Xbee/Ser0 telemetry ports are working again

git-svn-id: https://arducopter.googlecode.com/svn/trunk@682 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArducopterNG/Arducopter.h

@@ -76,6 +76,7 @@ TODO:
 #define SERIAL3_BAUD 115200
 
 #ifdef SerXbee               // Xbee/Telemetry port 
+//#define SerBau  115200      // Baud setting moved close next to port selection
 #define SerPri  Serial3.print
 #define SerPrln Serial3.println
 #define SerRea  Serial3.read
@@ -86,11 +87,8 @@ TODO:
 #define SerPor  "FTDI"
 #endif
 
-#ifndef SerPri              // If we don't have SerPri set yet, it means we have are using Serial0
+#ifndef SerXbee              // If we don't have SerXbee set, it means we have are using Serial0
-#define SerUSB
+//#define SerBau  115200      // Baud setting moved close next to port selection
-#endif
-
-#ifdef SerUSB                 // Defines for normal Serial0 port
 #define SerPri  Serial.print
 #define SerPrln Serial.println
 #define SerRea  Serial.read

ArducopterNG/ArducopterNG.pde

@@ -45,25 +45,41 @@
 //#define IsGPS       // Do we have a GPS connected
 //#define IsNEWMTEK   // Do we have MTEK with new firmware
 //#define IsMAG         // Do we have a Magnetometer connected, if have remember to activate it from Configurator
-//#define IsTEL       // Do we have a telemetry connected, eg. XBee connected on Telemetry port
+//LEGACY-jp #define IsTEL       // Do we have a telemetry connected, eg. XBee connected on Telemetry port
-//#define IsAM          // Do we have motormount LED's. AM = Atraction Mode
+#define IsAM          // Do we have motormount LED's. AM = Atraction Mode
+
 //#define UseAirspeed
+
 //#define UseBMP
-//#define BATTERY_EVENT 1   // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
+
+//#define BATTERY_EVENT 1   // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it _wired_ up!)
 
 #define CONFIGURATOR
 
+
+////////////////////
+// Telemetry
+
 // Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
-// If we are using normal FTDI/USB port as our telemetry/configuration, comment out next line
+// If we are using normal FTDI/USB port as our telemetry/configuration, disable next
 //#define SerXbee
 
-//#define Ser0          // FTDI/USB Port  Either one
+// Telemetry port speed, default is 115200
-//#define Ser3          // Telemetry port
+#define SerBau  115200
+
+
+
+//////////////////////
+// Flight orientation
 
 // Frame build condiguration
 #define FLIGHT_MODE_+    // Traditional "one arm as nose" frame configuration
 //#define FLIGHT_MODE_X  // Frame orientation 45 deg to CCW, nose between two arms
 
+
+
+
+
 /* ************************************************************ */
 /* **************** MAIN PROGRAM - INCLUDES ******************* */
 /* ************************************************************ */
@@ -92,6 +108,7 @@
 /* Software version */
 #define VER 1.5    // Current software version (only numeric values)
 
+
 /* ************************************************************ */
 /* ************* MAIN PROGRAM - DECLARATIONS ****************** */
 /* ************************************************************ */
@@ -221,50 +238,72 @@ void loop()
     case 0:   // Magnetometer reading (10Hz)
       medium_loopCounter++;
       slowLoop++;
-          #ifdef IsMAG
+#ifdef IsMAG
       if (MAGNETOMETER == 1) {
         APM_Compass.Read();     // Read magnetometer
         APM_Compass.Calculate(roll,pitch);  // Calculate heading
       }
-          #endif
+#endif
       break;
     case 1:  // Barometer reading (2x10Hz = 20Hz)
       medium_loopCounter++;
-          #ifdef UseBMP
+#ifdef UseBMP
       if (APM_BMP085.Read()){
         read_baro();
         Baro_new_data = 1;
       }
-          #endif
+#endif
       break;
     case 2:  // Send serial telemetry (10Hz)
       medium_loopCounter++;
-          #ifdef CONFIGURATOR
+#ifdef CONFIGURATOR
       sendSerialTelemetry();
-          #endif
+#endif
       break;
     case 3:  // Read serial telemetry (10Hz)
       medium_loopCounter++;
-          #ifdef CONFIGURATOR
+#ifdef CONFIGURATOR
       readSerialCommand();
-          #endif
+#endif
       break;
     case 4:  // second Barometer reading (2x10Hz = 20Hz)
       medium_loopCounter++;
-          #ifdef UseBMP
+#ifdef UseBMP
       if (APM_BMP085.Read()){
         read_baro();
         Baro_new_data = 1;
       }
-          #endif
+#endif
       break;
     case 5:  //  Battery monitor (10Hz)
       medium_loopCounter=0;
-          #if BATTERY_EVENT == 1
+#if BATTERY_EVENT == 1
       read_battery();         // Battery monitor
-          #endif
+#endif
       break;	
     }
   }
+
+  // AM and Mode status LED lights
+  if(millis() - gled_timer > gled_speed) {
+    gled_timer = millis();
+    if(gled_status == HIGH) { 
+      digitalWrite(LED_Green, LOW);
+#ifdef IsAM      
+      digitalWrite(RE_LED, LOW);
+#endif
+      gled_status = LOW;
+//      SerPrln("L");
+    } 
+    else {
+      digitalWrite(LED_Green, HIGH);
+#ifdef IsAM
+      if(motorArmed) digitalWrite(RE_LED, HIGH);
+#endif
+      gled_status = HIGH;
+    } 
+  }
+
 }
 
+

ArducopterNG/GCS.pde

@@ -23,15 +23,15 @@
  You should have received a copy of the GNU General Public License
  along with this program. If not, see <http://www.gnu.org/licenses/>.
  
-* ************************************************************** *
+ * ************************************************************** *
-ChangeLog:
+ ChangeLog:
  
  
-* ************************************************************** *
+ * ************************************************************** *
-TODO:
+ TODO:
  
  
-* ************************************************************** */
+ * ************************************************************** */
 //
 // Function  : send_message()
 //
@@ -61,7 +61,7 @@ void send_message(byte severity, const char *str)		// This is the instance of se
 void readSerialCommand() {
   // Check for serial message
   if (SerAva()) {
-
+    queryType = SerRea();
     switch (queryType) {
     case 'A': // Stable PID
       KP_QUAD_ROLL = readFloatSerial();
@@ -154,7 +154,7 @@ void sendSerialTelemetry() {
   float aux_float[3]; // used for sensor calibration
   switch (queryType) {
   case '=': // Reserved debug command to view any variable from Serial Monitor
-/*    SerPri(("throttle =");
+    /*    SerPri(("throttle =");
      SerPrln(ch_throttle);
      SerPri("control roll =");
      SerPrln(control_roll-CHANN_CENTER);
@@ -268,7 +268,7 @@ void sendSerialTelemetry() {
     queryType = 'X';
     break;
   case 'L': // Spare
-//    RadioCalibration();
+    //    RadioCalibration();
     queryType = 'X';
     break;
   case 'N': // Send magnetometer config
@@ -351,6 +351,20 @@ void sendSerialTelemetry() {
     SerPri(read_adc(3));
     comma();
     SerPrln(read_adc(5));
+/*    comma();
+    SerPri(APM_Compass.Heading, 4);
+    comma();
+    SerPri(APM_Compass.Heading_X, 4);
+    comma();
+    SerPri(APM_Compass.Heading_Y, 4);
+    comma();
+    SerPri(APM_Compass.Mag_X);
+    comma();    
+    SerPri(APM_Compass.Mag_Y);
+    comma();
+    SerPri(APM_Compass.Mag_Z);
+    comma();
+*/
     break;
   case 'T': // Spare
     break;
@@ -438,3 +452,4 @@ float readFloatSerial() {
   while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
   return atof(data);
 }
+

ArducopterNG/System.pde

@@ -85,9 +85,14 @@ void APM_Init() {
 
   DataFlash.StartWrite(1);   // Start a write session on page 1
 
-  Serial.begin(115200);
+//  Serial.begin(115200);  // Old mode serial begin, remove soon, by jp/17-10-10
+
   //Serial.println("ArduCopter Quadcopter v1.0");
  
+  // Proper Serial port/baud are defined on main .pde and then Arducopter.h with
+  // Choises of Xbee or 
+  SerBeg(SerBau);
+  
   // Check if we enable the DataFlash log Read Mode (switch)
   // If we press switch 1 at startup we read the Dataflash eeprom
   while (digitalRead(SW1_pin)==0)
@@ -126,5 +131,6 @@ void APM_Init() {
   digitalWrite(RI_LED, HIGH);
   digitalWrite(LE_LED, HIGH); 
 #endif
+
 }