mirror of https://github.com/ArduPilot/ardupilot
update VARTest to use exact variables from ArduPlane
This commit is contained in:
Andrew Tridgell
parent
9c5a5473ab
commit
31d28e2181
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@ -2,3 +2,6 @@
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# Trivial makefile for building APM
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#
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include ../../libraries/AP_Common/Arduino.mk
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sitl:
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make -f ../../libraries/Desktop/Desktop.mk
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@ -53,8 +53,8 @@ public:
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// 110: Telemetry control
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//
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k_param_streamrates_port0 = 110,
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k_param_streamrates_port3,
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k_param_gcs0 = 110, // stream rates for port0
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k_param_gcs3, // stream rates for port3
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial3_baud,
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@ -435,7 +435,7 @@ public:
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airspeed_enabled (AIRSPEED_SENSOR),
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// PID controller initial P initial I initial D initial imax
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//---------------------------------------------------------------------------------------------------------------------------------------
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//-----------------------------------------------------------------------------------
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pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
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pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
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pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
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@ -1,8 +1,12 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/*
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Parameters.pde example for new variable scheme
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Andrew Tridgell February 2012
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ArduPlane parameter definitions
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
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@ -11,8 +15,8 @@
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static const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "FORMAT_VERSION"),
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GSCALAR(software_type, "SOFTWARE_TYPE"),
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GSCALAR(sysid_this_mav, "SYSID_THIS_MAV"),
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GSCALAR(software_type, "SYSID_SW_TYPE"),
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GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
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GSCALAR(serial3_baud, "SERIAL3_BAUD"),
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GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"),
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@ -117,7 +121,12 @@ static const AP_Param::Info var_info[] PROGMEM = {
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GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID),
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// variables not in the g class which contain EEPROM saved variables
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GOBJECT(compass, "COMPASS_", Compass)
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GOBJECT(compass, "COMPASS_", Compass),
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#if 0
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// VARTest doesn't have these
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GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
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GOBJECT(gcs3, "SR3_", GCS_MAVLINK)
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#endif
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};
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@ -137,8 +146,8 @@ static void load_parameters(void)
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
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delay(100); // wait for serial send
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Serial.printf_P(PSTR("Firmware change (%u -> %u): erasing EEPROM...\n"),
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g.format_version.get(), Parameters::k_format_version);
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AP_Param::erase_all();
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// save the current format version
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@ -7,19 +7,48 @@
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <PID.h> // PID library
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <SPI.h> // Arduino SPI lib
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#include <I2C.h>
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#include <DataFlash.h>
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#include <AP_DCM.h>
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#include <AP_ADC.h>
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#include <AP_Baro.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_IMU.h> // ArduPilot Mega IMU Library
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#include <AP_GPS.h>
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#include <AP_Math.h>
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#include <config.h>
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#include <Parameters.h>
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static Parameters g;
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static AP_ADC_ADS7844 adc;
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static GPS *g_gps;
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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# if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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# else
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AP_InertialSensor_Oilpan ins( &adc );
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#endif // CONFIG_IMU_TYPE
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AP_IMU_INS imu( &ins );
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AP_DCM dcm(&imu, g_gps);
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Arduino_Mega_ISR_Registry isr_registry;
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#ifdef DESKTOP_BUILD
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AP_Compass_HIL compass;
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#else
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static AP_Compass_HMC5843 compass;
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#endif
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AP_Baro_BMP085_HIL barometer;
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FastSerialPort0(Serial);
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FastSerialPort1(Serial1); // GPS port
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#define SERIAL0_BAUD 115200
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@ -96,6 +125,10 @@ void test_variable(AP_Param *ap, enum ap_var_type type)
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type2 != type) {
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Debug("find failed");
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}
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if (strcmp(s, "FORMAT_VERSION") == 0) {
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// don't wipe the version
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return;
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}
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switch (type) {
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case AP_PARAM_INT8: {
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AP_Int8 *v = (AP_Int8 *)ap;
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