mirror of https://github.com/ArduPilot/ardupilot
Copter: remove accel calibration from cli
Also remove compass, flight mode, optical flow, radio and ch6 tuning knob setup from cli to free up 3.5k of flash
This commit is contained in:
Randy Mackay
Andrew Tridgell
parent
3ccd1ad170
commit
3f10a84a2a
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@ -3,14 +3,7 @@
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#if CLI_ENABLED == ENABLED
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// Functions called from the setup menu
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compassmot (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_range (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_set (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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@ -21,18 +14,10 @@ static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
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const struct Menu::command setup_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"accel", setup_accel_scale},
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{"compass", setup_compass},
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{"compassmot", setup_compassmot},
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{"erase", setup_erase},
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{"modes", setup_flightmodes},
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{"optflow", setup_optflow},
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{"radio", setup_radio},
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{"range", setup_range},
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{"reset", setup_factory},
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{"set", setup_set},
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{"show", setup_show},
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{"sonar", setup_sonar},
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};
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// Create the setup menu object.
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@ -57,48 +42,6 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
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return 0;
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}
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static int8_t
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setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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{
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float trim_roll, trim_pitch;
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cliSerial->println_P(PSTR("Initialising gyros"));
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate);
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AP_InertialSensor_UserInteractStream interact(hal.console);
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if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
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// reset ahrs's trim to suggested values from calibration routine
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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report_ins();
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return(0);
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}
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static int8_t
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setup_compass(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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g.compass_enabled.set_and_save(true);
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init_compass();
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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Vector3f mag_offsets(0,0,0);
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compass.set_offsets(mag_offsets);
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compass.save_offsets();
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g.compass_enabled.set_and_save(false);
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}else{
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cliSerial->printf_P(PSTR("\nOp:[on,off]\n"));
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report_compass();
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return 0;
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}
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g.compass_enabled.save();
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report_compass();
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return 0;
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}
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// setup_compassmot - sets compass's motor interference parameters
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static int8_t
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setup_compassmot(uint8_t argc, const Menu::arg *argv)
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@ -321,85 +264,6 @@ static void display_compassmot_info(Vector3f& motor_impact, Vector3f& motor_comp
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cliSerial->printf_P(PSTR("thr:%d cur:%4.2f mot x:%4.1f y:%4.1f z:%4.1f comp x:%4.2f y:%4.2f z:%4.2f\n"),(int)g.rc_3.control_in, (float)battery.current_amps(), (float)motor_impact.x, (float)motor_impact.y, (float)motor_impact.z, (float)motor_compensation.x, (float)motor_compensation.y, (float)motor_compensation.z);
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}
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static int8_t
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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zero_eeprom();
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return 0;
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}
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static int8_t
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setup_flightmodes(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t _switchPosition = 0;
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uint8_t _oldSwitchPosition = 0;
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int8_t mode = 0;
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cliSerial->printf_P(PSTR("\nMode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
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print_hit_enter();
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while(1) {
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delay(20);
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read_radio();
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_switchPosition = readSwitch();
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// look for control switch change
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if (_oldSwitchPosition != _switchPosition) {
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mode = flight_modes[_switchPosition];
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mode = constrain_int16(mode, 0, NUM_MODES-1);
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// update the user
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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// Remember switch position
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_oldSwitchPosition = _switchPosition;
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}
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// look for stick input
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if (abs(g.rc_1.control_in) > 3000) {
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mode++;
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if(mode >= NUM_MODES)
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mode = 0;
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// save new mode
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flight_modes[_switchPosition] = mode;
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// print new mode
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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delay(500);
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}
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// look for stick input
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if (g.rc_4.control_in > 3000) {
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g.simple_modes |= (1<<_switchPosition);
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// print new mode
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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delay(500);
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}
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// look for stick input
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if (g.rc_4.control_in < -3000) {
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g.simple_modes &= ~(1<<_switchPosition);
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// print new mode
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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delay(500);
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}
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// escape hatch
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if(cliSerial->available() > 0) {
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for (mode = 0; mode < 6; mode++)
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flight_modes[mode].save();
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g.simple_modes.save();
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print_done();
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report_flight_modes();
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return (0);
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}
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}
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}
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static int8_t
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setup_optflow(uint8_t argc, const Menu::arg *argv)
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{
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@ -423,103 +287,6 @@ setup_optflow(uint8_t argc, const Menu::arg *argv)
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return 0;
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}
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// Perform radio setup.
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// Called by the setup menu 'radio' command.
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static int8_t
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setup_radio(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->println_P(PSTR("\n\nRadio Setup:"));
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uint8_t i;
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for(i = 0; i < 100; i++) {
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delay(20);
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read_radio();
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}
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if(g.rc_1.radio_in < 500) {
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while(1) {
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delay(1000);
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// stop here
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}
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}
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g.rc_1.radio_min = g.rc_1.radio_in;
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g.rc_2.radio_min = g.rc_2.radio_in;
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g.rc_3.radio_min = g.rc_3.radio_in;
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g.rc_4.radio_min = g.rc_4.radio_in;
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g.rc_5.radio_min = g.rc_5.radio_in;
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g.rc_6.radio_min = g.rc_6.radio_in;
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g.rc_7.radio_min = g.rc_7.radio_in;
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g.rc_8.radio_min = g.rc_8.radio_in;
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g.rc_1.radio_max = g.rc_1.radio_in;
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g.rc_2.radio_max = g.rc_2.radio_in;
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g.rc_3.radio_max = g.rc_3.radio_in;
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g.rc_4.radio_max = g.rc_4.radio_in;
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g.rc_5.radio_max = g.rc_5.radio_in;
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g.rc_6.radio_max = g.rc_6.radio_in;
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g.rc_7.radio_max = g.rc_7.radio_in;
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g.rc_8.radio_max = g.rc_8.radio_in;
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g.rc_1.radio_trim = g.rc_1.radio_in;
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g.rc_2.radio_trim = g.rc_2.radio_in;
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g.rc_4.radio_trim = g.rc_4.radio_in;
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// 3 is not trimed
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g.rc_5.radio_trim = 1500;
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g.rc_6.radio_trim = 1500;
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g.rc_7.radio_trim = 1500;
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g.rc_8.radio_trim = 1500;
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cliSerial->printf_P(PSTR("\nMove all controls to extremes. Enter to save: "));
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while(1) {
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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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g.rc_1.update_min_max();
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g.rc_2.update_min_max();
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g.rc_3.update_min_max();
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g.rc_4.update_min_max();
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g.rc_5.update_min_max();
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g.rc_6.update_min_max();
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g.rc_7.update_min_max();
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g.rc_8.update_min_max();
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if(cliSerial->available() > 0) {
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delay(20);
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while (cliSerial->read() != -1); /* flush */
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g.rc_1.save_eeprom();
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g.rc_2.save_eeprom();
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g.rc_3.save_eeprom();
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g.rc_4.save_eeprom();
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g.rc_5.save_eeprom();
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g.rc_6.save_eeprom();
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g.rc_7.save_eeprom();
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g.rc_8.save_eeprom();
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print_done();
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break;
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}
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}
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report_radio();
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return(0);
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}
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static int8_t
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setup_range(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR("\nCH 6 Ranges are divided by 1000: [low, high]\n"));
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g.radio_tuning_low.set_and_save(argv[1].i);
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g.radio_tuning_high.set_and_save(argv[2].i);
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report_tuning();
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return 0;
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}
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// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
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// Called by the setup menu 'factoryreset' command.
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static int8_t
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@ -647,29 +414,6 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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return(0);
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}
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static int8_t
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setup_sonar(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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g.sonar_enabled.set_and_save(true);
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.sonar_enabled.set_and_save(false);
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} else if (argc > 1 && (argv[1].i >= 0 && argv[1].i <= 3)) {
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g.sonar_enabled.set_and_save(true); // if you set the sonar type, surely you want it on
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g.sonar_type.set_and_save(argv[1].i);
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}else{
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cliSerial->printf_P(PSTR("\nOp:[on, off, 0-3]\n"));
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report_sonar();
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return 0;
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}
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report_sonar();
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return 0;
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}
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/***************************************************************************/
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// CLI reports
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/***************************************************************************/
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