitude above the home location
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// The GPS gives us altitude at Sea Level
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@ -240,7 +247,7 @@ static long get_altitude_above_home(void)
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// -------------------------------------------------------------
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return current_loc.alt - home.alt;
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}
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*/
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// distance is returned in meters
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static long get_distance(struct Location *loc1, struct Location *loc2)
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{
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@ -252,12 +259,12 @@ static long get_distance(struct Location *loc1, struct Location *loc2)
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float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
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return sqrt(sq(dlat) + sq(dlong)) * .01113195;
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}
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/*
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static long get_alt_distance(struct Location *loc1, struct Location *loc2)
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{
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return abs(loc1->alt - loc2->alt);
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}
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*/
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static long get_bearing(struct Location *loc1, struct Location *loc2)
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{
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long off_x = loc2->lng - loc1->lng;
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@ -184,11 +184,3 @@ static void trim_radio()
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g.rc_4.save_eeprom();
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}
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static void trim_yaw()
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{
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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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g.rc_4.trim(); // yaw
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}
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@ -1,112 +0,0 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if 0
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#define INPUT_BUF_LEN 40
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char input_buffer[INPUT_BUF_LEN];
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static void readCommands(void)
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{
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static byte header[2];
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const byte read_GS_header[] = {0x21, 0x21}; //!! Used to verify the payload msg header
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if(Serial.available()){
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//Serial.println("Serial.available");
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byte bufferPointer;
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header[0] = Serial.read();
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header[1] = Serial.read();
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if((header[0] == read_GS_header[0]) && (header[1] == read_GS_header[1])){
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// Block until we read full command
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// --------------------------------
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delay(20);
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byte incoming_val = 0;
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// Ground Station communication
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// ----------------------------
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while(Serial.available() > 0)
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{
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incoming_val = Serial.read();
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if (incoming_val != 13 && incoming_val != 10 ) {
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input_buffer[bufferPointer++] = incoming_val;
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}
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if(bufferPointer >= INPUT_BUF_LEN){
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Serial.println("Big buffer overrun");
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bufferPointer = 0;
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input_buffer[0] = 1;
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Serial.flush();
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memset(input_buffer,0,sizeof(input_buffer));
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return;
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}
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}
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parseCommand(input_buffer);
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// clear buffer of old data
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// ------------------------
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memset(input_buffer,0,sizeof(input_buffer));
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}else{
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Serial.flush();
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}
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}
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}
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// Commands can be sent as !!a:100|b:200|c:1
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// -----------------------------------------
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static void parseCommand(char *buffer)
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{
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Serial.println("got cmd ");
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Serial.println(buffer);
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char *token, *saveptr1, *saveptr2;
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for (int j = 1;; j++, buffer = NULL) {
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token = strtok_r(buffer, "|", &saveptr1);
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if (token == NULL) break;
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char * cmd = strtok_r(token, ":", &saveptr2);
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long value = strtol(strtok_r (NULL,":", &saveptr2), NULL,0);
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///*
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Serial.print("cmd ");
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Serial.print(cmd[0]);
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Serial.print("\tval ");
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Serial.println(value);
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Serial.println("");
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//*/
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///*
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switch(cmd[0]){
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case 'P':
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g.pi_stabilize_roll.kP((float)value / 1000);
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g.pi_stabilize_pitch.kP((float)value / 1000);
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g.pi_stabilize_pitch.save_gains();
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break;
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case 'I':
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g.pi_stabilize_roll.kI((float)value / 1000);
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g.pi_stabilize_pitch.kI((float)value / 1000);
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g.pi_stabilize_pitch.save_gains();
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break;
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case 'D':
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//g.pi_stabilize_roll.kD((float)value / 1000);
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//g.pi_stabilize_pitch.kD((float)value / 1000);
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break;
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case 'X':
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g.pi_stabilize_roll.imax(value * 100);
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g.pi_stabilize_pitch.imax(value * 100);
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g.pi_stabilize_pitch.save_gains();
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break;
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case 'R':
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//g.stabilize_dampener.set_and_save((float)value / 1000);
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break;
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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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@ -83,7 +83,6 @@ static void init_ardupilot()
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//
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report_version();
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// setup IO pins
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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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@ -143,6 +142,7 @@ static void init_ardupilot()
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}
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}else{
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// Load all auto-loaded EEPROM variables
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AP_Var::load_all();
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}
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@ -157,7 +157,6 @@ static void init_ardupilot()
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//
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Serial3.begin(map_baudrate(g.serial3_baud,SERIAL3_BAUD), 128, 128);
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#ifdef RADIO_OVERRIDE_DEFAULTS
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{
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int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
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@ -216,11 +215,7 @@ static void init_ardupilot()
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//
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if (check_startup_for_CLI()) {
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digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
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Serial.printf_P(PSTR("\n"
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"Entering interactive setup mode...\n"
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"\n"
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"Type 'help' to list commands, 'exit' to leave a submenu.\n"
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"Visit the 'setup' menu for first-time configuration.\n\n"));
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Serial.printf_P(PSTR("\nCLI:\n\n"));
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for (;;) {
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//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
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main_menu.run();
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@ -544,6 +539,6 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
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case 111: return 111100;
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case 115: return 115200;
|
||||
}
|
||||
Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
|
||||
//Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
|
||||
return default_baud;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
|
|||
#ifdef OPTFLOW_ENABLED
|
||||
static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
|
||||
#endif
|
||||
static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
|
||||
//static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
|
||||
//static int8_t test_mission(uint8_t argc, const Menu::arg *argv);
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#
|
||||
# Copyright (c) 2010 Andrew Tridgell. All rights reserved.
|
||||
# based on Arduino.mk, Copyright (c) 2010 Michael Smith
|
||||
#
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
|
|
@ -10,7 +10,7 @@
|
|||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in the
|
||||
# documentation and/or other materials provided with the distribution.
|
||||
#
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
|
||||
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
|
|
@ -109,7 +109,7 @@ DEPFLAGS = -MD -MT $@
|
|||
# XXX warning options TBD
|
||||
CXXOPTS = -fno-exceptions -D__AVR_ATmega2560__ -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
|
||||
COPTS = -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
|
||||
ASOPTS = -assembler-with-cpp
|
||||
ASOPTS = -assembler-with-cpp
|
||||
|
||||
CXXFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(CXXOPTS)
|
||||
CFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(COPTS)
|
||||
|
|
@ -171,12 +171,12 @@ else
|
|||
endif
|
||||
|
||||
# these are library objects we don't want in the desktop build (maybe we'll add them later)
|
||||
NODESKTOP := FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
|
||||
NODESKTOP := FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp RC_Channel/RC_Channel_aux.cpp
|
||||
|
||||
#
|
||||
# Find sketchbook libraries referenced by the sketch.
|
||||
#
|
||||
# Include paths for sketch libraries
|
||||
# Include paths for sketch libraries
|
||||
#
|
||||
SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
|
||||
SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
|
||||
|
|
@ -196,10 +196,10 @@ ARDUINOLIBSRCDIRS := $(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS))
|
|||
ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS))))
|
||||
ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS))))
|
||||
ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS))
|
||||
ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES)
|
||||
ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES)
|
||||
|
||||
# Library object files
|
||||
LIBOBJS := $(SKETCHLIBOBJS)
|
||||
LIBOBJS := $(SKETCHLIBOBJS)
|
||||
|
||||
################################################################################
|
||||
# Built products
|
||||
|
|
@ -212,7 +212,7 @@ SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
|||
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
|
||||
|
||||
# The core library
|
||||
CORELIB =
|
||||
CORELIB =
|
||||
|
||||
# All of the objects that may be built
|
||||
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS)
|
||||
|
|
@ -338,7 +338,7 @@ $(CORELIB): $(CORELIBOBJS)
|
|||
# This process strives to be as faithful to the Arduino implementation as
|
||||
# possible. Conceptually, the process is as follows:
|
||||
#
|
||||
# * All of the .pde files are concatenated, starting with the file named
|
||||
# * All of the .pde files are concatenated, starting with the file named
|
||||
# for the sketch and followed by the others in alphabetical order.
|
||||
# * An insertion point is created in the concatenated file at
|
||||
# the first statement that isn't a preprocessor directive or comment.
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@ DESKTOP=$(PWD)/../libraries/Desktop
|
|||
include ../libraries/Desktop/Desktop.mk
|
||||
|
||||
default:
|
||||
make -f $(DESKTOP)/Makefile.desktop
|
||||
make -f $(DESKTOP)/Makefile.desktop
|
||||
|
||||
nologging:
|
||||
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DLOGGING_ENABLED=DISABLED"
|
||||
|
|
@ -19,3 +19,6 @@ hilnocli:
|
|||
|
||||
heli:
|
||||
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME"
|
||||
|
||||
helihil:
|
||||
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
|
||||
Loading…
Reference in New Issue