mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-23 00:58:37 -04:00
Added Sonar to setup, removed Level, compass is now done with text based on and off, compass renamed to mag_offset
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1474 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
b6f8c1b6cb
commit
1a9a76c2ab
@ -3,35 +3,31 @@
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// Functions called from the setup menu
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel_flat (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_pid (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass_enable (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass_disable (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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// Command/function table for the setup menu
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const struct Menu::command setup_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"reset", setup_factory},
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{"erase", setup_erase},
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{"reset", setup_factory},
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{"pid", setup_pid},
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{"radio", setup_radio},
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{"motors", setup_motors},
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{"level", setup_accel},
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{"flat", setup_accel_flat},
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{"modes", setup_flightmodes},
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{"pid", setup_pid},
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{"frame", setup_frame},
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{"enable_mag", setup_compass_enable},
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{"disable_mag", setup_compass_disable},
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{"compass", setup_compass},
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{"mag_offset", setup_mag_offset},
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{"declination", setup_declination},
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{"show", setup_show}
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};
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@ -70,7 +66,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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// frame
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print_blanks(3);
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print_blanks(2);
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Serial.printf_P(PSTR("Frame\n"));
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print_divider();
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@ -83,7 +79,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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Serial.printf_P(PSTR("(%d)\n"), (int)frame_type);
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print_blanks(3);
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print_blanks(2);
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Serial.printf_P(PSTR("Gains\n"));
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print_divider();
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@ -110,11 +106,13 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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// Nav
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Serial.printf_P(PSTR("Nav:\npitch:\n"));
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print_PID(&pid_nav);
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Serial.printf_P(PSTR("throttle:\n"));
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print_PID(&pid_throttle);
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Serial.printf_P(PSTR("baro throttle:\n"));
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print_PID(&pid_baro_throttle);
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Serial.printf_P(PSTR("sonar throttle:\n"));
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print_PID(&pid_sonar_throttle);
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Serial.println(" ");
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print_blanks(3);
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print_blanks(2);
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Serial.printf_P(PSTR("User Configs\n"));
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print_divider();
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// Crosstrack
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@ -131,13 +129,13 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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Serial.printf_P(PSTR("throttle_failsafe_value: %d\n"), throttle_failsafe_value);
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Serial.printf_P(PSTR("log_bitmask: %d\n"), log_bitmask);
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print_blanks(3);
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print_blanks(2);
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Serial.printf_P(PSTR("IMU\n"));
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print_divider();
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imu.print_gyro_offsets();
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imu.print_accel_offsets();
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print_blanks(3);
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print_blanks(2);
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Serial.printf_P(PSTR("Compass\n"));
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print_divider();
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@ -532,10 +530,15 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
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pid_nav.kD(NAV_D);
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pid_nav.imax(NAV_IMAX * 100);
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pid_throttle.kP(THROTTLE_P);
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pid_throttle.kI(THROTTLE_I);
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pid_throttle.kD(THROTTLE_D);
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pid_throttle.imax(THROTTLE_IMAX * 100);
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pid_baro_throttle.kP(THROTTLE_BARO_P);
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pid_baro_throttle.kI(THROTTLE_BARO_I);
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pid_baro_throttle.kD(THROTTLE_BARO_D);
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pid_baro_throttle.imax(THROTTLE_BARO_IMAX * 100);
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pid_sonar_throttle.kP(THROTTLE_SONAR_P);
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pid_sonar_throttle.kI(THROTTLE_SONAR_I);
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pid_sonar_throttle.kD(THROTTLE_SONAR_D);
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pid_sonar_throttle.imax(THROTTLE_SONAR_IMAX * 100);
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save_EEPROM_PID();
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print_done();
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@ -591,7 +594,6 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
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}
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}
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static int8_t
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setup_declination(uint8_t argc, const Menu::arg *argv)
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{
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@ -610,25 +612,40 @@ setup_erase(uint8_t argc, const Menu::arg *argv)
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return 0;
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}
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static int8_t
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setup_compass_enable(uint8_t argc, const Menu::arg *argv)
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setup_compass(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("\nCompass enabled:\n"));
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Serial.printf_P(PSTR("Compass "));
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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Serial.printf_P(PSTR("Enabled\n"));
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compass_enabled = true;
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save_EEPROM_mag();
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init_compass();
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save_EEPROM_mag();
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print_done();
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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Serial.printf_P(PSTR("Disabled\n"));
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compass_enabled = false;
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save_EEPROM_mag();
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print_done();
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} else {
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if (compass_enabled) {
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Serial.printf_P(PSTR("en"));
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} else {
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Serial.printf_P(PSTR("dis"));
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}
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Serial.printf_P(PSTR("abled\n\n"));
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Serial.printf_P(PSTR("\nUsage:\nEnabled =>compass 1\nDisabled =>compass 0\n\n"));
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}
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return 0;
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}
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static int8_t
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setup_compass_disable(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("\nCompass disabled:\n"));
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compass_enabled = false;
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save_EEPROM_mag();
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return 0;
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}
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static int8_t
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setup_frame(uint8_t argc, const Menu::arg *argv)
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@ -637,22 +654,21 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
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Serial.printf_P(PSTR("\nUsage:\nPlus frame =>frame 1\nX frame =>frame 2\nTRI frame =>frame 3\n\n"));
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return 0;
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}
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Serial.printf_P(PSTR("\nSaving "));
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print_done();
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if(argv[1].i == 1){
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Serial.printf_P(PSTR("Plus "));
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frame_type = PLUS_FRAME;
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}else if(argv[1].i == 2){
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Serial.printf_P(PSTR("X "));
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frame_type = X_FRAME;
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}else if(argv[1].i == 3){
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Serial.printf_P(PSTR("Tri "));
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frame_type = TRI_FRAME;
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}
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Serial.printf_P(PSTR("frame\n\n"));
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save_EEPROM_frame();
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return 0;
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@ -660,7 +676,7 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
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static int8_t
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setup_compass(uint8_t argc, const Menu::arg *argv)
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setup_mag_offset(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("\nRotate/Pitch/Roll your ArduCopter until the offset variables stop changing.\n"));
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print_hit_enter();
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