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Copter: make EPM a subclass of AP_Gripper_Backend

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This commit is contained in:
Peter Barker 2016-10-29 22:01:29 +11:00 committed by Randy Mackay
parent 48cd35609c
commit 236b8ab6b7
14 changed files with 23 additions and 64 deletions
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1
ArduCopter/APM_Config.h
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@ -28,7 +28,6 @@
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
//#define AC_TERRAIN DISABLED // disable terrain library
//#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
//#define EPM_ENABLED DISABLED // disable epm cargo gripper to save 500bytes of flash
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space

3
ArduCopter/ArduCopter.cpp
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@ -132,9 +132,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(afs_fs_check, 10, 100),
#endif
SCHED_TASK(terrain_update, 10, 100),
#if EPM_ENABLED == ENABLED
SCHED_TASK(epm_update, 10, 75),
#endif
#if GRIPPER_ENABLED == ENABLED
SCHED_TASK(gripper_update, 10, 75),
#endif

10
ArduCopter/Copter.h
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@ -101,9 +101,6 @@
#if SPRAYER == ENABLED
#include <AC_Sprayer/AC_Sprayer.h> // crop sprayer library
#endif
#if EPM_ENABLED == ENABLED
#include <AP_EPM/AP_EPM.h> // EPM cargo gripper stuff
#endif
#if GRIPPER_ENABLED == ENABLED
#include <AP_Gripper/AP_Gripper.h> // gripper stuff
#endif
@ -568,11 +565,6 @@ private:
AC_Sprayer sprayer;
#endif
// EPM Cargo Griper
#if EPM_ENABLED == ENABLED
AP_EPM epm;
#endif
// Parachute release
#if PARACHUTE == ENABLED
AP_Parachute parachute;
@ -1122,7 +1114,7 @@ private:
#if PARACHUTE == ENABLED
void do_parachute(const AP_Mission::Mission_Command& cmd);
#endif
#if EPM_ENABLED == ENABLED
#if GRIPPER_ENABLED == ENABLED
void do_gripper(const AP_Mission::Mission_Command& cmd);
#endif
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);

8
ArduCopter/GCS_Mavlink.cpp
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@ -1377,20 +1377,20 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
result = copter.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4);
break;
#if EPM_ENABLED == ENABLED
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER:
// param1 : gripper number (ignored)
// param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
if(!copter.epm.enabled()) {
if(!copter.g2.gripper.enabled()) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
switch ((uint8_t)packet.param2) {
case GRIPPER_ACTION_RELEASE:
copter.epm.release();
copter.g2.gripper.release();
break;
case GRIPPER_ACTION_GRAB:
copter.epm.grab();
copter.g2.gripper.grab();
break;
default:
result = MAV_RESULT_FAILED;

6
ArduCopter/Parameters.cpp
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@ -707,12 +707,6 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),
#if EPM_ENABLED == ENABLED
// @Group: EPM_
// @Path: ../libraries/AP_EPM/AP_EPM.cpp
GOBJECT(epm, "EPM_", AP_EPM),
#endif
#if PARACHUTE == ENABLED
// @Group: CHUTE_
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp

4
ArduCopter/Parameters.h
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@ -67,8 +67,8 @@ public:
// relay object
k_param_relay,
// EPM object
k_param_epm,
// (old) EPM object
k_param_epm_unused,
// BoardConfig object
k_param_BoardConfig,

16
ArduCopter/commands_logic.cpp
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@ -132,8 +132,8 @@ bool Copter::start_command(const AP_Mission::Mission_Command& cmd)
break;
#endif
#if EPM_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER: // Mission command to control EPM gripper
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER: // Mission command to control gripper
do_gripper(cmd);
break;
#endif
@ -571,19 +571,19 @@ void Copter::do_parachute(const AP_Mission::Mission_Command& cmd)
}
#endif
#if EPM_ENABLED == ENABLED
// do_gripper - control EPM gripper
#if GRIPPER_ENABLED == ENABLED
// do_gripper - control gripper
void Copter::do_gripper(const AP_Mission::Mission_Command& cmd)
{
// Note: we ignore the gripper num parameter because we only support one gripper
switch (cmd.content.gripper.action) {
case GRIPPER_ACTION_RELEASE:
epm.release();
Log_Write_Event(DATA_EPM_RELEASE);
g2.gripper.release();
Log_Write_Event(DATA_GRIPPER_RELEASE);
break;
case GRIPPER_ACTION_GRAB:
epm.grab();
Log_Write_Event(DATA_EPM_GRAB);
g2.gripper.grab();
Log_Write_Event(DATA_GRIPPER_GRAB);
break;
default:
// do nothing

6
ArduCopter/config.h
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@ -295,12 +295,6 @@
# define PRECISION_LANDING ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// EPM cargo gripper
#ifndef EPM_ENABLED
# define EPM_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// gripper
#ifndef GRIPPER_ENABLED

6
ArduCopter/defines.h
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@ -49,7 +49,7 @@ enum aux_sw_func {
AUXSW_AUTO = 16, // change to auto flight mode
AUXSW_AUTOTUNE = 17, // auto tune
AUXSW_LAND = 18, // change to LAND flight mode
AUXSW_EPM = 19, // Operate the EPM cargo gripper low=off, middle=neutral, high=on
AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable
AUXSW_PARACHUTE_RELEASE = 22, // Parachute release
AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
@ -361,8 +361,8 @@ enum DevOptions {
#define DATA_ACRO_TRAINER_DISABLED 43
#define DATA_ACRO_TRAINER_LEVELING 44
#define DATA_ACRO_TRAINER_LIMITED 45
#define DATA_EPM_GRAB 46
#define DATA_EPM_RELEASE 47
#define DATA_GRIPPER_GRAB 46
#define DATA_GRIPPER_RELEASE 47
#define DATA_PARACHUTE_DISABLED 49
#define DATA_PARACHUTE_ENABLED 50
#define DATA_PARACHUTE_RELEASED 51

1
ArduCopter/make.inc
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@ -51,7 +51,6 @@ LIBRARIES += AP_BattMonitor
LIBRARIES += AP_BoardConfig
LIBRARIES += AP_Frsky_Telem
LIBRARIES += AC_Sprayer
LIBRARIES += AP_EPM
LIBRARIES += AP_Parachute
LIBRARIES += AP_LandingGear
LIBRARIES += AP_Terrain

8
ArduCopter/sensors.cpp
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@ -233,14 +233,6 @@ void Copter::accel_cal_update()
#endif
}
#if EPM_ENABLED == ENABLED
// epm update - moves epm pwm output back to neutral after grab or release is completed
void Copter::epm_update()
{
epm.update();
}
#endif
#if GRIPPER_ENABLED == ENABLED
// gripper update
void Copter::gripper_update()

12
ArduCopter/switches.cpp
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@ -221,7 +221,7 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_FENCE:
case AUXSW_SUPERSIMPLE_MODE:
case AUXSW_ACRO_TRAINER:
case AUXSW_EPM:
case AUXSW_GRIPPER:
case AUXSW_SPRAYER:
case AUXSW_PARACHUTE_ENABLE:
case AUXSW_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
@ -379,18 +379,16 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
}
break;
#if EPM_ENABLED == ENABLED
case AUXSW_EPM:
#if GRIPPER_ENABLED == ENABLED
case AUXSW_GRIPPER:
switch(ch_flag) {
case AUX_SWITCH_LOW:
g2.gripper.release();
epm.release();
Log_Write_Event(DATA_EPM_RELEASE);
Log_Write_Event(DATA_GRIPPER_RELEASE);
break;
case AUX_SWITCH_HIGH:
g2.gripper.grab();
epm.grab();
Log_Write_Event(DATA_EPM_GRAB);
Log_Write_Event(DATA_GRIPPER_GRAB);
break;
}
break;

5
ArduCopter/system.cpp
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@ -128,11 +128,6 @@ void Copter::init_ardupilot()
BoardConfig.init();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
#endif
// init cargo gripper
#if GRIPPER_ENABLED == ENABLED
g2.gripper.init();

1
ArduCopter/wscript
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@ -17,7 +17,6 @@ def build(bld):
'AC_Sprayer',
'AC_WPNav',
'AP_Camera',
'AP_EPM',
'AP_Frsky_Telem',
'AP_IRLock',
'AP_InertialNav',