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Copter: integrate AP_Beacon

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This commit is contained in:
Randy Mackay 2016-10-24 14:46:33 +09:00
parent 8ab5124489
commit 21c7ea1df7
6 changed files with 27 additions and 1 deletions
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1
ArduCopter/ArduCopter.cpp
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@ -94,6 +94,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(auto_trim, 10, 75),
SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_proximity, 100, 50),
SCHED_TASK(update_beacon, 100, 50),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100),
SCHED_TASK(update_throttle_hover,100, 90),

3
ArduCopter/Copter.h
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@ -61,6 +61,7 @@
#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
#include <AP_Proximity/AP_Proximity.h>
#include <AP_Stats/AP_Stats.h> // statistics library
#include <AP_Beacon/AP_Beacon.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <Filter/Filter.h> // Filter library
@ -716,6 +717,8 @@ private:
void init_proximity();
void update_proximity();
void stats_update();
void init_beacon();
void update_beacon();
void send_pid_tuning(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index);

6
ArduCopter/Parameters.cpp
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@ -1039,6 +1039,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
#endif
// @Group: BCN
// @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
AP_GROUPEND
};
@ -1048,7 +1051,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
constructor for g2 object
*/
ParametersG2::ParametersG2(void)
: proximity(copter.serial_manager)
: proximity(copter.serial_manager),
beacon(copter.serial_manager)
#if ADVANCED_FAILSAFE == ENABLED
,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
#endif

3
ArduCopter/Parameters.h
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@ -569,6 +569,9 @@ public:
AP_Proximity proximity;
#endif
// beacon (non-GPS positioning) library
AP_Beacon beacon;
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;

12
ArduCopter/sensors.cpp
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@ -434,3 +434,15 @@ void Copter::update_sensor_status_flags(void)
frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}
// init beacons used for non-gps position estimates
void Copter::init_beacon()
{
g2.beacon.init();
}
// update beacons
void Copter::update_beacon()
{
g2.beacon.update();
}

3
ArduCopter/system.cpp
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@ -262,6 +262,9 @@ void Copter::init_ardupilot()
// init proximity sensor
init_proximity();
// init beacons used for non-gps position estimation
init_beacon();
// initialise AP_RPM library
rpm_sensor.init();