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Copter: integrate EPM ver2

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This commit is contained in:
Randy Mackay 2014-09-15 15:52:21 +09:00
parent 1401ee4077
commit 14d80910ec
5 changed files with 21 additions and 10 deletions
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6
ArduCopter/ArduCopter.pde
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@ -823,6 +823,9 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 80, 10 }, { telemetry_send, 80, 10 },
#endif #endif
#if EPM_ENABLED == ENABLED
{ epm_update, 40, 10 },
#endif
#ifdef USERHOOK_FASTLOOP #ifdef USERHOOK_FASTLOOP
{ userhook_FastLoop, 4, 10 }, { userhook_FastLoop, 4, 10 },
#endif #endif
@ -888,6 +891,9 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 20, 100 }, { telemetry_send, 20, 100 },
#endif #endif
#if EPM_ENABLED == ENABLED
{ epm_update, 10, 20 },
#endif
#ifdef USERHOOK_FASTLOOP #ifdef USERHOOK_FASTLOOP
{ userhook_FastLoop, 1, 100 }, { userhook_FastLoop, 1, 100 },
#endif #endif

4
ArduCopter/defines.h
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@ -292,8 +292,8 @@ enum FlipState {
#define DATA_ACRO_TRAINER_DISABLED 43 #define DATA_ACRO_TRAINER_DISABLED 43
#define DATA_ACRO_TRAINER_LEVELING 44 #define DATA_ACRO_TRAINER_LEVELING 44
#define DATA_ACRO_TRAINER_LIMITED 45 #define DATA_ACRO_TRAINER_LIMITED 45
#define DATA_EPM_ON 46 #define DATA_EPM_GRAB 46
#define DATA_EPM_OFF 47 #define DATA_EPM_RELEASE 47
#define DATA_EPM_NEUTRAL 48 #define DATA_EPM_NEUTRAL 48
#define DATA_PARACHUTE_DISABLED 49 #define DATA_PARACHUTE_DISABLED 49
#define DATA_PARACHUTE_ENABLED 50 #define DATA_PARACHUTE_ENABLED 50

8
ArduCopter/sensors.pde
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@ -133,3 +133,11 @@ void read_receiver_rssi(void)
receiver_rssi = constrain_int16(ret, 0, 255); receiver_rssi = constrain_int16(ret, 0, 255);
} }
} }
#if EPM_ENABLED == ENABLED
// epm update - moves epm pwm output back to neutral after grab or release is completed
void epm_update()
{
epm.update();
}
#endif

8
ArduCopter/switches.pde
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@ -310,16 +310,16 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUX_SWITCH_EPM: case AUX_SWITCH_EPM:
switch(ch_flag) { switch(ch_flag) {
case AUX_SWITCH_LOW: case AUX_SWITCH_LOW:
epm.off(); epm.release();
Log_Write_Event(DATA_EPM_OFF); Log_Write_Event(DATA_EPM_RELEASE);
break; break;
case AUX_SWITCH_MIDDLE: case AUX_SWITCH_MIDDLE:
epm.neutral(); epm.neutral();
Log_Write_Event(DATA_EPM_NEUTRAL); Log_Write_Event(DATA_EPM_NEUTRAL);
break; break;
case AUX_SWITCH_HIGH: case AUX_SWITCH_HIGH:
epm.on(); epm.grab();
Log_Write_Event(DATA_EPM_ON); Log_Write_Event(DATA_EPM_GRAB);
break; break;
} }
break; break;

5
ArduCopter/system.pde
View File

@ -131,17 +131,14 @@ static void init_ardupilot()
BoardConfig.init(); BoardConfig.init();
bool enable_external_leds = true;
// init EPM cargo gripper // init EPM cargo gripper
#if EPM_ENABLED == ENABLED #if EPM_ENABLED == ENABLED
epm.init(); epm.init();
enable_external_leds = !epm.enabled();
#endif #endif
// initialise notify system // initialise notify system
// disable external leds if epm is enabled because of pin conflict on the APM // disable external leds if epm is enabled because of pin conflict on the APM
notify.init(enable_external_leds); notify.init(true);
// initialise battery monitor // initialise battery monitor
battery.init(); battery.init();