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Copter: added RPM sensor support

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send result via MAVLink
This commit is contained in:
Andrew Tridgell 2015-08-07 15:34:56 +10:00
parent 0fdeb276e3
commit 1fdf7ec83f
8 changed files with 42 additions and 0 deletions
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1
ArduCopter/ArduCopter.cpp
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@ -128,6 +128,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
{ SCHED_TASK(full_rate_logging_loop),1, 100 },
{ SCHED_TASK(perf_update), 4000, 75 },
{ SCHED_TASK(read_receiver_rssi), 40, 75 },
{ SCHED_TASK(rpm_update), 40, 200 },
#if FRSKY_TELEM_ENABLED == ENABLED
{ SCHED_TASK(frsky_telemetry_send), 80, 75 },
#endif

5
ArduCopter/Copter.h
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@ -102,6 +102,7 @@
#endif
#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
#include <AP_Terrain/AP_Terrain.h>
#include <AP_RPM/AP_RPM.h>
// AP_HAL to Arduino compatibility layer
// Configuration
@ -172,6 +173,8 @@ private:
bool sonar_enabled; // enable user switch for sonar
#endif
AP_RPM rpm_sensor;
// Inertial Navigation EKF
NavEKF EKF{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF};
@ -579,6 +582,8 @@ private:
void send_vfr_hud(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan);
void rpm_update();
void send_pid_tuning(mavlink_channel_t chan);
void send_statustext(mavlink_channel_t chan);
bool telemetry_delayed(mavlink_channel_t chan);

19
ArduCopter/GCS_Mavlink.cpp
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@ -414,6 +414,19 @@ void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan)
}
#endif
/*
send RPM packet
*/
void NOINLINE Copter::send_rpm(mavlink_channel_t chan)
{
if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
mavlink_msg_rpm_send(
chan,
rpm_sensor.get_rpm(0),
rpm_sensor.get_rpm(1));
}
}
/*
send PID tuning message
@ -629,6 +642,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
#endif
break;
case MSG_RPM:
CHECK_PAYLOAD_SIZE(RPM);
copter.send_rpm(chan);
break;
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
@ -945,6 +963,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_GIMBAL_REPORT);
send_message(MSG_EKF_STATUS_REPORT);
send_message(MSG_VIBRATION);
send_message(MSG_RPM);
}
}

4
ArduCopter/Parameters.cpp
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@ -1046,6 +1046,10 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
GOBJECT(optflow, "FLOW", OpticalFlow),
#endif
// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),
// @Param: AUTOTUNE_AXIS_BITMASK
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune

1
ArduCopter/Parameters.h
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@ -337,6 +337,7 @@ public:
k_param_pi_vel_xy,
k_param_fs_ekf_action,
k_param_rtl_climb_min, // 249
k_param_rpm_sensor,
// 254,255: reserved
};

1
ArduCopter/make.inc
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@ -63,3 +63,4 @@ LIBRARIES += AP_EPM
LIBRARIES += AP_Parachute
LIBRARIES += AP_LandingGear
LIBRARIES += AP_Terrain
LIBRARIES += AP_RPM

8
ArduCopter/sensors.cpp
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@ -69,6 +69,14 @@ int16_t Copter::read_sonar(void)
#endif
}
/*
update RPM sensors
*/
void Copter::rpm_update(void)
{
rpm_sensor.update();
}
// initialise compass
void Copter::init_compass()
{

3
ArduCopter/system.cpp
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@ -240,6 +240,9 @@ void Copter::init_ardupilot()
init_sonar();
#endif
// initialise AP_RPM library
rpm_sensor.init();
// initialise mission library
mission.init();