mirror of https://github.com/ArduPilot/ardupilot
Added Arming light. LED A solid = safe, blinking = armed.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1529 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -163,6 +163,8 @@ PID pid_nav_lon (EE_GAIN_8);
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PID pid_baro_throttle (EE_GAIN_9);
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PID pid_baro_throttle (EE_GAIN_9);
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PID pid_sonar_throttle (EE_GAIN_10);
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PID pid_sonar_throttle (EE_GAIN_10);
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boolean motor_light;
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// GPS variables
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// GPS variables
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// -------------
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// -------------
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byte ground_start_count = 5; // have we achieved first lock and set Home?
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byte ground_start_count = 5; // have we achieved first lock and set Home?
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@ -346,19 +346,29 @@ void update_GPS_light(void)
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GPS_light = !GPS_light;
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GPS_light = !GPS_light;
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if(GPS_light){
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if(GPS_light){
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digitalWrite(C_LED_PIN, HIGH);
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digitalWrite(C_LED_PIN, HIGH);
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digitalWrite(A_LED_PIN, HIGH);
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digitalWrite(B_LED_PIN, HIGH);
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}else{
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}else{
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digitalWrite(C_LED_PIN, LOW);
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digitalWrite(C_LED_PIN, LOW);
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digitalWrite(A_LED_PIN, LOW);
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digitalWrite(B_LED_PIN, LOW);
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}
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}
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}else{
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}else{
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if(!GPS_light){
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if(!GPS_light){
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GPS_light = true;
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GPS_light = true;
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digitalWrite(C_LED_PIN, HIGH);
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digitalWrite(C_LED_PIN, HIGH);
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}
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}
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if(motor_armed == true){
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motor_light = !motor_light;
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// blink
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if(motor_light){
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digitalWrite(A_LED_PIN, HIGH);
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}else{
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digitalWrite(A_LED_PIN, LOW);
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}
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}else{
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if(!motor_light){
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motor_light = true;
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digitalWrite(A_LED_PIN, HIGH);
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digitalWrite(A_LED_PIN, HIGH);
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digitalWrite(B_LED_PIN, HIGH);
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}
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}
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}
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}
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}
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}
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@ -259,31 +259,14 @@ test_stabilize(uint8_t argc, const Menu::arg *argv)
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ts_num++;
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ts_num++;
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if (ts_num > 10){
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if (ts_num > 10){
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ts_num = 0;
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ts_num = 0;
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/*Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, rc2:%d, rc4 %d, ny:%ld, ys:%ld, ye:%ld, R: %d, L: %d F: %d B: %d\n"),
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Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, Int%4.4f, "),
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(int)(roll_sensor/100),
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(int)(roll_sensor/100),
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(int)(pitch_sensor/100),
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(int)(pitch_sensor/100),
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rc_1.pwm_out,
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rc_1.pwm_out,
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rc_2.pwm_out,
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pid_stabilize_roll.get_integrator());
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rc_4.pwm_out,
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nav_yaw,
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dcm.yaw_sensor,
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yaw_error,
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motor_out[RIGHT],
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motor_out[LEFT],
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motor_out[FRONT],
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motor_out[BACK]);*/
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Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, Int%4.4f, R: %d, L: %d F: %d B: %d\n"),
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print_motor_out();
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(int)(roll_sensor/100),
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(int)(pitch_sensor/100),
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rc_1.pwm_out,
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pid_stabilize_roll.get_integrator(),
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motor_out[RIGHT],
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motor_out[LEFT],
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motor_out[FRONT],
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motor_out[BACK]);
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}
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}
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// R: 1417, L: 1453 F: 1453 B: 1417
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// R: 1417, L: 1453 F: 1453 B: 1417
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//Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)roll_sensor/100), ((int)pitch_sensor/100), ((uint16_t)yaw_sensor/100));
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//Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)roll_sensor/100), ((int)pitch_sensor/100), ((uint16_t)yaw_sensor/100));
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@ -846,7 +829,7 @@ void print_hit_enter()
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void print_motor_out(){
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void print_motor_out(){
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Serial.printf("out: %d %d %d %d\n",
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Serial.printf("out: R: %d, L: %d F: %d B: %d\n",
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(motor_out[RIGHT] - rc_3.radio_min),
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(motor_out[RIGHT] - rc_3.radio_min),
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(motor_out[LEFT] - rc_3.radio_min),
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(motor_out[LEFT] - rc_3.radio_min),
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(motor_out[FRONT] - rc_3.radio_min),
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(motor_out[FRONT] - rc_3.radio_min),
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