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 2014-02-14 13:07:30 +09:00 committed by Andrew Tridgell
parent 3ccd1ad170
commit 3f10a84a2a
1 changed files with 0 additions and 256 deletions

View File

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