Plane: enable attitude and raw logging in HIL modes

ArduPlane/ArduPlane.pde

@@ -240,15 +240,11 @@ AP_InertialSensor_Stub ins;
 AP_AHRS_DCM  ahrs(&ins, g_gps);
 
 #elif HIL_MODE == HIL_MODE_ATTITUDE
-AP_InertialSensor_Stub ins;
-AP_AHRS_HIL             ahrs(&ins, g_gps);
-AP_GPS_HIL              g_gps_driver(NULL);
-AP_Compass_HIL compass;          // never used
 AP_Baro_BMP085_HIL barometer;
- #ifdef DESKTOP_BUILD
-  #include <SITL.h>
-SITL sitl;
- #endif
+AP_Compass_HIL compass;
+AP_GPS_HIL              g_gps_driver(NULL);
+AP_InertialSensor_Stub ins;
+AP_AHRS_HIL   ahrs(&ins, g_gps);
 
 #else
  #error Unrecognised HIL_MODE setting.
@@ -718,10 +714,7 @@ void loop()
         if (millis() - perf_mon_timer > 20000) {
             if (mainLoop_count != 0) {
                 if (g.log_bitmask & MASK_LOG_PM)
-#if HIL_MODE != HIL_MODE_ATTITUDE
                     Log_Write_Performance();
-#endif
-
                     resetPerfData();
             }
         }
@@ -769,13 +762,11 @@ static void fast_loop()
     // uses the yaw from the DCM to give more accurate turns
     calc_bearing_error();
 
-# if HIL_MODE == HIL_MODE_DISABLED
     if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
         Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);
 
     if (g.log_bitmask & MASK_LOG_RAW)
         Log_Write_Raw();
-#endif
 
     // inertial navigation
     // ------------------
@@ -886,13 +877,11 @@ static void medium_loop()
     case 3:
         medium_loopCounter++;
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
         if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
             Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);
 
         if (g.log_bitmask & MASK_LOG_CTUN)
             Log_Write_Control_Tuning();
-#endif
 
         if (g.log_bitmask & MASK_LOG_NTUN)
             Log_Write_Nav_Tuning();

ArduPlane/GCS_Mavlink.pde

@@ -379,7 +379,6 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
         barometer.get_climb_rate());
 }
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
 static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
 {
     Vector3f accel = ins.get_accel();
@@ -445,8 +444,6 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
         ahrs.get_error_yaw());
 }
 
-#endif // HIL_MODE != HIL_MODE_ATTITUDE
-
 #ifdef DESKTOP_BUILD
 // report simulator state
 static void NOINLINE send_simstate(mavlink_channel_t chan)
@@ -587,7 +584,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         send_vfr_hud(chan);
         break;
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
     case MSG_RAW_IMU1:
         CHECK_PAYLOAD_SIZE(RAW_IMU);
         send_raw_imu1(chan);
@@ -602,7 +598,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
         send_raw_imu3(chan);
         break;
-#endif // HIL_MODE != HIL_MODE_ATTITUDE
 
     case MSG_CURRENT_WAYPOINT:
         CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
@@ -640,10 +635,8 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
 #endif
 
     case MSG_AHRS:
-#if HIL_MODE != HIL_MODE_ATTITUDE
         CHECK_PAYLOAD_SIZE(AHRS);
         send_ahrs(chan);
-#endif
         break;
 
     case MSG_SIMSTATE:
@@ -1803,7 +1796,6 @@ mission_failed:
                       packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
                       vel*1.0e-2, cog*1.0e-2, 0, 10);
 
- #if HIL_MODE == HIL_MODE_SENSORS
 
         // rad/sec
         Vector3f gyros;
@@ -1831,9 +1823,9 @@ mission_failed:
 
         barometer.setHIL(Temp, y);
 
- #else
-
-        // set AHRS hil sensor
+ #if HIL_MODE == HIL_MODE_ATTITUDE
+        // set AHRS hil sensor. We don't do this in sensors mode, as
+        // in that case the attitude is computed via DCM
         ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
                     packet.pitchspeed,packet.yawspeed);
 

ArduPlane/Log.pde

@@ -222,7 +222,6 @@ static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log
 }
 
 // Write a performance monitoring packet. Total length : 19 bytes
- #if HIL_MODE != HIL_MODE_ATTITUDE
 static void Log_Write_Performance()
 {
     DataFlash.WriteByte(HEAD_BYTE1);
@@ -243,7 +242,6 @@ static void Log_Write_Performance()
     DataFlash.WriteInt(pmTest1);
     DataFlash.WriteByte(END_BYTE);
 }
- #endif
 
 // Write a command processing packet. Total length : 19 bytes
 //void Log_Write_Cmd(byte num, byte id, byte p1, int32_t alt, int32_t lat, int32_t lng)
@@ -282,7 +280,6 @@ static void Log_Write_Startup(byte type)
 
 
 // Write a control tuning packet. Total length : 22 bytes
- #if HIL_MODE != HIL_MODE_ATTITUDE
 static void Log_Write_Control_Tuning()
 {
     Vector3f accel = ins.get_accel();
@@ -301,7 +298,6 @@ static void Log_Write_Control_Tuning()
     DataFlash.WriteInt((int)(accel.y * 10000));
     DataFlash.WriteByte(END_BYTE);
 }
- #endif
 
 // Write a navigation tuning packet. Total length : 18 bytes
 static void Log_Write_Nav_Tuning()
@@ -350,7 +346,6 @@ static void Log_Write_GPS(      int32_t log_Time, int32_t log_Lattitude, int32_t
 }
 
 // Write an raw accel/gyro data packet. Total length : 28 bytes
- #if HIL_MODE != HIL_MODE_ATTITUDE
 static void Log_Write_Raw()
 {
     Vector3f gyro = ins.get_gyro();
@@ -370,7 +365,6 @@ static void Log_Write_Raw()
 
     DataFlash.WriteByte(END_BYTE);
 }
- #endif
 
 static void Log_Write_Current()
 {

ArduPlane/Makefile

@@ -7,16 +7,19 @@ nogps:
 	make -f Makefile EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_NONE -DLOGGING_ENABLED=DISABLED"
 
 hil:
-	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_SLIDER_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE"
+
+hil-apm2:
+	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
 
 hilsensors:
-	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_SLIDER_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS"
 
 hilsensors-apm2:
-	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_SLIDER_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED -DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
+	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
 
 hilnocli:
-	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED"
 
 nocli:
 	make -f Makefile EXTRAFLAGS="-DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"

ArduPlane/commands.pde

@@ -250,8 +250,8 @@ void init_home()
     while (!g_gps->new_data || !g_gps->fix) {
         g_gps->update();
 #if HIL_MODE != HIL_MODE_DISABLED
-    // update hil gps so we have new_data
-    gcs_update();
+        // update hil gps so we have new_data
+        gcs_update();
 #endif
     }
 

ArduPlane/config.h

@@ -190,6 +190,7 @@
  #define CONFIG_ADC DISABLED
  #undef CONFIG_PITOT_SOURCE
  #define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
+ #undef CONFIG_PITOT_SOURCE_ANALOG_PIN
  #define CONFIG_PITOT_SOURCE_ANALOG_PIN -1
 #endif
 

ArduPlane/sensors.pde

@@ -6,6 +6,7 @@ static LowPassFilterInt32 altitude_filter;
 
 static void init_barometer(void)
 {
+    gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));    
     barometer.calibrate(mavlink_delay);
 
     // filter at 100ms sampling, with 0.7Hz cutoff frequency