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https://github.com/ArduPilot/ardupilot
synced 2025-03-02 19:53:57 -04:00
Copter: integrate EPM library
This commit is contained in:
ctech4285
Randy Mackay
parent
c8aff81c48
commit
2b5d8aa5b7
@ -132,6 +132,9 @@
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#if SPRAYER == ENABLED
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#include <AC_Sprayer.h> // crop sprayer library
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#endif
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#if EPM_ENABLED == ENABLED
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#include <AP_EPM.h> // EPM cargo gripper stuff
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#endif
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// AP_HAL to Arduino compatibility layer
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#include "compat.h"
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@ -829,6 +832,13 @@ AC_Fence fence(&inertial_nav);
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static AC_Sprayer sprayer(&inertial_nav);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// EPM Cargo Griper
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////////////////////////////////////////////////////////////////////////////////
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#if EPM_ENABLED == ENABLED
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static AP_EPM epm;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// function definitions to keep compiler from complaining about undeclared functions
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////////////////////////////////////////////////////////////////////////////////
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@ -898,6 +908,9 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
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void setup() {
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bool enable_external_leds = true;
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// this needs to be the first call, as it fills memory with
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// sentinel values
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memcheck_init();
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@ -906,12 +919,19 @@ void setup() {
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// Load the default values of variables listed in var_info[]s
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AP_Param::setup_sketch_defaults();
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// init EPM cargo gripper
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#if EPM_ENABLED == ENABLED
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epm.init();
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enable_external_leds = !epm.enabled();
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#endif
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// initialise notify system
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notify.init(true);
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// disable external leds if epm is enabled because of pin conflict on the APM
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notify.init(enable_external_leds);
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// initialise battery monitor
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battery.init();
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#if CONFIG_SONAR == ENABLED
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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sonar_analog_source = new AP_ADC_AnalogSource(
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@ -1006,6 +1026,7 @@ void loop()
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// Main loop - 100hz
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static void fast_loop()
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{
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// IMU DCM Algorithm
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// --------------------
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read_AHRS();
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@ -67,6 +67,9 @@ public:
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// relay object
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k_param_relay,
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// EPM object
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k_param_epm,
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// Misc
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//
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k_param_log_bitmask = 20,
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@ -313,7 +316,7 @@ public:
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AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
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AP_Int16 angle_max; // maximum lean angle of the copter in centi-degrees
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AP_Int32 angle_rate_max; // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
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// Waypoints
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//
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AP_Int8 command_total;
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@ -394,14 +394,14 @@ const AP_Param::Info var_info[] PROGMEM = {
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// @Param: CH7_OPT
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// @DisplayName: Channel 7 option
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// @Description: Select which function if performed when CH7 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM
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// @User: Standard
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GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
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// @Param: CH8_OPT
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// @DisplayName: Channel 8 option
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// @Description: Select which function if performed when CH8 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM
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// @User: Standard
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GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),
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@ -425,7 +425,7 @@ const AP_Param::Info var_info[] PROGMEM = {
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// @Range 90000 250000
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// @User: Advanced
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GSCALAR(angle_rate_max, "ANGLE_RATE_MAX", ANGLE_RATE_MAX),
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#if FRAME_CONFIG == HELI_FRAME
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// @Group: HS1_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp
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@ -981,6 +981,12 @@ const AP_Param::Info var_info[] PROGMEM = {
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// @Path: ../libraries/AP_Relay/AP_Relay.cpp
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GOBJECT(relay, "RELAY_", AP_Relay),
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#if EPM_ENABLED == ENABLED
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// @Group: EPM_
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// @Path: ../libraries/AP_EPM/AP_EPM.cpp
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GOBJECT(epm, "EPM_", AP_EPM),
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#endif
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// @Group: COMPASS_
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// @Path: ../libraries/AP_Compass/Compass.cpp
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GOBJECT(compass, "COMPASS_", Compass),
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@ -413,6 +413,12 @@
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# define SPRAYER DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EPM cargo gripper
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#ifndef EPM_ENABLED
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# define EPM_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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@ -107,6 +107,7 @@ static void init_aux_switches()
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case AUX_SWITCH_RESETTOARMEDYAW:
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case AUX_SWITCH_SUPERSIMPLE_MODE:
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case AUX_SWITCH_ACRO_TRAINER:
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case AUX_SWITCH_EPM:
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case AUX_SWITCH_SPRAYER:
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do_aux_switch_function(g.ch7_option, ap.CH7_flag);
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break;
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@ -119,6 +120,7 @@ static void init_aux_switches()
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case AUX_SWITCH_RESETTOARMEDYAW:
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case AUX_SWITCH_SUPERSIMPLE_MODE:
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case AUX_SWITCH_ACRO_TRAINER:
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case AUX_SWITCH_EPM:
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case AUX_SWITCH_SPRAYER:
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do_aux_switch_function(g.ch8_option, ap.CH8_flag);
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break;
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@ -298,7 +300,24 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
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break;
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}
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break;
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#if EPM_ENABLED == ENABLED
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case AUX_SWITCH_EPM:
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switch(ch_flag) {
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case AUX_SWITCH_LOW:
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epm.off();
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Log_Write_Event(DATA_EPM_OFF);
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break;
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case AUX_SWITCH_MIDDLE:
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epm.neutral();
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Log_Write_Event(DATA_EPM_NEUTRAL);
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break;
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case AUX_SWITCH_HIGH:
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epm.on();
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Log_Write_Event(DATA_EPM_ON);
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break;
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}
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break;
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#endif
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#if SPRAYER == ENABLED
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case AUX_SWITCH_SPRAYER:
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sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
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@ -72,6 +72,7 @@
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#define AUX_SWITCH_AUTO 16 // change to auto flight mode
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#define AUX_SWITCH_AUTOTUNE 17 // auto tune
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#define AUX_SWITCH_LAND 18 // change to LAND flight mode
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#define AUX_SWITCH_EPM 19 // Operate the EPM cargo gripper low=off, middle=neutral, high=on
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// values used by the ap.ch7_opt and ap.ch8_opt flags
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#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)
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@ -319,7 +320,9 @@
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#define DATA_ACRO_TRAINER_DISABLED 43
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#define DATA_ACRO_TRAINER_LEVELING 44
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#define DATA_ACRO_TRAINER_LIMITED 45
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#define DATA_EPM_ON 46
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#define DATA_EPM_OFF 47
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#define DATA_EPM_NEUTRAL 48
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// RADIANS
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#define RADX100 0.000174532925f
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#define DEGX100 5729.57795f
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