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Copter: integrate EPM library

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This commit is contained in:
ctech4285 2013-12-17 13:58:11 +09:00 committed by Randy Mackay
parent c8aff81c48
commit 2b5d8aa5b7
6 changed files with 66 additions and 8 deletions
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23
ArduCopter/ArduCopter.pde
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@ -132,6 +132,9 @@
#if SPRAYER == ENABLED
#include <AC_Sprayer.h> // crop sprayer library
#endif
#if EPM_ENABLED == ENABLED
#include <AP_EPM.h> // EPM cargo gripper stuff
#endif
// AP_HAL to Arduino compatibility layer
#include "compat.h"
@ -829,6 +832,13 @@ AC_Fence fence(&inertial_nav);
static AC_Sprayer sprayer(&inertial_nav);
#endif
////////////////////////////////////////////////////////////////////////////////
// EPM Cargo Griper
////////////////////////////////////////////////////////////////////////////////
#if EPM_ENABLED == ENABLED
static AP_EPM epm;
#endif
////////////////////////////////////////////////////////////////////////////////
// function definitions to keep compiler from complaining about undeclared functions
////////////////////////////////////////////////////////////////////////////////
@ -898,6 +908,9 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
void setup() {
bool enable_external_leds = true;
// this needs to be the first call, as it fills memory with
// sentinel values
memcheck_init();
@ -906,8 +919,15 @@ void setup() {
// Load the default values of variables listed in var_info[]s
AP_Param::setup_sketch_defaults();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
enable_external_leds = !epm.enabled();
#endif
// initialise notify system
notify.init(true);
// disable external leds if epm is enabled because of pin conflict on the APM
notify.init(enable_external_leds);
// initialise battery monitor
battery.init();
@ -1006,6 +1026,7 @@ void loop()
// Main loop - 100hz
static void fast_loop()
{
// IMU DCM Algorithm
// --------------------
read_AHRS();

3
ArduCopter/Parameters.h
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@ -67,6 +67,9 @@ public:
// relay object
k_param_relay,
// EPM object
k_param_epm,
// Misc
//
k_param_log_bitmask = 20,

10
ArduCopter/Parameters.pde
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@ -394,14 +394,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @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
// @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
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @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
// @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
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),
@ -981,6 +981,12 @@ const AP_Param::Info var_info[] PROGMEM = {
// @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
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),

6
ArduCopter/config.h
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@ -413,6 +413,12 @@
# define SPRAYER DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// EPM cargo gripper
#ifndef EPM_ENABLED
# define EPM_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////

21
ArduCopter/control_modes.pde
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@ -107,6 +107,7 @@ static void init_aux_switches()
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_SUPERSIMPLE_MODE:
case AUX_SWITCH_ACRO_TRAINER:
case AUX_SWITCH_EPM:
case AUX_SWITCH_SPRAYER:
do_aux_switch_function(g.ch7_option, ap.CH7_flag);
break;
@ -119,6 +120,7 @@ static void init_aux_switches()
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_SUPERSIMPLE_MODE:
case AUX_SWITCH_ACRO_TRAINER:
case AUX_SWITCH_EPM:
case AUX_SWITCH_SPRAYER:
do_aux_switch_function(g.ch8_option, ap.CH8_flag);
break;
@ -298,7 +300,24 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
}
break;
#if EPM_ENABLED == ENABLED
case AUX_SWITCH_EPM:
switch(ch_flag) {
case AUX_SWITCH_LOW:
epm.off();
Log_Write_Event(DATA_EPM_OFF);
break;
case AUX_SWITCH_MIDDLE:
epm.neutral();
Log_Write_Event(DATA_EPM_NEUTRAL);
break;
case AUX_SWITCH_HIGH:
epm.on();
Log_Write_Event(DATA_EPM_ON);
break;
}
break;
#endif
#if SPRAYER == ENABLED
case AUX_SWITCH_SPRAYER:
sprayer.enable(ch_flag == AUX_SWITCH_HIGH);

5
ArduCopter/defines.h
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@ -72,6 +72,7 @@
#define AUX_SWITCH_AUTO 16 // change to auto flight mode
#define AUX_SWITCH_AUTOTUNE 17 // auto tune
#define AUX_SWITCH_LAND 18 // change to LAND flight mode
#define AUX_SWITCH_EPM 19 // Operate the EPM cargo gripper low=off, middle=neutral, high=on
// values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)
@ -319,7 +320,9 @@
#define DATA_ACRO_TRAINER_DISABLED 43
#define DATA_ACRO_TRAINER_LEVELING 44
#define DATA_ACRO_TRAINER_LIMITED 45
#define DATA_EPM_ON 46
#define DATA_EPM_OFF 47
#define DATA_EPM_NEUTRAL 48
// RADIANS
#define RADX100 0.000174532925f
#define DEGX100 5729.57795f