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adapted main ACM code for AP_Param

This commit is contained in:
Andrew Tridgell 2012-02-12 22:27:51 +11:00
parent 983192c5d5
commit 3b4cae3cc3
4 changed files with 38 additions and 37 deletions
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10
ArduCopter/ArduCopter.pde
View File

@ -219,7 +219,7 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
#else #else
AP_InertialSensor_Oilpan ins(&adc); AP_InertialSensor_Oilpan ins(&adc);
#endif #endif
AP_IMU_INS imu(&ins, Parameters::k_param_IMU_calibration); AP_IMU_INS imu(&ins);
AP_DCM dcm(&imu, g_gps); AP_DCM dcm(&imu, g_gps);
AP_TimerProcess timer_scheduler; AP_TimerProcess timer_scheduler;
@ -258,8 +258,8 @@ AP_TimerProcess timer_scheduler;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// GCS selection // GCS selection
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
GCS_MAVLINK gcs0(Parameters::k_param_streamrates_port0); GCS_MAVLINK gcs0;
GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3); GCS_MAVLINK gcs3;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// SONAR selection // SONAR selection
@ -1919,7 +1919,7 @@ static void tuning(){
case CH6_DAMP: case CH6_DAMP:
g.rc_6.set_range(0,300); // 0 to 1 g.rc_6.set_range(0,300); // 0 to 1
g.stablize_d.set(tuning_value); g.stabilize_d.set(tuning_value);
//tuning_value = (float)g.rc_6.control_in / 100000.0; //tuning_value = (float)g.rc_6.control_in / 100000.0;
//g.rc_6.set_range(0,1000); // 0 to 1 //g.rc_6.set_range(0,1000); // 0 to 1
@ -2132,4 +2132,4 @@ static void update_auto_yaw()
auto_yaw = target_bearing; auto_yaw = target_bearing;
} }
// MAV_ROI_NONE = basic Yaw hold // MAV_ROI_NONE = basic Yaw hold
} }

4
ArduCopter/Attitude.pde
View File

@ -115,7 +115,7 @@ get_rate_roll(int32_t target_rate)
target_rate = g.pid_rate_roll.get_pid(target_rate, G_Dt); target_rate = g.pid_rate_roll.get_pid(target_rate, G_Dt);
// Dampening // Dampening
target_rate -= constrain((current_rate - last_rate) * g.stablize_d, -500, 500); target_rate -= constrain((current_rate - last_rate) * g.stabilize_d, -500, 500);
last_rate = current_rate; last_rate = current_rate;
// output control: // output control:
@ -133,7 +133,7 @@ get_rate_pitch(int32_t target_rate)
target_rate = g.pid_rate_pitch.get_pid(target_rate, G_Dt); target_rate = g.pid_rate_pitch.get_pid(target_rate, G_Dt);
// Dampening // Dampening
target_rate -= constrain((current_rate - last_rate) * g.stablize_d, -500, 500); target_rate -= constrain((current_rate - last_rate) * g.stabilize_d, -500, 500);
last_rate = current_rate; last_rate = current_rate;
// output control: // output control:

31
ArduCopter/setup.pde
View File

@ -102,7 +102,34 @@ setup_show(uint8_t argc, const Menu::arg *argv)
report_gyro(); report_gyro();
#endif #endif
AP_Var_menu_show(argc, argv); uint32_t token;
AP_Param *ap;
enum ap_var_type type;
for (ap=AP_Param::first(&token, &type);
ap;
ap=AP_Param::next_scalar(&token, &type)) {
char s[AP_MAX_NAME_SIZE+1];
ap->copy_name(s, sizeof(s));
s[AP_MAX_NAME_SIZE] = 0;
switch (type) {
case AP_PARAM_INT8:
Serial.printf_P("%s: %d\n", s, (int)((AP_Int8 *)ap)->get());
break;
case AP_PARAM_INT16:
Serial.printf_P("%s: %d\n", s, (int)((AP_Int16 *)ap)->get());
break;
case AP_PARAM_INT32:
Serial.printf_P("%s: %ld\n", s, (long)((AP_Int32 *)ap)->get());
break;
case AP_PARAM_FLOAT:
Serial.printf_P("%s: %f\n", s, ((AP_Float *)ap)->get());
break;
default:
break;
}
}
return(0); return(0);
} }
@ -122,7 +149,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
if (('y' != c) && ('Y' != c)) if (('y' != c) && ('Y' != c))
return(-1); return(-1);
AP_Var::erase_all(); AP_Param::erase_all();
Serial.printf_P(PSTR("\nReboot APM")); Serial.printf_P(PSTR("\nReboot APM"));
delay(1000); delay(1000);

30
ArduCopter/system.pde
View File

@ -159,34 +159,8 @@ static void init_ardupilot()
piezo_beep(); piezo_beep();
#endif #endif
// load parameters from EEPROM
if (!g.format_version.load() || load_parameters();
g.format_version != Parameters::k_format_version) {
//Serial.printf_P(PSTR("\n\nForcing complete parameter reset..."));
/*Serial.printf_P(PSTR("\n\nEEPROM format version %d not compatible with this firmware (requires %d)"
"\n\nForcing complete parameter reset..."),
g.format_version.get(),
Parameters::k_format_version);
*/
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
delay(100); // wait for serial send
AP_Var::erase_all();
// save the new format version
g.format_version.set_and_save(Parameters::k_format_version);
// save default radio values
default_dead_zones();
}else{
// save default radio values
//default_dead_zones();
// Load all auto-loaded EEPROM variables
AP_Var::load_all();
}
// init the GCS // init the GCS
gcs0.init(&Serial); gcs0.init(&Serial);