This commit is contained in:
Jason Short 2011-09-14 14:45:13 -07:00
commit 3daabf3c8b
56 changed files with 1776 additions and 703 deletions

3
.gitignore vendored Normal file
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@ -0,0 +1,3 @@
.metadata/
Tools/ArdupilotMegaPlanner/bin/Release/logs/
config.mk

162
ArduCopter/CMakeLists.txt Normal file
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@ -0,0 +1,162 @@
#=============================================================================#
# Author: Niklaa Goddemeier & Sebastian Rohde #
# Date: 04.09.2011 #
#=============================================================================#
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
#include(ArduinoProcessing)
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
message(STATUS "DIR: ${CMAKE_SOURCE_DIR}")
cmake_minimum_required(VERSION 2.8)
#====================================================================#
# Setup Project #
#====================================================================#
project(ArduCopter C CXX)
find_package(Arduino 22 REQUIRED)
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
#add_subdirectory(${CMAKE_SOURCE_DIR}/ArduCopter)
#add_subdirectory(testtool)
PRINT_BOARD_SETTINGS(mega2560)
#=============================================================================#
# Author: Niklas Goddemeier & Sebastian Rohde #
# Date: 04.09.2011 #
#=============================================================================#
#====================================================================#
# Settings #
#====================================================================#
set(FIRMWARE_NAME arducopter)
set(${FIRMWARE_NAME}_BOARD mega2560) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ArduCopter.pde
Attitude.pde
Camera.pde
commands.pde
commands_logic.pde
commands_process.pde
control_modes.pde
events.pde
flight_control.pde
flip.pde
GCS.pde
GCS_Ardupilot.pde
#GCS_IMU_output.pde
GCS_Jason_text.pde
GCS_Mavlink.pde
GCS_Standard.pde
GCS_Xplane.pde
heli.pde
HIL_Xplane.pde
leds.pde
Log.pde
motors_hexa.pde
motors_octa.pde
motors_octa_quad.pde
motors_quad.pde
motors_tri.pde
motors_y6.pde
navigation.pde
planner.pde
radio.pde
read_commands.pde
sensors.pde
setup.pde
system.pde
test.pde
) # Firmware sketches
#create dummy sourcefile
file(WRITE ${FIRMWARE_NAME}.cpp "// Do not edit")
set(${FIRMWARE_NAME}_SRCS
#test.cpp
${FIRMWARE_NAME}.cpp
) # Firmware sources
set(${FIRMWARE_NAME}_HDRS
APM_Config.h
APM_Config_mavlink_hil.h
APM_Config_xplane.h
config.h
defines.h
GCS.h
HIL.h
Mavlink_Common.h
Parameters.h
) # Firmware sources
set(${FIRMWARE_NAME}_LIBS
DataFlash
AP_Math
PID
RC_Channel
AP_OpticalFlow
ModeFilter
memcheck
#AP_PID
APM_PI
#APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
c
m
)
SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
include_directories(
${CMAKE_SOURCE_DIR}/libraries/DataFlash
${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/PID
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/RC_Channel
${CMAKE_SOURCE_DIR}/libraries/AP_OpticalFlow
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/memcheck
#${CMAKE_SOURCE_DIR}/libraries/AP_PID
${CMAKE_SOURCE_DIR}/libraries/APM_PI
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
#====================================================================#
# Target generation #
#====================================================================#
generate_arduino_firmware(${FIRMWARE_NAME})

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@ -22,14 +22,3 @@
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#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

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@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduPilotMega V2.24"
#define THISFIRMWARE "ArduPlane V2.24"
/*
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
@ -41,9 +41,6 @@ version 2.1 of the License, or (at your option) any later version.
#include <RC_Channel.h> // RC Channel Library
#include <AP_RangeFinder.h> // Range finder library
#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 <memcheck.h>
@ -420,14 +417,6 @@ 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
////////////////////////////////////////////////////////////////////////////////
@ -575,18 +564,6 @@ static void fast_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
// -----------------------------------------
switch(medium_loopCounter) {
@ -736,9 +713,6 @@ static void slow_loop()
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;
case 2:

162
ArduPlane/CMakeLists.txt Normal file
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@ -0,0 +1,162 @@
#=============================================================================#
# Author: Niklaa Goddemeier & Sebastian Rohde #
# Date: 04.09.2011 #
#=============================================================================#
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
#include(ArduinoProcessing)
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
cmake_minimum_required(VERSION 2.8)
#====================================================================#
# Setup Project #
#====================================================================#
project(ArduPlane C CXX)
find_package(Arduino 22 REQUIRED)
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
#add_subdirectory(${CMAKE_SOURCE_DIR}/ArduCopter)
#add_subdirectory(testtool)
PRINT_BOARD_SETTINGS(mega2560)
#=============================================================================#
# Author: Niklas Goddemeier & Sebastian Rohde #
# Date: 04.09.2011 #
#=============================================================================#
#====================================================================#
# Settings #
#====================================================================#
set(FIRMWARE_NAME ArduPlane)
set(${FIRMWARE_NAME}_BOARD mega2560) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ArduPlane.pde
Attitude.pde
climb_rate.pde
commands.pde
commands_logic.pde
commands_process.pde
control_modes.pde
events.pde
#flight_control.pde
#flip.pde
#GCS.pde
#GCS_Ardupilot.pde
#GCS_IMU_output.pde
#GCS_Jason_text.pde
GCS_Mavlink.pde
#GCS_Standard.pde
#GCS_Xplane.pde
#heli.pde
HIL_Xplane.pde
#leds.pde
Log.pde
#motors_hexa.pde
#motors_octa.pde
#motors_octa_quad.pde
#motors_quad.pde
#motors_tri.pde
#motors_y6.pde
navigation.pde
planner.pde
radio.pde
#read_commands.pde
sensors.pde
setup.pde
system.pde
test.pde
) # Firmware sketches
#create dummy sourcefile
file(WRITE ${FIRMWARE_NAME}.cpp "// Do not edit")
set(${FIRMWARE_NAME}_SRCS
#test.cpp
${FIRMWARE_NAME}.cpp
) # Firmware sources
set(${FIRMWARE_NAME}_HDRS
APM_Config.h
APM_Config_mavlink_hil.h
APM_Config_xplane.h
config.h
defines.h
GCS.h
HIL.h
Mavlink_Common.h
Parameters.h
) # Firmware sources
set(${FIRMWARE_NAME}_LIBS
DataFlash
AP_Math
PID
RC_Channel
AP_OpticalFlow
ModeFilter
memcheck
#AP_PID
APM_PI
#APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
c
m
)
SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
include_directories(
${CMAKE_SOURCE_DIR}/libraries/DataFlash
${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/PID
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/RC_Channel
${CMAKE_SOURCE_DIR}/libraries/AP_OpticalFlow
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/memcheck
#${CMAKE_SOURCE_DIR}/libraries/AP_PID
${CMAKE_SOURCE_DIR}/libraries/APM_PI
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
#new
#${CMAKE_SOURCE_DIR}/libraries/Wire
#${CMAKE_SOURCE_DIR}/libraries/SPI
)
#====================================================================#
# Target generation #
#====================================================================#
generate_arduino_firmware(${FIRMWARE_NAME})

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@ -112,13 +112,6 @@ public:
k_param_RTL_altitude,
k_param_inverted_flight_ch,
//
// Camera parameters
//
#if CAMERA == ENABLED
k_param_camera,
#endif
//
// 170: Radio settings
//
@ -324,11 +317,6 @@ public:
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
// Camera
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// RC channels
RC_Channel channel_roll;
RC_Channel channel_pitch;
@ -434,10 +422,6 @@ public:
// 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
//----------------------------------------------------------------------
channel_roll (k_param_channel_roll, PSTR("RC1_")),

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@ -1,56 +0,0 @@
// -*- 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

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@ -24,26 +24,6 @@ static void init_rc_in()
//set auxiliary ranges
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
G_RC_AUX(k_flaperon)->set_range(0,100);
#if CAMERA == ENABLED
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);
G_RC_AUX(k_mount_pitch)->set_range(
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
G_RC_AUX(k_mount_roll)->set_range(
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
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_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
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()
@ -56,7 +36,7 @@ static void init_rc_out()
APM_RC.OutputCh(CH_5, g.rc_5.radio_trim);
APM_RC.OutputCh(CH_6, g.rc_6.radio_trim);
APM_RC.OutputCh(CH_7, g.rc_7.radio_trim);
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
APM_RC.Init(); // APM Radio initialization

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@ -232,7 +232,6 @@
<Compile Include="MyUserControl.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="NetSerialServer.cs" />
<Compile Include="ArduinoSTKv2.cs">
<SubType>Component</SubType>
</Compile>
@ -302,7 +301,6 @@
<DependentUpon>ElevationProfile.cs</DependentUpon>
</Compile>
<Compile Include="MAVLink.cs" />
<Compile Include="NetSerial.cs" />
<Compile Include="ArduinoSTK.cs">
<SubType>Component</SubType>
</Compile>
@ -338,6 +336,7 @@
<Compile Include="Splash.Designer.cs">
<DependentUpon>Splash.cs</DependentUpon>
</Compile>
<Compile Include="srtm.cs" />
<Compile Include="temp.cs">
<SubType>Form</SubType>
</Compile>
@ -374,6 +373,7 @@
</EmbeddedResource>
<EmbeddedResource Include="GCSViews\Firmware.zh-Hans.resx">
<DependentUpon>Firmware.cs</DependentUpon>
<SubType>Designer</SubType>
</EmbeddedResource>
<EmbeddedResource Include="GCSViews\FlightData.zh-Hans.resx">
<DependentUpon>FlightData.cs</DependentUpon>
@ -424,6 +424,7 @@
<EmbeddedResource Include="GCSViews\Firmware.resx">
<DependentUpon>Firmware.cs</DependentUpon>
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
<SubType>Designer</SubType>
</EmbeddedResource>
<EmbeddedResource Include="GCSViews\FlightData.resx">
<DependentUpon>FlightData.cs</DependentUpon>

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@ -6,7 +6,6 @@ using System.IO.Ports;
using System.Threading;
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
using SerialProxy;
namespace System.IO.Ports
{

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@ -257,6 +257,8 @@ namespace ArdupilotMega.GCSViews
internal void processToScreen()
{
Params.Rows.Clear();
// process hashdefines and update display
@ -541,7 +543,10 @@ namespace ArdupilotMega.GCSViews
private void BUT_writePIDS_Click(object sender, EventArgs e)
{
foreach (string value in changes.Keys)
Hashtable temp = (Hashtable)changes.Clone();
foreach (string value in temp.Keys)
{
try
{
@ -566,6 +571,7 @@ namespace ArdupilotMega.GCSViews
if (row.Cells[0].Value.ToString() == value)
{
row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
changes.Remove(value);
break;
}
}
@ -575,8 +581,6 @@ namespace ArdupilotMega.GCSViews
}
catch { MessageBox.Show("Set " + value + " Failed"); }
}
changes.Clear();
}
const float rad2deg = (float)(180 / Math.PI);
@ -600,9 +604,11 @@ namespace ArdupilotMega.GCSViews
MainV2.fixtheme(temp);
TabSetup.Controls.Clear();
temp.ShowDialog();
TabSetup.Controls.Add(temp.Controls[0]);
startup = true;
processToScreen();
startup = false;
}
}
}

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@ -519,13 +519,18 @@ namespace ArdupilotMega.GCSViews
}
catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.Message); return; }
UploadFlash(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board);
}
void UploadFlash(string filename, string board)
{
byte[] FLASH = new byte[1];
StreamReader sr = null;
try
{
lbl_status.Text = "Reading Hex File";
this.Refresh();
sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr);
sr.Close();
Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length);

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@ -343,16 +343,16 @@
<value>NoControl</value>
</data>
<data name="label1.Location" type="System.Drawing.Point, System.Drawing">
<value>101, 165</value>
<value>113, 167</value>
</data>
<data name="label1.Size" type="System.Drawing.Size, System.Drawing">
<value>79, 13</value>
<value>56, 13</value>
</data>
<data name="label1.TabIndex" type="System.Int32, mscorlib">
<value>8</value>
</data>
<data name="label1.Text" xml:space="preserve">
<value>ArduPilot Mega</value>
<value>ArduPlane</value>
</data>
<data name="&gt;&gt;label1.Name" xml:space="preserve">
<value>label1</value>
@ -403,16 +403,16 @@
<value>NoControl</value>
</data>
<data name="label3.Location" type="System.Drawing.Point, System.Drawing">
<value>57, 362</value>
<value>74, 361</value>
</data>
<data name="label3.Size" type="System.Drawing.Size, System.Drawing">
<value>168, 13</value>
<value>142, 13</value>
</data>
<data name="label3.TabIndex" type="System.Int32, mscorlib">
<value>10</value>
</data>
<data name="label3.Text" xml:space="preserve">
<value>ArduPilot Mega (Xplane simulator)</value>
<value>ArduPlane (Xplane simulator)</value>
</data>
<data name="&gt;&gt;label3.Name" xml:space="preserve">
<value>label3</value>

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@ -347,7 +347,7 @@ namespace ArdupilotMega.GCSViews
{
TXT_mouselat.Text = lat.ToString();
TXT_mouselong.Text = lng.ToString();
TXT_mousealt.Text = alt.ToString();
TXT_mousealt.Text = srtm.getAltitude(lat, lng).ToString("0");
try
{

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@ -236,7 +236,7 @@ System.ComponentModel.Category("Values")]
{
//Console.WriteLine("ms "+(DateTime.Now - starttime).TotalMilliseconds);
//e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
return;
//return;
}
starttime = DateTime.Now;
@ -1365,6 +1365,18 @@ System.ComponentModel.Category("Values")]
charbitmaps = new Bitmap[charbitmaps.Length];
try
{
foreach (int texid in charbitmaptexid)
{
if (texid != 0)
GL.DeleteTexture(texid);
}
}
catch { }
GC.Collect();
try

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@ -366,45 +366,6 @@ namespace ArdupilotMega
}
}
private byte[] readline(NetSerial comport)
{
byte[] temp = new byte[1024];
int count = 0;
int timeout = 0;
while (timeout <= 100)
{
if (!comport.IsOpen) { break; }
if (comport.BytesToRead > 0)
{
byte letter = (byte)comport.ReadByte();
temp[count] = letter;
if (letter == '\n') // normal line
{
break;
}
count++;
if (count == temp.Length)
break;
timeout = 0;
} else {
timeout++;
System.Threading.Thread.Sleep(5);
}
}
if (timeout >= 100) {
Console.WriteLine("readline timeout");
}
Array.Resize<byte>(ref temp, count + 1);
return temp;
}
List<string> modelist = new List<string>();
List<Core.Geometry.Point3D>[] position = new List<Core.Geometry.Point3D>[200];
int positionindex = 0;

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@ -951,6 +951,8 @@ namespace ArdupilotMega
req.seq = index;
//Console.WriteLine("getwp req "+ DateTime.Now.Millisecond);
// request
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
@ -972,11 +974,14 @@ namespace ArdupilotMega
MainV2.givecomport = false;
throw new Exception("Timeout on read - getWP");
}
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
byte[] buffer = readPacket();
//Console.WriteLine("getwp readend " + DateTime.Now.Millisecond);
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT)
{
//Console.WriteLine("getwp ans " + DateTime.Now.Millisecond);
__mavlink_waypoint_t wp = new __mavlink_waypoint_t();
object temp = (object)wp;
@ -1070,7 +1075,7 @@ namespace ArdupilotMega
}
else
{
//Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
}
}
}
@ -1455,16 +1460,18 @@ namespace ArdupilotMega
else
{
int to = 0;
while (BaseStream.BytesToRead < length)
while (BaseStream.BytesToRead < (length - 4))
{
if (to > 1000)
{
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
break;
}
System.Threading.Thread.Sleep(2);
System.Windows.Forms.Application.DoEvents();
System.Threading.Thread.Sleep(1);
//System.Windows.Forms.Application.DoEvents();
to++;
//Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
}
int read = BaseStream.Read(temp, 6, length - 4);
}

View File

@ -76,6 +76,8 @@ namespace ArdupilotMega
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
srtm.datadirectory = @"C:\srtm";
var t = Type.GetType("Mono.Runtime");
MAC = (t != null);

View File

@ -50,7 +50,7 @@ namespace ArdupilotMega
if (!this.Enabled)
{
SolidBrush brush = new SolidBrush(Color.FromArgb(200, 0x2b, 0x3a, 0x03));
SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03));
gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
}

View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.67")]
[assembly: AssemblyFileVersion("1.0.68")]
[assembly: NeutralResourcesLanguageAttribute("")]

View File

@ -231,7 +231,6 @@ namespace ArdupilotMega.Setup
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
MainV2.comPort.param = MainV2.comPort.getParamList();
if (Configuration != null)
{
Configuration.startup = true;

View File

@ -343,16 +343,16 @@
<value>NoControl</value>
</data>
<data name="label1.Location" type="System.Drawing.Point, System.Drawing">
<value>101, 165</value>
<value>113, 167</value>
</data>
<data name="label1.Size" type="System.Drawing.Size, System.Drawing">
<value>79, 13</value>
<value>56, 13</value>
</data>
<data name="label1.TabIndex" type="System.Int32, mscorlib">
<value>8</value>
</data>
<data name="label1.Text" xml:space="preserve">
<value>ArduPilot Mega</value>
<value>ArduPlane</value>
</data>
<data name="&gt;&gt;label1.Name" xml:space="preserve">
<value>label1</value>
@ -403,16 +403,16 @@
<value>NoControl</value>
</data>
<data name="label3.Location" type="System.Drawing.Point, System.Drawing">
<value>57, 362</value>
<value>74, 361</value>
</data>
<data name="label3.Size" type="System.Drawing.Size, System.Drawing">
<value>168, 13</value>
<value>142, 13</value>
</data>
<data name="label3.TabIndex" type="System.Int32, mscorlib">
<value>10</value>
</data>
<data name="label3.Text" xml:space="preserve">
<value>ArduPilot Mega (Xplane simulator)</value>
<value>ArduPlane (Xplane simulator)</value>
</data>
<data name="&gt;&gt;label3.Name" xml:space="preserve">
<value>label3</value>

View File

@ -0,0 +1,76 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO;
namespace ArdupilotMega
{
class srtm
{
public static string datadirectory;
public static int getAltitude(double lat, double lng)
{
short alt = -32768;
lat += 0.0008;
//lng += 0.0008;
int x = (int)Math.Floor(lng);
int y = (int)Math.Floor(lat);
string ns;
if (y > 0)
ns = "N";
else
ns = "S";
string ew;
if (x > 0)
ew = "E";
else
ew = "W";
string filename = ns+ Math.Abs(y).ToString("00")+ew+ Math.Abs(x).ToString("000")+".hgt";
if (!File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
{
return alt;
}
FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open,FileAccess.Read);
float posx = 0;
float row = 0;
if (fs.Length <= (1201 * 1201 * 2)) {
posx = (int)(((float)(lng - x)) * (1201 * 2));
row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
row = (1201 * 1201 * 2) - row;
} else {
posx = (int)(((float)(lng - x)) * (3601 * 2));
row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
row = (3601 * 3601 * 2) - row;
}
if (posx % 2 == 1)
{
posx--;
}
//Console.WriteLine(filename + " row " + row + " posx" + posx);
byte[] data = new byte[2];
fs.Seek((int)(row + posx), SeekOrigin.Begin);
fs.Read(data, 0, data.Length);
Array.Reverse(data);
alt = BitConverter.ToInt16(data,0);
return alt;
}
}
}

BIN
cmake/PdeP.jar Normal file

Binary file not shown.

View File

@ -0,0 +1,103 @@
# 1. Concatenate all PDE files
# 2. Write #include "WProgram.h"
# 3. Write prototypes
# 4. Write original sources
#
#
# Prefix Writer
# 1. Scrub comments
# 2. Optionally subsitute Unicode
# 3. Find imports
# 4. Find prototypes
#
# Find prototypes
# 1. Strip comments, quotes, preprocessor directives
# 2. Collapse braches
# 3. Regex
set(SINGLE_QUOTES_REGEX "('.')")
set(DOUBLE_QUOTES_REGEX "(\"([^\"\\\\]|\\\\.)*\")")
set(SINGLE_COMMENT_REGEX "([ ]*//[^\n]*)")
set(MULTI_COMMENT_REGEX "(/[*][^/]*[*]/)")
set(PREPROC_REGEX "([ ]*#(\\\\[\n]|[^\n])*)")
#"[\w\[\]\*]+\s+[&\[\]\*\w\s]+\([&,\[\]\*\w\s]*\)(?=\s*\{)"
set(PROTOTPYE_REGEX "([a-zA-Z0-9]+[ ]*)*[a-zA-Z0-9]+[ ]*\([^{]*\)[ ]*{")
function(READ_SKETCHES VAR_NAME )
set(SKETCH_SOURCE)
foreach(SKETCH ${ARGN})
if(EXISTS ${SKETCH})
message(STATUS "${SKETCH}")
file(READ ${SKETCH} SKETCH_CONTENTS)
set(SKETCH_SOURCE "${SKETCH_SOURCE}\n${SKETCH_CONTENTS}")
else()
message(FATAL_ERROR "Sketch file does not exist: ${SKETCH}")
endif()
endforeach()
set(${VAR_NAME} "${SKETCH_SOURCE}" PARENT_SCOPE)
endfunction()
function(STRIP_SOURCES VAR_NAME SOURCES)
string(REGEX REPLACE "${SINGLE_QUOTES_REGEX}|${DOUBLE_QUOTES_REGEX}|${SINGLE_COMMENT_REGEX}|${MULTI_COMMENT_REGEX}|${PREPROC_REGEX}"
""
SOURCES
"${SOURCES}")
set(${VAR_NAME} "${SOURCES}" PARENT_SCOPE)
endfunction()
function(COLLAPSE_BRACES VAR_NAME SOURCES)
set(PARSED_SOURCES)
string(LENGTH "${SOURCES}" SOURCES_LENGTH)
math(EXPR SOURCES_LENGTH "${SOURCES_LENGTH}-1")
set(NESTING 0)
set(START 0)
foreach(INDEX RANGE ${SOURCES_LENGTH})
string(SUBSTRING "${SOURCES}" ${INDEX} 1 CURRENT_CHAR)
#message("${CURRENT_CHAR}")
if(CURRENT_CHAR STREQUAL "{")
if(NESTING EQUAL 0)
math(EXPR SUBLENGTH "${INDEX}-${START} +1")
string(SUBSTRING "${SOURCES}" ${START} ${SUBLENGTH} CURRENT_CHUNK)
set(PARSED_SOURCES "${PARSED_SOURCES}${CURRENT_CHUNK}")
#message("INDEX: ${INDEX} START: ${START} LENGTH: ${SUBLENGTH}")
endif()
math(EXPR NESTING "${NESTING}+1")
elseif(CURRENT_CHAR STREQUAL "}")
math(EXPR NESTING "${NESTING}-1")
if(NESTING EQUAL 0)
set(START ${INDEX})
endif()
endif()
endforeach()
math(EXPR SUBLENGTH "${SOURCES_LENGTH}-${START} +1")
string(SUBSTRING "${SOURCES}" ${START} ${SUBLENGTH} CURRENT_CHUNK)
set(PARSED_SOURCES "${PARSED_SOURCES}${CURRENT_CHUNK}")
set(${VAR_NAME} "${PARSED_SOURCES}" PARENT_SCOPE)
endfunction()
function(extract_prototypes VAR_NAME SOURCES)
string(REGEX MATCHALL "${PROTOTPYE_REGEX}"
SOURCES
"${SOURCES}")
set(${VAR_NAME} "${SOURCES}" PARENT_SCOPE)
endfunction()
read_sketches(SKETCH_SOURCE ${FILES})
strip_sources(SKETCH_SOURCE "${SKETCH_SOURCE}")
collapse_braces(SKETCH_SOURCE "${SKETCH_SOURCE}")
extract_prototypes(SKETCH_SOURCE "${SKETCH_SOURCE}")
message("===============")
foreach(ENTRY ${SKETCH_SOURCE})
message("START]]]${ENTRY}[[[END")
endforeach()
message("===============")
#message("${SKETCH_SOURCE}")

View File

@ -0,0 +1,581 @@
# - Generate firmware and libraries for Arduino Devices
# generate_arduino_firmware(TARGET_NAME)
# TARGET_NAME - Name of target
# Creates a Arduino firmware target.
#
# The target options can be configured by setting options of
# the following format:
# ${TARGET_NAME}${SUFFIX}
# The following suffixes are availabe:
# _SRCS # Sources
# _HDRS # Headers
# _SKETCHES # Arduino sketch files
# _LIBS # Libraries to linked in
# _BOARD # Board name (such as uno, mega2560, ...)
# _PORT # Serial port, for upload and serial targets [OPTIONAL]
# _AFLAGS # Override global Avrdude flags for target
# _SERIAL # Serial command for serial target [OPTIONAL]
# _NO_AUTOLIBS # Disables Arduino library detection
# Here is a short example for a target named test:
# set(test_SRCS test.cpp)
# set(test_HDRS test.h)
# set(test_BOARD uno)
#
# generate_arduino_firmware(test)
#
#
# generate_arduino_library(TARGET_NAME)
# TARGET_NAME - Name of target
# Creates a Arduino firmware target.
#
# The target options can be configured by setting options of
# the following format:
# ${TARGET_NAME}${SUFFIX}
# The following suffixes are availabe:
#
# _SRCS # Sources
# _HDRS # Headers
# _LIBS # Libraries to linked in
# _BOARD # Board name (such as uno, mega2560, ...)
# _NO_AUTOLIBS # Disables Arduino library detection
#
# Here is a short example for a target named test:
# set(test_SRCS test.cpp)
# set(test_HDRS test.h)
# set(test_BOARD uno)
#
# generate_arduino_library(test)
find_path(ARDUINO_SDK_PATH
NAMES lib/version.txt hardware libraries
PATH_SUFFIXES share/arduino
DOC "Arduino Development Kit path.")
# load_board_settings()
#
# Load the Arduino SDK board settings from the boards.txt file.
#
function(LOAD_BOARD_SETTINGS)
if(NOT ARDUINO_BOARDS AND ARDUINO_BOARDS_PATH)
file(STRINGS ${ARDUINO_BOARDS_PATH} BOARD_SETTINGS)
foreach(BOARD_SETTING ${BOARD_SETTINGS})
if("${BOARD_SETTING}" MATCHES "^.*=.*")
string(REGEX MATCH "^[^=]+" SETTING_NAME ${BOARD_SETTING})
string(REGEX MATCH "[^=]+$" SETTING_VALUE ${BOARD_SETTING})
string(REPLACE "." ";" SETTING_NAME_TOKENS ${SETTING_NAME})
list(LENGTH SETTING_NAME_TOKENS SETTING_NAME_TOKENS_LEN)
# Add Arduino to main list of arduino boards
list(GET SETTING_NAME_TOKENS 0 BOARD_ID)
list(FIND ARDUINO_BOARDS ${BOARD_ID} ARDUINO_BOARD_INDEX)
if(ARDUINO_BOARD_INDEX LESS 0)
list(APPEND ARDUINO_BOARDS ${BOARD_ID})
endif()
# Add setting to board settings list
list(GET SETTING_NAME_TOKENS 1 BOARD_SETTING)
list(FIND ${BOARD_ID}.SETTINGS ${BOARD_SETTING} BOARD_SETTINGS_LEN)
if(BOARD_SETTINGS_LEN LESS 0)
list(APPEND ${BOARD_ID}.SETTINGS ${BOARD_SETTING})
set(${BOARD_ID}.SETTINGS ${${BOARD_ID}.SETTINGS}
CACHE INTERNAL "Arduino ${BOARD_ID} Board settings list")
endif()
set(ARDUINO_SETTING_NAME ${BOARD_ID}.${BOARD_SETTING})
# Add sub-setting to board sub-settings list
if(SETTING_NAME_TOKENS_LEN GREATER 2)
list(GET SETTING_NAME_TOKENS 2 BOARD_SUBSETTING)
list(FIND ${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS ${BOARD_SUBSETTING} BOARD_SUBSETTINGS_LEN)
if(BOARD_SUBSETTINGS_LEN LESS 0)
list(APPEND ${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS ${BOARD_SUBSETTING})
set(${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS ${${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS}
CACHE INTERNAL "Arduino ${BOARD_ID} Board sub-settings list")
endif()
set(ARDUINO_SETTING_NAME ${ARDUINO_SETTING_NAME}.${BOARD_SUBSETTING})
endif()
# Save setting value
set(${ARDUINO_SETTING_NAME} ${SETTING_VALUE} CACHE INTERNAL "Arduino ${BOARD_ID} Board setting")
endif()
endforeach()
set(ARDUINO_BOARDS ${ARDUINO_BOARDS} CACHE STRING "List of detected Arduino Board configurations")
mark_as_advanced(ARDUINO_BOARDS)
endif()
endfunction()
# print_board_settings(ARDUINO_BOARD)
#
# ARDUINO_BOARD - Board id
#
# Print the detected Arduino board settings.
#
function(PRINT_BOARD_SETTINGS ARDUINO_BOARD)
if(${ARDUINO_BOARD}.SETTINGS)
message(STATUS "Arduino ${ARDUINO_BOARD} Board:")
foreach(BOARD_SETTING ${${ARDUINO_BOARD}.SETTINGS})
if(${ARDUINO_BOARD}.${BOARD_SETTING})
message(STATUS " ${ARDUINO_BOARD}.${BOARD_SETTING}=${${ARDUINO_BOARD}.${BOARD_SETTING}}")
endif()
if(${ARDUINO_BOARD}.${BOARD_SETTING}.SUBSETTINGS)
foreach(BOARD_SUBSETTING ${${ARDUINO_BOARD}.${BOARD_SETTING}.SUBSETTINGS})
if(${ARDUINO_BOARD}.${BOARD_SETTING}.${BOARD_SUBSETTING})
message(STATUS " ${ARDUINO_BOARD}.${BOARD_SETTING}.${BOARD_SUBSETTING}=${${ARDUINO_BOARD}.${BOARD_SETTING}.${BOARD_SUBSETTING}}")
endif()
endforeach()
endif()
message(STATUS "")
endforeach()
endif()
endfunction()
# generate_arduino_library(TARGET_NAME)
#
# see documentation at top
function(GENERATE_ARDUINO_LIBRARY TARGET_NAME)
load_generator_settings(${TARGET_NAME} INPUT _SRCS # Sources
_HDRS # Headers
_LIBS # Libraries to linked in
_BOARD) # Board name (such as uno, mega2560, ...)
set(INPUT_AUTOLIBS True)
if(DEFINED ${TARGET_NAME}_NO_AUTOLIBS AND ${TARGET_NAME}_NO_AUTOLIBS)
set(INPUT_AUTOLIBS False)
endif()
message(STATUS "Generating ${TARGET_NAME}")
set(ALL_LIBS)
set(ALL_SRCS ${INPUT_SRCS} ${INPUT_HDRS})
setup_arduino_compiler(${INPUT_BOARD})
setup_arduino_core(CORE_LIB ${INPUT_BOARD})
if(INPUT_AUTOLIBS)
setup_arduino_libraries(ALL_LIBS ${INPUT_BOARD} "${ALL_SRCS}")
endif()
list(APPEND ALL_LIBS ${CORE_LIB} ${INPUT_LIBS})
add_library(${TARGET_NAME} ${ALL_SRCS})
target_link_libraries(${TARGET_NAME} ${ALL_LIBS})
endfunction()
# generate_arduino_firmware(TARGET_NAME)
#
# see documentation at top
function(GENERATE_ARDUINO_FIRMWARE TARGET_NAME)
load_generator_settings(${TARGET_NAME} INPUT _SRCS # Sources
_HDRS # Headers
_LIBS # Libraries to linked in
_BOARD # Board name (such as uno, mega2560, ...)
_PORT # Serial port, for upload and serial targets
_AFLAGS # Override global Avrdude flags for target
_SKETCHES # Arduino sketch files
_SERIAL) # Serial command for serial target
set(INPUT_AUTOLIBS True)
if(DEFINED ${TARGET_NAME}_NO_AUTOLIBS AND ${TARGET_NAME}_NO_AUTOLIBS)
set(INPUT_AUTOLIBS False)
endif()
message(STATUS "Generating ${TARGET_NAME}")
message(STATUS "Sketches ${INPUT_SKETCHES}")
set(ALL_LIBS)
set(ALL_SRCS ${INPUT_SKETCHES} ${INPUT_SRCS} ${INPUT_HDRS} )
#set(ALL_SRCS ${INPUT_SRCS} ${INPUT_HDRS} )
#set compile flags and file properties for pde files
#SET_SOURCE_FILES_PROPERTIES(${INPUT_SKETCHES} PROPERTIES LANGUAGE CXX)
#SET_SOURCE_FILES_PROPERTIES(${INPUT_SKETCHES} PROPERTIES COMPILE_FLAGS "-x c++" )
setup_arduino_compiler(${INPUT_BOARD})
setup_arduino_core(CORE_LIB ${INPUT_BOARD})
#setup_arduino_sketch(SKETCH_SRCS ${INPUT_SKETCHES})
if(INPUT_AUTOLIBS)
setup_arduino_libraries(ALL_LIBS ${INPUT_BOARD} "${ALL_SRCS}")
endif()
list(APPEND ALL_LIBS ${CORE_LIB} ${INPUT_LIBS})
setup_arduino_target(${TARGET_NAME} "${ALL_SRCS}" "${ALL_LIBS}")
#SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES LINKER_LANGUAGE CXX)
#setup_arduino_target(${TARGET_NAME} "${INPUT_SKETCHES}" ${INPUT_HDRS} "${ALL_LIBS}")
if(INPUT_PORT)
setup_arduino_upload(${INPUT_BOARD} ${TARGET_NAME} ${INPUT_PORT})
endif()
if(INPUT_SERIAL)
setup_serial_target(${TARGET_NAME} "${INPUT_SERIAL}")
endif()
endfunction()
# load_generator_settings(TARGET_NAME PREFIX [SUFFIX_1 SUFFIX_2 .. SUFFIX_N])
#
# TARGET_NAME - The base name of the user settings
# PREFIX - The prefix name used for generator settings
# SUFFIX_XX - List of suffixes to load
#
# Loads a list of user settings into the generators scope. User settings have
# the following syntax:
#
# ${BASE_NAME}${SUFFIX}
#
# The BASE_NAME is the target name and the suffix is a specific generator settings.
#
# For every user setting found a generator setting is created of the follwoing fromat:
#
# ${PREFIX}${SUFFIX}
#
# The purpose of loading the settings into the generator is to not modify user settings
# and to have a generic naming of the settings within the generator.
#
function(LOAD_GENERATOR_SETTINGS TARGET_NAME PREFIX)
foreach(GEN_SUFFIX ${ARGN})
if(${TARGET_NAME}${GEN_SUFFIX})
set(${PREFIX}${GEN_SUFFIX} ${${TARGET_NAME}${GEN_SUFFIX}} PARENT_SCOPE)
endif()
endforeach()
endfunction()
# setup_arduino_compiler(BOARD_ID)
#
# BOARD_ID - The board id name
#
# Configures the the build settings for the specified Arduino Board.
#
macro(setup_arduino_compiler BOARD_ID)
set(BOARD_CORE ${${BOARD_ID}.build.core})
if(BOARD_CORE)
set(BOARD_CORE_PATH ${ARDUINO_CORES_PATH}/${BOARD_CORE})
include_directories(${BOARD_CORE_PATH})
include_directories(${ARDUINO_LIBRARIES_PATH})
add_definitions(-DF_CPU=${${BOARD_ID}.build.f_cpu}
-DARDUINO=${ARDUINO_SDK_VERSION}
-mmcu=${${BOARD_ID}.build.mcu}
)
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}" PARENT_SCOPE)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}" PARENT_SCOPE)
set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}" PARENT_SCOPE)
endif()
endmacro()
# setup_arduino_core(VAR_NAME BOARD_ID)
#
# VAR_NAME - Variable name that will hold the generated library name
# BOARD_ID - Arduino board id
#
# Creates the Arduino Core library for the specified board,
# each board gets it's own version of the library.
#
function(setup_arduino_core VAR_NAME BOARD_ID)
set(CORE_LIB_NAME ${BOARD_ID}_CORE)
set(BOARD_CORE ${${BOARD_ID}.build.core})
if(BOARD_CORE AND NOT TARGET ${CORE_LIB_NAME})
set(BOARD_CORE_PATH ${ARDUINO_CORES_PATH}/${BOARD_CORE})
find_sources(CORE_SRCS ${BOARD_CORE_PATH})
add_library(${CORE_LIB_NAME} ${CORE_SRCS})
set(${VAR_NAME} ${CORE_LIB_NAME} PARENT_SCOPE)
endif()
endfunction()
# find_arduino_libraries(VAR_NAME SRCS)
#
# VAR_NAME - Variable name which will hold the results
# SRCS - Sources that will be analized
#
# returns a list of paths to libraries found.
#
# Finds all Arduino type libraries included in sources. Available libraries
# are ${ARDUINO_SDK_PATH}/libraries and ${CMAKE_CURRENT_SOURCE_DIR}.
#
# A Arduino library is a folder that has the same name as the include header.
# For example, if we have a include "#include <LibraryName.h>" then the following
# directory structure is considered a Arduino library:
#
# LibraryName/
# |- LibraryName.h
# `- LibraryName.c
#
# If such a directory is found then all sources within that directory are considred
# to be part of that Arduino library.
#
function(find_arduino_libraries VAR_NAME SRCS)
set(ARDUINO_LIBS )
foreach(SRC ${SRCS})
file(STRINGS ${SRC} SRC_CONTENTS)
foreach(SRC_LINE ${SRC_CONTENTS})
if("${SRC_LINE}" MATCHES "^ *#include *[<\"](.*)[>\"]")
get_filename_component(INCLUDE_NAME ${CMAKE_MATCH_1} NAME_WE)
foreach(LIB_SEARCH_PATH ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR})
if(EXISTS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}/${CMAKE_MATCH_1})
list(APPEND ARDUINO_LIBS ${LIB_SEARCH_PATH}/${INCLUDE_NAME})
break()
endif()
endforeach()
endif()
endforeach()
endforeach()
if(ARDUINO_LIBS)
list(REMOVE_DUPLICATES ARDUINO_LIBS)
endif()
set(${VAR_NAME} ${ARDUINO_LIBS} PARENT_SCOPE)
endfunction()
# setup_arduino_library(VAR_NAME BOARD_ID LIB_PATH)
#
# VAR_NAME - Vairable wich will hold the generated library names
# BOARD_ID - Board name
# LIB_PATH - path of the library
#
# Creates an Arduino library, with all it's library dependencies.
#
function(setup_arduino_library VAR_NAME BOARD_ID LIB_PATH)
set(LIB_TARGETS)
get_filename_component(LIB_NAME ${LIB_PATH} NAME)
set(TARGET_LIB_NAME ${BOARD_ID}_${LIB_NAME})
if(NOT TARGET ${TARGET_LIB_NAME})
find_sources(LIB_SRCS ${LIB_PATH})
if(LIB_SRCS)
message(STATUS "Generating Arduino ${LIB_NAME} library")
include_directories(${LIB_PATH} ${LIB_PATH}/utility)
add_library(${TARGET_LIB_NAME} STATIC ${LIB_SRCS})
find_arduino_libraries(LIB_DEPS "${LIB_SRCS}")
foreach(LIB_DEP ${LIB_DEPS})
setup_arduino_library(DEP_LIB_SRCS ${BOARD_ID} ${LIB_DEP})
list(APPEND LIB_TARGETS ${DEP_LIB_SRCS})
endforeach()
target_link_libraries(${TARGET_LIB_NAME} ${BOARD_ID}_CORE ${LIB_TARGETS})
list(APPEND LIB_TARGETS ${TARGET_LIB_NAME})
endif()
else()
# Target already exists, skiping creating
include_directories(${LIB_PATH} ${LIB_PATH}/utility)
list(APPEND LIB_TARGETS ${TARGET_LIB_NAME})
endif()
if(LIB_TARGETS)
list(REMOVE_DUPLICATES LIB_TARGETS)
endif()
set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE)
endfunction()
# setup_arduino_libraries(VAR_NAME BOARD_ID SRCS)
#
# VAR_NAME - Vairable wich will hold the generated library names
# BOARD_ID - Board ID
# SRCS - source files
#
# Finds and creates all dependency libraries based on sources.
#
function(setup_arduino_libraries VAR_NAME BOARD_ID SRCS)
set(LIB_TARGETS)
find_arduino_libraries(TARGET_LIBS ${SRCS})
foreach(TARGET_LIB ${TARGET_LIBS})
setup_arduino_library(LIB_DEPS ${BOARD_ID} ${TARGET_LIB}) # Create static library instead of returning sources
list(APPEND LIB_TARGETS ${LIB_DEPS})
endforeach()
set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE)
endfunction()
# setup_arduino_target(TARGET_NAME ALL_SRCS ALL_LIBS)
#
# TARGET_NAME - Target name
# ALL_SRCS - All sources
# ALL_LIBS - All libraries
#
# Creates an Arduino firmware target.
#
function(setup_arduino_target TARGET_NAME ALL_SRCS ALL_LIBS)
add_executable(${TARGET_NAME} ${ALL_SRCS})
target_link_libraries(${TARGET_NAME} ${ALL_LIBS})
set_target_properties(${TARGET_NAME} PROPERTIES SUFFIX ".elf")
set(TARGET_PATH ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME})
add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
COMMAND ${CMAKE_OBJCOPY}
ARGS ${ARDUINO_OBJCOPY_EEP_FLAGS}
${TARGET_PATH}.elf
${TARGET_PATH}.eep
VERBATIM)
add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
COMMAND ${CMAKE_OBJCOPY}
ARGS ${ARDUINO_OBJCOPY_HEX_FLAGS}
${TARGET_PATH}.elf
${TARGET_PATH}.hex
VERBATIM)
endfunction()
# setup_arduino_upload(BOARD_ID TARGET_NAME PORT)
#
# BOARD_ID - Arduino board id
# TARGET_NAME - Target name
# PORT - Serial port for upload
#
# Create an upload target (${TARGET_NAME}-upload) for the specified Arduino target.
#
function(setup_arduino_upload BOARD_ID TARGET_NAME PORT)
set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS})
if(DEFINED ${TARGET_NAME}_AFLAGS)
set(AVRDUDE_FLAGS ${${TARGET_NAME}_AFLAGS})
endif()
add_custom_target(${TARGET_NAME}-upload
${ARDUINO_AVRDUDE_PROGRAM}
-U flash:w:${TARGET_NAME}.hex
${AVRDUDE_FLAGS}
-C ${ARDUINO_AVRDUDE_CONFIG_PATH}
-p ${${BOARD_ID}.build.mcu}
-c ${${BOARD_ID}.upload.protocol}
-b ${${BOARD_ID}.upload.speed}
-P ${PORT}
DEPENDS ${TARGET_NAME})
if(NOT TARGET upload)
add_custom_target(upload)
endif()
add_dependencies(upload ${TARGET_NAME}-upload)
endfunction()
# find_sources(VAR_NAME LIB_PATH)
#
# VAR_NAME - Variable name that will hold the detected sources
# LIB_PATH - The base path
#
# Finds all C/C++ sources located at the specified path.
#
function(find_sources VAR_NAME LIB_PATH)
file(GLOB_RECURSE LIB_FILES ${LIB_PATH}/*.cpp
${LIB_PATH}/*.c
${LIB_PATH}/*.cc
${LIB_PATH}/*.cxx
${LIB_PATH}/*.h
${LIB_PATH}/*.hh
${LIB_PATH}/*.hxx)
if(LIB_FILES)
set(${VAR_NAME} ${LIB_FILES} PARENT_SCOPE)
endif()
endfunction()
# setup_serial_target(TARGET_NAME CMD)
#
# TARGET_NAME - Target name
# CMD - Serial terminal command
#
# Creates a target (${TARGET_NAME}-serial) for launching the serial termnial.
#
function(setup_serial_target TARGET_NAME CMD)
string(CONFIGURE "${CMD}" FULL_CMD @ONLY)
add_custom_target(${TARGET_NAME}-serial
${FULL_CMD})
endfunction()
# detect_arduino_version(VAR_NAME)
#
# VAR_NAME - Variable name where the detected version will be saved
#
# Detects the Arduino SDK Version based on the revisions.txt file.
#
function(detect_arduino_version VAR_NAME)
if(ARDUINO_VERSION_PATH)
file(READ ${ARDUINO_VERSION_PATH} ARD_VERSION)
if("${ARD_VERSION}" MATCHES " *[0]+([0-9]+)")
set(${VAR_NAME} ${CMAKE_MATCH_1} PARENT_SCOPE)
endif()
endif()
endfunction()
function(convert_arduino_sketch VAR_NAME SRCS)
endfunction()
# Setting up Arduino enviroment settings
if(NOT ARDUINO_FOUND)
find_file(ARDUINO_CORES_PATH
NAMES cores
PATHS ${ARDUINO_SDK_PATH}
PATH_SUFFIXES hardware/arduino)
find_file(ARDUINO_LIBRARIES_PATH
NAMES libraries
PATHS ${ARDUINO_SDK_PATH})
find_file(ARDUINO_BOARDS_PATH
NAMES boards.txt
PATHS ${ARDUINO_SDK_PATH}
PATH_SUFFIXES hardware/arduino)
find_file(ARDUINO_PROGRAMMERS_PATH
NAMES programmers.txt
PATHS ${ARDUINO_SDK_PATH}
PATH_SUFFIXES hardware/arduino)
find_file(ARDUINO_REVISIONS_PATH
NAMES revisions.txt
PATHS ${ARDUINO_SDK_PATH})
find_file(ARDUINO_VERSION_PATH
NAMES lib/version.txt
PATHS ${ARDUINO_SDK_PATH})
find_program(ARDUINO_AVRDUDE_PROGRAM
NAMES avrdude
PATHS ${ARDUINO_SDK_PATH}
PATH_SUFFIXES hardware/tools)
find_program(ARDUINO_AVRDUDE_CONFIG_PATH
NAMES avrdude.conf
PATHS ${ARDUINO_SDK_PATH} /etc/avrdude
PATH_SUFFIXES hardware/tools
hardware/tools/avr/etc)
set(ARDUINO_OBJCOPY_EEP_FLAGS -O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0
CACHE STRING "")
set(ARDUINO_OBJCOPY_HEX_FLAGS -O ihex -R .eeprom
CACHE STRING "")
set(ARDUINO_AVRDUDE_FLAGS -V -F
CACHE STRING "Arvdude global flag list.")
if(ARDUINO_SDK_PATH)
detect_arduino_version(ARDUINO_SDK_VERSION)
set(ARDUINO_SDK_VERSION ${ARDUINO_SDK_VERSION} CACHE STRING "Arduino SDK Version")
endif(ARDUINO_SDK_PATH)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Arduino
REQUIRED_VARS ARDUINO_SDK_PATH
ARDUINO_SDK_VERSION
VERSION_VAR ARDUINO_SDK_VERSION)
mark_as_advanced(ARDUINO_CORES_PATH
ARDUINO_SDK_VERSION
ARDUINO_LIBRARIES_PATH
ARDUINO_BOARDS_PATH
ARDUINO_PROGRAMMERS_PATH
ARDUINO_REVISIONS_PATH
ARDUINO_AVRDUDE_PROGRAM
ARDUINO_AVRDUDE_CONFIG_PATH
ARDUINO_OBJCOPY_EEP_FLAGS
ARDUINO_OBJCOPY_HEX_FLAGS)
load_board_settings()
endif()

View File

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@ -0,0 +1,21 @@
if(UNIX)
include(Platform/UnixPaths)
if(APPLE)
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ~/Applications
/Applications
/Developer/Applications
/sw # Fink
/opt/local) # MacPorts
endif()
elseif(WIN32)
include(Platform/WindowsPaths)
endif()
if(ARDUINO_SDK_PATH)
if(WIN32)
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${ARDUINO_SDK_PATH}/hardware/tools/avr/bin)
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${ARDUINO_SDK_PATH}/hardware/tools/avr/utils/bin)
elseif(APPLE)
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${ARDUINO_SDK_PATH}/hardware/tools/avr/bin)
endif()
endif()

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@ -0,0 +1,66 @@
set(CMAKE_SYSTEM_NAME Arduino)
set(CMAKE_C_COMPILER avr-gcc)
set(CMAKE_CXX_COMPILER avr-g++)
#=============================================================================#
# C Flags #
#=============================================================================#
set(ARDUINO_C_FLAGS "-ffunction-sections -fdata-sections")
set(CMAKE_C_FLAGS "-g -Os ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_DEBUG "-g ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
#=============================================================================#
# C++ Flags #
#=============================================================================#
set(ARDUINO_CXX_FLAGS "${ARDUINO_C_FLAGS} -fno-exceptions")
set(CMAKE_CXX_FLAGS "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_DEBUG "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
#=============================================================================#
# Executable Linker Flags #
#=============================================================================#
set(ARDUINO_LINKER_FLAGS "-Wl,--gc-sections -lc -lm")
set(CMAKE_EXE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
set(CMAKE_EXE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
set(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
#=============================================================================#
# Shared Lbrary Linker Flags #
#=============================================================================#
set(CMAKE_SHARED_LINKER_FLAGS "" CACHE STRING "")
set(CMAKE_SHARED_LINKER_FLAGS_DEBUG "" CACHE STRING "")
set(CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL "" CACHE STRING "")
set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "" CACHE STRING "")
set(CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO "" CACHE STRING "")
set(CMAKE_MODULE_LINKER_FLAGS "" CACHE STRING "")
set(CMAKE_MODULE_LINKER_FLAGS_DEBUG "" CACHE STRING "")
set(CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL "" CACHE STRING "")
set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "" CACHE STRING "")
set(CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO "" CACHE STRING "")
set(ARDUINO_PATHS)
foreach(VERSION RANGE 22 1)
list(APPEND ARDUINO_PATHS arduino-00${VERSION})
endforeach()
find_path(ARDUINO_SDK_PATH
NAMES lib/version.txt
PATH_SUFFIXES share/arduino
Arduino.app/Contents/Resources/Java/
${ARDUINO_PATHS}
DOC "Arduino Development Kit path.")
include(Platform/ArduinoPaths)

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@ -0,0 +1,22 @@
set(LIB_NAME APM_BMP085)
set(${LIB_NAME}_SRCS
APM_BMP085.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
APM_BMP085.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,24 @@
set(LIB_NAME APM_PI)
set(${LIB_NAME}_SRCS
APM_PI.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
APM_PI.h
#AP_OpticalFlow_ADNS3080.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,22 @@
set(LIB_NAME APM_RC)
set(${LIB_NAME}_SRCS
APM_RC.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
APM_RC.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,26 @@
set(LIB_NAME AP_ADC)
set(${LIB_NAME}_SRCS
AP_ADC_HIL.cpp
AP_ADC_ADS7844.cpp
AP_ADC.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_ADC_HIL.h
AP_ADC_ADS7844.h
AP_ADC.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -1,113 +0,0 @@
// -*- 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;
}
}
}

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@ -1,57 +0,0 @@
// -*- 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 */

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@ -0,0 +1,33 @@
set(LIB_NAME AP_Common)
set(${LIB_NAME}_SRCS
AP_Common.cpp
AP_Loop.cpp
AP_MetaClass.cpp
AP_Var.cpp
AP_Var_menufuncs.cpp
c++.cpp
menu.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_Common.h
AP_Loop.h
AP_MetaClass.h
AP_Var.h
AP_Test.h
c++.h
AP_Vector.h
)
include_directories(
-
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,27 @@
set(LIB_NAME AP_Compass)
set(${LIB_NAME}_SRCS
AP_Compass_HIL.cpp
AP_Compass_HMC5843.cpp
Compass.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
Compass.h
AP_Compass_HIL.h
AP_Compass_HMC5843.h
AP_Compass.h
)
include_directories(
-
${ARDUINO_LIBRARIES_PATH}/Wire
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,25 @@
set(LIB_NAME AP_DCM)
set(${LIB_NAME}_SRCS
AP_DCM.cpp
AP_DCM_HIL.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_DCM.h
AP_DCM_HIL.h
)
include_directories(
-
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,44 @@
set(LIB_NAME AP_GPS)
set(${LIB_NAME}_SRCS
AP_GPS_406.cpp
AP_GPS_Auto.cpp
AP_GPS_HIL.cpp
AP_GPS_IMU.cpp
AP_GPS_MTK.cpp
AP_GPS_MTK16.cpp
AP_GPS_NMEA.cpp
AP_GPS_SIRF.cpp
AP_GPS_UBLOX.cpp
GPS.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_GPS_406.h
AP_GPS_Auto.h
AP_GPS_HIL.h
AP_GPS_IMU.h
AP_GPS_MTK.h
AP_GPS_MTK_Common.h
AP_GPS_MTK16.h
AP_GPS_NMEA.h
AP_GPS_None.h
AP_GPS_Shim.h
AP_GPS_SIRF.h
AP_GPS_UBLOX.h
AP_GPS.h
GPS.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,25 @@
set(LIB_NAME AP_IMU)
set(${LIB_NAME}_SRCS
AP_IMU_Oilpan.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_IMU.h
AP_IMU_Shim.h
AP_IMU_Oilpan.h
IMU.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -0,0 +1,24 @@
set(LIB_NAME AP_Math)
set(${LIB_NAME}_SRCS
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_Math.h
matrix3.h
vector2.h
vector3.h
)
include_directories(
-
# ${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

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@ -1,192 +0,0 @@
// -*- 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;
}
}

View File

@ -1,90 +0,0 @@
// -*- 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

View File

@ -0,0 +1,24 @@
set(LIB_NAME AP_OpticalFlow)
set(${LIB_NAME}_SRCS
AP_OpticalFlow.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_OpticalFlow.h
#AP_OpticalFlow_ADNS3080.h
)
include_directories(
-
${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,24 @@
set(LIB_NAME AP_PID)
set(${LIB_NAME}_SRCS
AP_PID.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_PID.h
#AP_OpticalFlow_ADNS3080.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,27 @@
set(LIB_NAME AP_RangeFinder)
set(${LIB_NAME}_SRCS
AP_RangeFinder_MaxsonarXL.cpp
AP_RangeFinder_SharpGP2Y.cpp
RangeFinder.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_RangeFinder.h
AP_RangeFinder_MaxsonarXL.h
AP_RangeFinder_SharpGP2Y.h
RangeFinder.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

24
libraries/CMakeLists.txt Normal file
View File

@ -0,0 +1,24 @@
add_subdirectory(DataFlash)
add_subdirectory(AP_Math)
add_subdirectory(PID)
add_subdirectory(AP_Common)
add_subdirectory(RC_Channel)
add_subdirectory(AP_OpticalFlow)
add_subdirectory(ModeFilter)
add_subdirectory(memcheck)
add_subdirectory(APM_PI)
add_subdirectory(AP_GPS)
add_subdirectory(AP_DCM)
add_subdirectory(AP_Compass)
add_subdirectory(AP_ADC)
add_subdirectory(AP_IMU)
add_subdirectory(AP_RangeFinder)
add_subdirectory(APM_RC)
add_subdirectory(APM_BMP085)
#add_subdirectory(APO)
add_subdirectory(FastSerial)
add_subdirectory(GCS_MAVLink)
#add_subdirectory(playgroundlib)

View File

@ -0,0 +1,21 @@
set(LIB_NAME DataFlash)
set(${LIB_NAME}_SRCS
DataFlash.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
DataFlash.h
)
include_directories(
-
# ${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,28 @@
set(LIB_NAME FastSerial)
set(${LIB_NAME}_SRCS
BetterStream.cpp
FastSerial.cpp
vprintf.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
BetterStream.h
FastSerial.h
ftoa_engine.h
ntz.h
xtoa_fast.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,19 @@
set(LIB_NAME GCS_MAVLink)
set(${LIB_NAME}_SRCS
GCS_MAVLink.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
GCS_MAVLink.h
)
include_directories(
#${CMAKE_SOURCE_DIR}/libraries/
${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,24 @@
set(LIB_NAME ModeFilter)
set(${LIB_NAME}_SRCS
ModeFilter.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
ModeFilter.h
#AP_OpticalFlow_ADNS3080.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,21 @@
set(LIB_NAME PID)
set(${LIB_NAME}_SRCS
PID.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
PID.h
)
include_directories(
-
${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -0,0 +1,24 @@
set(LIB_NAME RC_Channel)
set(${LIB_NAME}_SRCS
RC_Channel.cpp
RC_Channel_aux.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
RC_Channel.h
RC_Channel_aux.h
)
include_directories(
-
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/APM_RC
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})

View File

@ -5,42 +5,6 @@
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;
// This is done every time because the user might change the min, max values on the fly
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)
@ -83,4 +47,9 @@ void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Ch
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;
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(4500);
G_RC_AUX(k_flaperon)->set_range(0,100);
}

View File

@ -14,7 +14,6 @@
/// @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
@ -24,9 +23,7 @@ public:
///
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
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0) // suppress name if group has no name
{}
typedef enum
@ -37,20 +34,10 @@ public:
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

View File

@ -0,0 +1,24 @@
set(LIB_NAME memcheck)
set(${LIB_NAME}_SRCS
memcheck.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
memcheck.h
#AP_OpticalFlow_ADNS3080.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})