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Copter: reduce compassmot flash by 500 bytes

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This commit is contained in:
Randy Mackay 2013-09-23 23:30:19 +09:00
parent cddbaf0459
commit 1cc2c8d6a5
1 changed files with 14 additions and 23 deletions
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37
ArduCopter/setup.pde
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@ -158,32 +158,16 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
comp_type = AP_COMPASS_MOT_COMP_THROTTLE; comp_type = AP_COMPASS_MOT_COMP_THROTTLE;
} }
// check if user wants throttle compensation
if( !strcmp_P(argv[1].str, PSTR("t")) || !strcmp_P(argv[1].str, PSTR("T")) ) {
comp_type = AP_COMPASS_MOT_COMP_THROTTLE;
}
// check if user wants current compensation
if( !strcmp_P(argv[1].str, PSTR("c")) || !strcmp_P(argv[1].str, PSTR("C")) ) {
comp_type = AP_COMPASS_MOT_COMP_CURRENT;
}
// check if radio is calibration // check if radio is calibration
pre_arm_rc_checks(); pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) { if(!ap.pre_arm_rc_check) {
cliSerial->print_P(PSTR("radio not calibrated, exiting")); cliSerial->print_P(PSTR("radio not calibrated\n"));
return 0; return 0;
} }
// check compass is enabled // check compass is enabled
if( !g.compass_enabled ) { if( !g.compass_enabled ) {
cliSerial->print_P(PSTR("compass disabled, exiting")); cliSerial->print_P(PSTR("compass disabled\n"));
return 0;
}
// check if we have a current monitor
if( comp_type == AP_COMPASS_MOT_COMP_CURRENT && g.battery_monitoring != BATT_MONITOR_VOLTAGE_AND_CURRENT ) {
cliSerial->print_P(PSTR("current monitor disabled, exiting"));
return 0; return 0;
} }
@ -197,7 +181,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
// print warning that motors will spin // print warning that motors will spin
// ask user to raise throttle // ask user to raise throttle
// inform how to stop test // inform how to stop test
cliSerial->print_P(PSTR("This records the impact on the compass of running the motors. The motors will spin!\nHold throttle low, then raise to mid for 5 sec, then quickly back to low.\nAt any time you may press any key to exit.\n\nmeasuring compass vs ")); cliSerial->print_P(PSTR("This records the impact on the compass of running the motors. Motors will spin!\nHold throttle low, then raise to mid for 5 sec, then quickly back to low.\nPress any key to exit.\n\nmeasuring compass vs "));
// inform what type of compensation we are attempting // inform what type of compensation we are attempting
if( comp_type == AP_COMPASS_MOT_COMP_CURRENT ) { if( comp_type == AP_COMPASS_MOT_COMP_CURRENT ) {
@ -220,7 +204,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
// exit immediately if throttle is not zero // exit immediately if throttle is not zero
if( g.rc_3.control_in != 0 ) { if( g.rc_3.control_in != 0 ) {
cliSerial->print_P(PSTR("throttle not zero, exiting\n")); cliSerial->print_P(PSTR("throttle not zero\n"));
return 0; return 0;
} }
@ -233,7 +217,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
// exit immediately if the compass is not healthy // exit immediately if the compass is not healthy
if( !compass.healthy ) { if( !compass.healthy ) {
cliSerial->print_P(PSTR("compass not healthy, exiting\n")); cliSerial->print_P(PSTR("check compass\n"));
return 0; return 0;
} }
@ -323,7 +307,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
print_counter++; print_counter++;
if(print_counter >= 50) { if(print_counter >= 50) {
print_counter = 0; print_counter = 0;
cliSerial->printf_P(PSTR("thr:%d cur:%4.2f mot x:%4.1f y:%4.1f z:%4.1f comp x:%4.2f y:%4.2f z:%4.2f\n"),(int)g.rc_3.control_in, (float)current_amps1, (float)motor_impact.x, (float)motor_impact.y, (float)motor_impact.z, (float)motor_compensation.x, (float)motor_compensation.y, (float)motor_compensation.z); display_compassmot_info(motor_impact, motor_compensation);
} }
} }
}else{ }else{
@ -342,7 +326,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
} }
// print one more time so the last thing printed matches what appears in the report_compass // print one more time so the last thing printed matches what appears in the report_compass
cliSerial->printf_P(PSTR("thr:%d cur:%4.2f mot x:%4.1f y:%4.1f z:%4.1f comp x:%4.2f y:%4.2f z:%4.2f\n"),(int)g.rc_3.control_in, (float)current_amps1, (float)motor_impact.x, (float)motor_impact.y, (float)motor_impact.z, (float)motor_compensation.x, (float)motor_compensation.y, (float)motor_compensation.z); display_compassmot_info(motor_impact, motor_compensation);
// set and save motor compensation // set and save motor compensation
if( updated ) { if( updated ) {
@ -371,6 +355,13 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
return 0; return 0;
} }
// display_compassmot_info - displays a status line for compassmot process
static void display_compassmot_info(Vector3f& motor_impact, Vector3f& motor_compensation)
{
// print one more time so the last thing printed matches what appears in the report_compass
cliSerial->printf_P(PSTR("thr:%d cur:%4.2f mot x:%4.1f y:%4.1f z:%4.1f comp x:%4.2f y:%4.2f z:%4.2f\n"),(int)g.rc_3.control_in, (float)current_amps1, (float)motor_impact.x, (float)motor_impact.y, (float)motor_impact.z, (float)motor_compensation.x, (float)motor_compensation.y, (float)motor_compensation.z);
}
static int8_t static int8_t
setup_declination(uint8_t argc, const Menu::arg *argv) setup_declination(uint8_t argc, const Menu::arg *argv)
{ {