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Plane: removed flash_leds() calls

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This commit is contained in:
Andrew Tridgell 2013-09-19 18:33:42 +10:00
parent 46688454c4
commit 21a4da0d29
5 changed files with 7 additions and 54 deletions
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2
ArduPlane/GCS_Mavlink.pde
View File

@ -1181,7 +1181,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.param5 == 1) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(chan);
if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}

20
ArduPlane/config.h
View File

@ -89,22 +89,12 @@
// main board differences
//
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define A_LED_PIN 37
# define B_LED_PIN 36
# define C_LED_PIN 35
# define LED_ON HIGH
# define LED_OFF LOW
# define BATTERY_VOLT_PIN 0 // Battery voltage on A0
# define BATTERY_CURR_PIN 1 // Battery current on A1
# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
# define CONFIG_BARO AP_BARO_BMP085
# define CONFIG_COMPASS AP_COMPASS_HMC5843
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
@ -116,22 +106,12 @@
# endif
# define CONFIG_COMPASS AP_COMPASS_HMC5843
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
# define CONFIG_INS_TYPE CONFIG_INS_STUB
# define CONFIG_BARO AP_BARO_HIL
# define CONFIG_COMPASS AP_COMPASS_HIL
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN -1
# define BATTERY_CURR_PIN -1
# define CONFIG_INS_TYPE CONFIG_INS_PX4

6
ArduPlane/setup.pde
View File

@ -397,11 +397,9 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins.init(AP_InertialSensor::COLD_START, ins_sample_rate);
AP_InertialSensor_UserInteractStream interact(hal.console);
bool success = ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch);
bool success = ins.calibrate_accel(&interact, trim_roll, trim_pitch);
if (success) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));

23
ArduPlane/system.pde
View File

@ -170,9 +170,6 @@ static void init_ardupilot()
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
relay.init();
#if FENCE_TRIGGERED_PIN > 0
@ -439,11 +436,9 @@ static void startup_INS_ground(bool do_accel_init)
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ins.init(style,
ins_sample_rate,
flash_leds);
ins.init(style, ins_sample_rate);
if (do_accel_init) {
ins.init_accel(flash_leds);
ins.init_accel();
ahrs.set_trim(Vector3f(0, 0, 0));
}
ahrs.reset();
@ -459,10 +454,6 @@ static void startup_INS_ground(bool do_accel_init)
} else {
gcs_send_text_P(SEVERITY_LOW,PSTR("NO airspeed"));
}
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate INS ready
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}
// updates the status of the notify objects
@ -520,16 +511,6 @@ static void check_usb_mux(void)
}
/*
* called by gyro/accel init to flash LEDs so user
* has some mesmerising lights to watch while waiting
*/
void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}
/*
* Read Vcc vs 1.1v internal reference
*/

10
ArduPlane/test.pde
View File

@ -469,8 +469,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
ahrs.set_wind_estimation(true);
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins_sample_rate);
ahrs.reset();
print_hit_enter();
@ -536,8 +535,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
// we need the AHRS initialised for this test
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins_sample_rate);
ahrs.reset();
uint16_t counter = 0;
@ -663,15 +661,11 @@ test_rawgps(uint8_t argc, const Menu::arg *argv)
while(1) {
// Blink Yellow LED if we are sending data to GPS
if (hal.uartC->available()) {
digitalWrite(B_LED_PIN, LED_ON);
hal.uartB->write(hal.uartC->read());
digitalWrite(B_LED_PIN, LED_OFF);
}
// Blink Red LED if we are receiving data from GPS
if (hal.uartB->available()) {
digitalWrite(C_LED_PIN, LED_ON);
hal.uartC->write(hal.uartB->read());
digitalWrite(C_LED_PIN, LED_OFF);
}
if(cliSerial->available() > 0) {
return (0);