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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Jason Short 2011-09-11 21:46:53 -07:00
parent 7e79612125 d6370fd389
commit 2c27be980d
22 changed files with 879 additions and 157 deletions
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86
ArduCopter/motors_octa.pde
View File

@ -182,37 +182,75 @@ static void output_motors_disarmed()
static void output_motor_test() static void output_motor_test()
{ {
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); if( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME )
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100); {
delay(1000); APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min); APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min); APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min); APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100); APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
}
if( g.frame_orientation == V_FRAME )
{
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
}
} }
#endif #endif

31
ArduCopter/motors_octa_quad.pde
View File

@ -149,8 +149,37 @@ static void output_motors_disarmed()
static void output_motor_test() static void output_motor_test()
{ {
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000);
} }
#endif #endif

16
ArduPlane/APM_Config.h
View File

@ -1,5 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from // This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here. // their default values, place the appropriate #define statements here.
@ -22,4 +21,15 @@
#define HIL_PORT 0 #define HIL_PORT 0
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK #define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#define GCS_PORT 3 #define GCS_PORT 3
*/ */
// ----- Camera definitions ------
// ------------------------------
#define CAMERA ENABLED
#define CAM_DEBUG DISABLED
// - Options to reduce code size -
// -------------------------------
// Disable text based terminal configuration
#define CLI_ENABLED DISABLED

13
ArduPlane/APM_Config.h.reference
View File

@ -304,19 +304,6 @@
//#define FLIGHT_MODE_6 MANUAL //#define FLIGHT_MODE_6 MANUAL
// //
//////////////////////////////////////////////////////////////////////////////
// RC_5_FUNCT OPTIONAL
// RC_6_FUNCT OPTIONAL
// RC_7_FUNCT OPTIONAL
// RC_8_FUNCT OPTIONAL
//
// The channel 5 through 8 function assignments allow configuration of those
// channels for use with differential ailerons, flaps, flaperons, or camera
// or intrument mounts
//
//#define RC_5_FUNCT RC_5_FUNCT_NONE
//etc.
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed // For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed // then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed

32
ArduPlane/ArduPlane.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduPlane V2.24" #define THISFIRMWARE "ArduPilotMega V2.24"
/* /*
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short
Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi
@ -39,8 +39,12 @@ version 2.1 of the License, or (at your option) any later version.
#include <AP_DCM.h> // ArduPilot Mega DCM Library #include <AP_DCM.h> // ArduPilot Mega DCM Library
#include <PID.h> // PID library #include <PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library #include <RC_Channel.h> // RC Channel Library
//#include <RC_Channel/RC_Channel_aux.h> // Auxiliary RC Channel Library (Channels 5..8)
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
#include <ModeFilter.h> #include <ModeFilter.h>
#include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera mount
#include <GCS_MAVLink.h> // MAVLink GCS definitions #include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <memcheck.h> #include <memcheck.h>
@ -415,6 +419,15 @@ static unsigned long nav_loopTimer; // used to track the elapsed time for GP
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
static float load; // % MCU cycles used static float load; // % MCU cycles used
RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
//Camera tracking and stabilisation stuff
// --------------------------------------
#if CAMERA == ENABLED
AP_Mount camera_mount(g_gps, &dcm);
//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
#endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Top-level logic // Top-level logic
@ -563,6 +576,18 @@ static void fast_loop()
static void medium_loop() static void medium_loop()
{ {
#if CAMERA == ENABLED
// TODO replace home with a POI coming from a MavLink message or command
//camera_mount.set_GPS_target(home);
// For now point the camera manually via the RC inputs (later remove these two lines)
// for simple dcm tests, replace k_manual with k_stabilise
camera_mount.set_mode(AP_Mount::k_stabilise);
camera_mount.update_mount();
g.camera.trigger_pic_cleanup();
#endif
// This is the start of the medium (10 Hz) loop pieces // This is the start of the medium (10 Hz) loop pieces
// ----------------------------------------- // -----------------------------------------
switch(medium_loopCounter) { switch(medium_loopCounter) {
@ -710,6 +735,11 @@ static void slow_loop()
// ---------------------------------- // ----------------------------------
update_servo_switches(); update_servo_switches();
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
#if CAMERA == ENABLED
camera_mount.update_mount_type();
#endif
break; break;
case 2: case 2:

36
ArduPlane/Attitude.pde
View File

@ -61,7 +61,7 @@ static void stabilize()
// Mix Stick input to allow users to override control surfaces // Mix Stick input to allow users to override control surfaces
// ----------------------------------------------------------- // -----------------------------------------------------------
if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B)) { if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B && failsafe == FAILSAFE_NONE)) {
// TODO: use RC_Channel control_mix function? // TODO: use RC_Channel control_mix function?
@ -92,7 +92,7 @@ static void stabilize()
// stick mixing performed for rudder for all cases including FBW unless disabled for higher modes // stick mixing performed for rudder for all cases including FBW unless disabled for higher modes
// important for steering on the ground during landing // important for steering on the ground during landing
// ----------------------------------------------- // -----------------------------------------------
if (control_mode <= FLY_BY_WIRE_B || ENABLE_STICK_MIXING == 1) { if (control_mode <= FLY_BY_WIRE_B || (ENABLE_STICK_MIXING == 1 && failsafe == FAILSAFE_NONE)) {
ch4_inf = (float)g.channel_rudder.radio_in - (float)g.channel_rudder.radio_trim; ch4_inf = (float)g.channel_rudder.radio_in - (float)g.channel_rudder.radio_trim;
ch4_inf = fabs(ch4_inf); ch4_inf = fabs(ch4_inf);
ch4_inf = min(ch4_inf, 400.0); ch4_inf = min(ch4_inf, 400.0);
@ -274,21 +274,16 @@ static void set_servos(void)
} }
g.channel_throttle.radio_out = g.channel_throttle.radio_in; g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_rudder.radio_out = g.channel_rudder.radio_in; g.channel_rudder.radio_out = g.channel_rudder.radio_in;
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.radio_out = g.rc_5.radio_in; if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.radio_out = g.rc_6.radio_in;
} else { } else {
if (g.mix_mode == 0) { if (g.mix_mode == 0) {
g.channel_roll.calc_pwm(); g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm(); g.channel_pitch.calc_pwm();
g.channel_rudder.calc_pwm(); g.channel_rudder.calc_pwm();
if (g.rc_5_funct == RC_5_FUNCT_AILERON) { if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) {
g.rc_5.servo_out = g.channel_roll.servo_out; g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
g.rc_5.calc_pwm(); g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
}
if (g.rc_6_funct == RC_6_FUNCT_AILERON) {
g.rc_6.servo_out = g.channel_roll.servo_out;
g.rc_6.calc_pwm();
} }
}else{ }else{
@ -320,8 +315,7 @@ static void set_servos(void)
} }
if(control_mode <= FLY_BY_WIRE_B) { if(control_mode <= FLY_BY_WIRE_B) {
if (g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.radio_out = g.rc_5.radio_in; if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
if (g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.radio_out = g.rc_6.radio_in;
} else if (control_mode >= FLY_BY_WIRE_C) { } else if (control_mode >= FLY_BY_WIRE_C) {
if (g.airspeed_enabled == true) { if (g.airspeed_enabled == true) {
flapSpeedSource = g.airspeed_cruise; flapSpeedSource = g.airspeed_cruise;
@ -329,14 +323,11 @@ static void set_servos(void)
flapSpeedSource = g.throttle_cruise; flapSpeedSource = g.throttle_cruise;
} }
if ( flapSpeedSource > g.flap_1_speed) { if ( flapSpeedSource > g.flap_1_speed) {
if(g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.servo_out = 0; if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0;
if(g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.servo_out = 0;
} else if (flapSpeedSource > g.flap_2_speed) { } else if (flapSpeedSource > g.flap_2_speed) {
if(g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.servo_out = g.flap_1_percent; if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent;
if(g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.servo_out = g.flap_1_percent;
} else { } else {
if(g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.servo_out = g.flap_2_percent; if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent;
if(g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.servo_out = g.flap_2_percent;
} }
} }
@ -347,8 +338,11 @@ static void set_servos(void)
APM_RC.OutputCh(CH_2, g.channel_pitch.radio_out); // send to Servos APM_RC.OutputCh(CH_2, g.channel_pitch.radio_out); // send to Servos
APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos
APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos
APM_RC.OutputCh(CH_5, g.rc_5.radio_out); // send to Servos // Route configurable aux. functions to their respective servos
APM_RC.OutputCh(CH_6, g.rc_6.radio_out); // send to Servos g.rc_5.output_ch(CH_5);
g.rc_6.output_ch(CH_6);
g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8);
#endif #endif
} }

39
ArduPlane/Parameters.h
View File

@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly // The increment will prevent old parameters from being used incorrectly
// by newer code. // by newer code.
// //
static const uint16_t k_format_version = 11; static const uint16_t k_format_version = 12;
// The parameter software_type is set up solely for ground station use // The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega) // and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -112,6 +112,13 @@ public:
k_param_RTL_altitude, k_param_RTL_altitude,
k_param_inverted_flight_ch, k_param_inverted_flight_ch,
//
// Camera parameters
//
#if CAMERA == ENABLED
k_param_camera,
#endif
// //
// 170: Radio settings // 170: Radio settings
// //
@ -134,11 +141,6 @@ public:
k_param_long_fs_action, k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled, k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate, k_param_throttle_slewrate,
k_param_rc_5_funct,
k_param_rc_6_funct,
k_param_rc_7_funct,
k_param_rc_8_funct,
// //
// 200: Feed-forward gains // 200: Feed-forward gains
@ -322,19 +324,20 @@ public:
AP_Int8 flap_2_percent; AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed; AP_Int8 flap_2_speed;
// Camera
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// RC channels // RC channels
RC_Channel channel_roll; RC_Channel channel_roll;
RC_Channel channel_pitch; RC_Channel channel_pitch;
RC_Channel channel_throttle; RC_Channel channel_throttle;
RC_Channel channel_rudder; RC_Channel channel_rudder;
RC_Channel rc_5; RC_Channel_aux rc_5;
RC_Channel rc_6; RC_Channel_aux rc_6;
RC_Channel rc_7; RC_Channel_aux rc_7;
RC_Channel rc_8; RC_Channel_aux rc_8;
AP_Int8 rc_5_funct;
AP_Int8 rc_6_funct;
AP_Int8 rc_7_funct;
AP_Int8 rc_8_funct;
// PID controllers // PID controllers
// //
@ -428,13 +431,13 @@ public:
inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")), inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")), sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),
airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")), airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")),
rc_5_funct (RC_5_FUNCT, k_param_rc_5_funct, PSTR("RC5_FUNCT")),
rc_6_funct (RC_6_FUNCT, k_param_rc_6_funct, PSTR("RC6_FUNCT")),
rc_7_funct (RC_7_FUNCT, k_param_rc_7_funct, PSTR("RC7_FUNCT")),
rc_8_funct (RC_8_FUNCT, k_param_rc_8_funct, PSTR("RC8_FUNCT")),
// Note - total parameter name length must be less than 14 characters for MAVLink compatibility! // Note - total parameter name length must be less than 14 characters for MAVLink compatibility!
#if CAMERA == ENABLED
camera (k_param_camera, PSTR("CAM_")),
#endif
// RC channel group key name // RC channel group key name
//---------------------------------------------------------------------- //----------------------------------------------------------------------
channel_roll (k_param_channel_roll, PSTR("RC1_")), channel_roll (k_param_channel_roll, PSTR("RC1_")),

56
ArduPlane/WP_activity.pde Normal file
View File

@ -0,0 +1,56 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if CAMERA == ENABLED
void waypoint_check()
{
if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
g.camera.trigger_pic();
} // DO SOMETHIMNG
}
if(g.waypoint_index == 20){ // When here do whats underneath
g.camera.trigger_pic();
}
}
void picture_time_check()
{
if (g.camera.picture_time == 1){
if (wp_distance < g.camera.wp_distance_min){
g.camera.trigger_pic(); // or any camera activation command
}
}
}
#endif
void egg_waypoint()
{
if (g_rc_function[RC_Channel_aux::k_egg_drop])
{
float temp = (float)(current_loc.alt - home.alt) * .01;
float egg_dist = sqrt(temp / 4.903) * (float)g_gps->ground_speed *.01;
if(g.waypoint_index == 3){
if(wp_distance < egg_dist){
g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 100;
}
}else{
g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 0;
}
}
}
#if CAMERA == ENABLED
void johann_check() // if you aren't Johann it doesn't really matter :D
{
APM_RC.OutputCh(CH_7,1500 + (350));
if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
g.camera.trigger_pic();
}
}
if(g.waypoint_index == 20){ // When here do whats underneath
g.camera.trigger_pic();
}
}
#endif

13
ArduPlane/config.h
View File

@ -226,19 +226,6 @@
# define CH8_MAX 2000 # define CH8_MAX 2000
#endif #endif
//////////////////////////////////////////////////////////////////////////////
#ifndef RC_5_FUNCT
# define RC_5_FUNCT RC_5_FUNCT_NONE
#endif
#ifndef RC_6_FUNCT
# define RC_6_FUNCT RC_6_FUNCT_NONE
#endif
#ifndef RC_7_FUNCT
# define RC_7_FUNCT RC_7_FUNCT_NONE
#endif
#ifndef RC_8_FUNCT
# define RC_8_FUNCT RC_8_FUNCT_NONE
#endif
#ifndef FLAP_1_PERCENT #ifndef FLAP_1_PERCENT
# define FLAP_1_PERCENT 0 # define FLAP_1_PERCENT 0

27
ArduPlane/defines.h
View File

@ -41,39 +41,12 @@
#define GPS_PROTOCOL_MTK16 6 #define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7 #define GPS_PROTOCOL_AUTO 7
// Radio channels
// Note channels are from 0!
//
// XXX these should be CH_n defines from RC.h at some point.
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_ROLL CH_1 #define CH_ROLL CH_1
#define CH_PITCH CH_2 #define CH_PITCH CH_2
#define CH_THROTTLE CH_3 #define CH_THROTTLE CH_3
#define CH_RUDDER CH_4 #define CH_RUDDER CH_4
#define CH_YAW CH_4 #define CH_YAW CH_4
#define RC_5_FUNCT_NONE 0
#define RC_5_FUNCT_AILERON 1
#define RC_5_FUNCT_FLAP_AUTO 2
#define RC_5_FUNCT_FLAPERON 3
#define RC_6_FUNCT_NONE 0
#define RC_6_FUNCT_AILERON 1
#define RC_6_FUNCT_FLAP_AUTO 2
#define RC_6_FUNCT_FLAPERON 3
#define RC_7_FUNCT_NONE 0
#define RC_8_FUNCT_NONE 0
// HIL enumerations // HIL enumerations
#define HIL_PROTOCOL_XPLANE 1 #define HIL_PROTOCOL_XPLANE 1
#define HIL_PROTOCOL_MAVLINK 2 #define HIL_PROTOCOL_MAVLINK 2

2
ArduPlane/events.pde
View File

@ -43,12 +43,12 @@ static void failsafe_long_on_event()
case STABILIZE: case STABILIZE:
case FLY_BY_WIRE_A: // middle position case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position case FLY_BY_WIRE_B: // middle position
case CIRCLE:
set_mode(RTL); set_mode(RTL);
break; break;
case AUTO: case AUTO:
case LOITER: case LOITER:
case CIRCLE:
if(g.long_fs_action == 1) { if(g.long_fs_action == 1) {
set_mode(RTL); set_mode(RTL);
} }

51
ArduPlane/radio.pde
View File

@ -23,24 +23,26 @@ static void init_rc_in()
g.channel_throttle.dead_zone = 6; g.channel_throttle.dead_zone = 6;
//set auxiliary ranges //set auxiliary ranges
if (g.rc_5_funct == RC_5_FUNCT_AILERON) { G_RC_AUX(k_flap)->set_range(0,100);
g.rc_5.set_angle(SERVO_MAX); G_RC_AUX(k_flap_auto)->set_range(0,100);
} else if (g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO || g.rc_5_funct == RC_5_FUNCT_FLAPERON) { G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
g.rc_5.set_range(0,100); G_RC_AUX(k_flaperon)->set_range(0,100);
} else { #if CAMERA == ENABLED
g.rc_5.set_range(0,1000); // Insert proper init for camera mount, etc., here G_RC_AUX(k_mount_yaw)->set_range(
} g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
if (g.rc_6_funct == RC_6_FUNCT_AILERON) { G_RC_AUX(k_mount_pitch)->set_range(
g.rc_6.set_angle(SERVO_MAX); g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
} else if (g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO || g.rc_6_funct == RC_6_FUNCT_FLAPERON) { g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
g.rc_6.set_range(0,100); G_RC_AUX(k_mount_roll)->set_range(
} else { g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
g.rc_6.set_range(0,1000); // Insert proper init for camera mount, etc., here g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
} G_RC_AUX(k_cam_trigger)->set_range(
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
g.rc_7.set_range(0,1000); // Insert proper init for camera mount, etc., here g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
g.rc_8.set_range(0,1000); G_RC_AUX(k_cam_open)->set_range(0,100);
#endif
G_RC_AUX(k_egg_drop)->set_range(0,100);
} }
static void init_rc_out() static void init_rc_out()
@ -173,8 +175,7 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = g.channel_roll.radio_in; g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in; g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.radio_trim = g.rc_5.radio_in; // Second aileron channel G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.radio_trim = g.rc_6.radio_in; // Second aileron channel
}else{ }else{
elevon1_trim = ch1_temp; elevon1_trim = ch1_temp;
@ -191,8 +192,7 @@ static void trim_control_surfaces()
g.channel_pitch.save_eeprom(); g.channel_pitch.save_eeprom();
g.channel_throttle.save_eeprom(); g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom(); g.channel_rudder.save_eeprom();
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.save_eeprom(); G_RC_AUX(k_aileron)->save_eeprom();
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.save_eeprom();
} }
static void trim_radio() static void trim_radio()
@ -208,8 +208,7 @@ static void trim_radio()
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in; //g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in; g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.radio_trim = g.rc_5.radio_in; // Second aileron channel G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.radio_trim = g.rc_6.radio_in; // Second aileron channel
} else { } else {
elevon1_trim = ch1_temp; elevon1_trim = ch1_temp;
@ -225,7 +224,5 @@ static void trim_radio()
g.channel_pitch.save_eeprom(); g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom(); //g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom(); g.channel_rudder.save_eeprom();
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.save_eeprom(); G_RC_AUX(k_aileron)->save_eeprom();
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.save_eeprom();
} }

11
libraries/APM_RC/APM_RC.h
View File

@ -5,6 +5,17 @@
#define MIN_PULSEWIDTH 900 #define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100 #define MAX_PULSEWIDTH 2100
// Radio channels
// Note channels are from 0!
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#include <inttypes.h> #include <inttypes.h>
class APM_RC_Class class APM_RC_Class

113
libraries/AP_Camera/AP_Camera.cpp Normal file
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@ -0,0 +1,113 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include <AP_Camera.h>
#include <../RC_Channel/RC_Channel_aux.h>
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
extern long wp_distance;
extern "C" {
void relay_on();
void relay_off();
}
void
AP_Camera::servo_pic() // Servo operated camera
{
if (g_rc_function[RC_Channel_aux::k_cam_trigger])
{
g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max;
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
}
}
void
AP_Camera::relay_pic() // basic relay activation
{
relay_on();
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
}
void
AP_Camera::throttle_pic() // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
{
// TODO find a way to do this without using the global parameter g
// g.channel_throttle.radio_out = g.throttle_min;
if (thr_pic == 10){
servo_pic(); // triggering method
thr_pic = 0;
// g.channel_throttle.radio_out = g.throttle_cruise;
}
thr_pic++;
}
void
AP_Camera::distance_pic() // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
{
// TODO find a way to do this without using the global parameter g
// g.channel_throttle.radio_out = g.throttle_min;
if (wp_distance < 3){
servo_pic(); // triggering method
// g.channel_throttle.radio_out = g.throttle_cruise;
}
}
void
AP_Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output.
{
// TODO: Assign pin spare pin for output
digitalWrite(camtrig, HIGH);
keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
}
// single entry point to take pictures
void
AP_Camera::trigger_pic()
{
switch (trigger_type)
{
case 0:
servo_pic(); // Servo operated camera
break;
case 1:
relay_pic(); // basic relay activation
break;
case 2:
throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
break;
case 3:
distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
break;
case 4:
NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
break;
}
}
// de-activate the trigger after some delay, but without using a delay() function
void
AP_Camera::trigger_pic_cleanup()
{
if (keep_cam_trigg_active_cycles)
{
keep_cam_trigg_active_cycles --;
}
else
{
switch (trigger_type)
{
case 0:
case 2:
case 3:
G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
break;
case 1:
// TODO for some strange reason the function call bellow gives a linker error
//relay_off();
PORTL &= ~B00000100; // hardcoded version of relay_off(). Replace with a proper function call later.
break;
case 4:
digitalWrite(camtrig, LOW);
break;
}
}
}

57
libraries/AP_Camera/AP_Camera.h Normal file
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@ -0,0 +1,57 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_Camera.h
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
#ifndef AP_CAMERA_H
#define AP_CAMERA_H
#include <AP_Common.h>
/// @class Camera
/// @brief Object managing a Photo or video camera
class AP_Camera{
protected:
AP_Var_group _group; // must be before all vars to keep ctor init order correct
public:
/// Constructor
///
/// @param key EEPROM storage key for the camera configuration parameters.
/// @param name Optional name for the group.
///
AP_Camera(AP_Var::Key key, const prog_char_t *name) :
_group(key, name),
trigger_type(&_group, 0, 0, name ? PSTR("TRIGG_TYPE") : 0),
picture_time (0), // waypoint trigger variable
thr_pic (0), // timer variable for throttle_pic
camtrig (83), // PK6 chosen as it not near anything so safer for soldering
keep_cam_trigg_active_cycles (0),
wp_distance_min (10)
{}
// single entry point to take pictures
void trigger_pic();
// de-activate the trigger after some delay, but without using a delay() function
void trigger_pic_cleanup();
int picture_time; // waypoint trigger variable
long wp_distance_min; // take picture if distance to WP is smaller than this
private:
uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
int thr_pic; // timer variable for throttle_pic
int camtrig; // PK6 chosen as it not near anything so safer for soldering
AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
};
#endif /* AP_CAMERA_H */

2
libraries/AP_DCM/AP_DCM.h
View File

@ -1,7 +1,7 @@
#ifndef AP_DCM_h #ifndef AP_DCM_h
#define AP_DCM_h #define AP_DCM_h
// teporarily include all other classes here // temporarily include all other classes here
// since this naming is a bit off from the // since this naming is a bit off from the
// convention and the AP_DCM should be the top // convention and the AP_DCM should be the top
// header file // header file

192
libraries/AP_Mount/AP_Mount.cpp Normal file
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@ -0,0 +1,192 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include <AP_Mount.h>
#include <../RC_Channel/RC_Channel_aux.h>
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
AP_Mount::AP_Mount(GPS *gps, AP_DCM *dcm)
{
_dcm=dcm;
_gps=gps;
}
void AP_Mount::set_pitch_yaw(int pitchCh, int yawCh)
{
}
void AP_Mount::set_GPS_target(Location targetGPSLocation)
{
_target_GPS_location=targetGPSLocation;
//set mode
_mount_mode=k_gps_target;
//update mount position
update_mount();
}
void AP_Mount::set_assisted(int roll, int pitch, int yaw)
{
_assist_angles.x = roll;
_assist_angles.y = pitch;
_assist_angles.z = yaw;
//set mode
_mount_mode=k_assisted;
//update mount position
update_mount();
}
//sets the servo angles for FPV, note angles are * 100
void AP_Mount::set_mount_free_roam(int roll, int pitch, int yaw)
{
_roam_angles.x=roll;
_roam_angles.y=pitch;
_roam_angles.z=yaw;
//set mode
_mount_mode=k_roam;
//now update mount position
update_mount();
}
//sets the servo angles for landing, note angles are * 100
void AP_Mount::set_mount_landing(int roll, int pitch, int yaw)
{
_landing_angles.x=roll;
_landing_angles.y=pitch;
_landing_angles.z=yaw;
//set mode
_mount_mode=k_landing;
//now update mount position
update_mount();
}
void AP_Mount::set_none()
{
//set mode
_mount_mode=k_none;
//now update mount position
update_mount();
}
void AP_Mount::update_mount()
{
Matrix3f m; //holds 3 x 3 matrix, var is used as temp in calcs
Vector3f targ; //holds target vector, var is used as temp in calcs
switch(_mount_mode)
{
case k_gps_target:
{
if(_gps->fix)
{
calc_GPS_target_vector(&_target_GPS_location);
}
m = _dcm->get_dcm_transposed();
targ = m*_GPS_vector;
roll_angle = degrees(atan2(targ.y,targ.z))*100; //roll
pitch_angle = degrees(atan2(-targ.x,targ.z))*100; //pitch
break;
}
case k_stabilise:
{
// TODO replace this simplified implementation with a proper one
roll_angle = -_dcm->roll_sensor;
pitch_angle = -_dcm->pitch_sensor;
yaw_angle = -_dcm->yaw_sensor;
break;
}
case k_roam:
{
roll_angle=100*_roam_angles.x;
pitch_angle=100*_roam_angles.y;
yaw_angle=100*_roam_angles.z;
break;
}
case k_assisted:
{
m = _dcm->get_dcm_transposed();
//rotate vector
targ = m*_assist_vector;
roll_angle = degrees(atan2(targ.y,targ.z))*100; //roll
pitch_angle = degrees(atan2(-targ.x,targ.z))*100; //pitch
break;
}
case k_landing:
{
roll_angle=100*_roam_angles.x;
pitch_angle=100*_roam_angles.y;
yaw_angle=100*_roam_angles.z;
break;
}
case k_manual: // radio manual control
if (g_rc_function[RC_Channel_aux::k_mount_roll])
roll_angle = map(g_rc_function[RC_Channel_aux::k_mount_roll]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max);
if (g_rc_function[RC_Channel_aux::k_mount_pitch])
pitch_angle = map(g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max);
if (g_rc_function[RC_Channel_aux::k_mount_yaw])
yaw_angle = map(g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max);
break;
case k_none:
default:
{
//do nothing
break;
}
}
// write the results to the servos
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
G_RC_AUX(k_mount_roll)->closest_limit(roll_angle/10);
G_RC_AUX(k_mount_pitch)->closest_limit(pitch_angle/10);
G_RC_AUX(k_mount_yaw)->closest_limit(yaw_angle/10);
}
void AP_Mount::set_mode(MountMode mode)
{
_mount_mode=mode;
}
void AP_Mount::calc_GPS_target_vector(struct Location *target)
{
_GPS_vector.x = (target->lng-_gps->longitude) * cos((_gps->latitude+target->lat)/2)*.01113195;
_GPS_vector.y = (target->lat-_gps->latitude)*.01113195;
_GPS_vector.z = (_gps->altitude-target->alt);
}
void
AP_Mount::update_mount_type()
{
// Auto-detect the mount gimbal type depending on the functions assigned to the servos
if ((g_rc_function[RC_Channel_aux::k_mount_roll] == NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
{
_mount_type = k_pan_tilt;
}
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] == NULL))
{
_mount_type = k_tilt_roll;
}
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
{
_mount_type = k_pan_tilt_roll;
}
}

90
libraries/AP_Mount/AP_Mount.h Normal file
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@ -0,0 +1,90 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/************************************************************
* AP_mount -- library to control a 2 or 3 axis mount. *
* *
* Author: Joe Holdsworth; *
* Ritchie Wilson; *
* Amilcar Lucas; *
* *
* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
* Used for mount to track targets or stabilise *
* camera plus other modes. *
* *
* Usage: Use in main code to control mounts attached to *
* vehicle. *
* *
*Comments: All angles in degrees * 100, distances in meters*
* unless otherwise stated. *
************************************************************/
#ifndef AP_Mount_H
#define AP_Mount_H
//#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_GPS.h>
#include <AP_DCM.h>
class AP_Mount
{
public:
//Constructors
AP_Mount(GPS *gps, AP_DCM *dcm);
//enums
enum MountMode{
k_gps_target = 0,
k_stabilise = 1, //note the correct English spelling :)
k_roam = 2,
k_assisted = 3,
k_landing = 4,
k_none = 5,
k_manual = 6
};
enum MountType{
k_pan_tilt = 0, //yaw-pitch
k_tilt_roll = 1, //pitch-roll
k_pan_tilt_roll = 2, //yaw-pitch-roll
};
//Accessors
void set_pitch_yaw(int pitchCh, int yawCh);
void set_pitch_roll(int pitchCh, int rollCh);
void set_pitch_roll_yaw(int pitchCh, int rollCh, int yawCh);
void set_GPS_target(Location targetGPSLocation); //used to tell the mount to track GPS location
void set_assisted(int roll, int pitch, int yaw);
void set_mount_free_roam(int roll, int pitch, int yaw);//used in the FPV for example,
void set_mount_landing(int roll, int pitch, int yaw); //set mount landing position
void set_none();
//methods
void update_mount();
void update_mount_type(); //Auto-detect the mount gimbal type depending on the functions assigned to the servos
void set_mode(MountMode mode);
int pitch_angle; //degrees*100
int roll_angle; //degrees*100
int yaw_angle; //degrees*100
protected:
//methods
void calc_GPS_target_vector(struct Location *target);
//void CalculateDCM(int roll, int pitch, int yaw);
//members
AP_DCM *_dcm;
GPS *_gps;
MountMode _mount_mode;
MountType _mount_type;
struct Location _target_GPS_location;
Vector3f _GPS_vector; //target vector calculated stored in meters
Vector3i _roam_angles; //used for roam mode vector.x = roll vector.y = pitch, vector.z=yaw
Vector3i _landing_angles; //landing position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
Vector3i _assist_angles; //used to keep angles that user has supplied from assisted targeting
Vector3f _assist_vector; //used to keep vector calculated from _AssistAngles
};
#endif

2
libraries/RC_Channel/RC_Channel.cpp
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@ -120,7 +120,7 @@ RC_Channel::calc_pwm(void)
{ {
if(_type == RC_CHANNEL_RANGE){ if(_type == RC_CHANNEL_RANGE){
pwm_out = range_to_pwm(); pwm_out = range_to_pwm();
radio_out = pwm_out + radio_min; radio_out = (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out);
}else if(_type == RC_CHANNEL_ANGLE_RAW){ }else if(_type == RC_CHANNEL_ANGLE_RAW){
pwm_out = (float)servo_out * .1; pwm_out = (float)servo_out * .1;

10
libraries/RC_Channel/RC_Channel.h
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@ -7,12 +7,11 @@
#define RC_Channel_h #define RC_Channel_h
#include <AP_Common.h> #include <AP_Common.h>
#include <stdint.h>
/// @class RC_Channel /// @class RC_Channel
/// @brief Object managing one RC channel /// @brief Object managing one RC channel
class RC_Channel{ class RC_Channel{
private: protected:
AP_Var_group _group; // must be before all vars to keep ctor init order correct AP_Var_group _group; // must be before all vars to keep ctor init order correct
public: public:
@ -103,8 +102,7 @@ class RC_Channel{
int16_t _low; int16_t _low;
}; };
// This is ugly, but it fixes compilation on arduino
#include "RC_Channel_aux.h"
#endif #endif

96
libraries/RC_Channel/RC_Channel_aux.cpp Normal file
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@ -0,0 +1,96 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include <APM_RC.h>
#include "RC_Channel_aux.h"
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
int16_t
RC_Channel_aux::closest_limit(int16_t angle)
{
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
int16_t min = angle_min / 10;
int16_t max = angle_max / 10;
// Make sure the angle lies in the interval [-180 .. 180[ degrees
while (angle < -1800) angle += 3600;
while (angle >= 1800) angle -= 3600;
// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
while (min < -1800) min += 3600;
while (min >= 1800) min -= 3600;
while (max < -1800) max += 3600;
while (max >= 1800) max -= 3600;
set_range(min, max);
// If the angle is outside servo limits, saturate the angle to the closest limit
// On a circle the closest angular position must be carefully calculated to account for wrap-around
if ((angle < min) && (angle > max)){
// angle error if min limit is used
int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
// angle error if max limit is used
int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
angle = err_min<err_max?min:max;
}
servo_out = angle;
// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
calc_pwm();
return angle;
}
// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(unsigned char ch_nr)
{
switch(function)
{
case k_none: // disabled
return;
break;
case k_manual: // manual
radio_out = radio_in;
break;
case k_flap: // flaps
case k_flap_auto: // flaps automated
case k_aileron: // aileron
case k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
case k_mount_yaw: // mount yaw (pan)
case k_mount_pitch: // mount pitch (tilt)
case k_mount_roll: // mount roll
case k_cam_trigger: // camera trigger
case k_cam_open: // camera open
case k_egg_drop: // egg drop
case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
default:
break;
}
APM_RC.OutputCh(ch_nr, radio_out);
}
// update the g_rc_function array from pointers to rc_x channels
// This should be done periodically because the user might change the configuration and
// expects the changes to take effect instantly
void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
{
// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
// Assume that no auxiliary function is used
for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
g_rc_function[aux_servo_function[CH_5]] = rc_5;
g_rc_function[aux_servo_function[CH_6]] = rc_6;
g_rc_function[aux_servo_function[CH_7]] = rc_7;
g_rc_function[aux_servo_function[CH_8]] = rc_8;
}

61
libraries/RC_Channel/RC_Channel_aux.h Normal file
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@ -0,0 +1,61 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file RC_Channel_aux.h
/// @brief RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants.
/// @author Amilcar Lucas
#ifndef RC_CHANNEL_AUX_H_
#define RC_CHANNEL_AUX_H_
#include "RC_Channel.h"
// Macro to simplify accessing the auxiliary servos
#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
/// @class RC_Channel_aux
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
class RC_Channel_aux : public RC_Channel{
public:
/// Constructor
///
/// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
///
RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
RC_Channel(key, name),
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0), // suppress name if group has no name
angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
angle_max (&_group, 6, 4500, name ? PSTR("ANGLE_MAX") : 0) // assume 45 degrees max deflection
{}
typedef enum
{
k_none = 0, // disabled
k_manual = 1, // manual, just pass-thru the RC in signal
k_flap = 2, // flap
k_flap_auto = 3, // flap automated
k_aileron = 4, // aileron
k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
k_mount_yaw = 6, // mount yaw (pan)
k_mount_pitch = 7, // mount pitch (tilt)
k_mount_roll = 8, // mount roll
k_cam_trigger = 9, // camera trigger
k_cam_open = 10, // camera open
k_egg_drop = 11, // egg drop
k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t;
AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
};
void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8);
#endif /* RC_CHANNEL_AUX_H_ */