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Added Sonar to setup, removed Level, compass is now done with text based on and off, compass renamed to mag_offset

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1474 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-10 02:21:09 +00:00
parent e69075ffb7
commit 4191adec7d
1 changed files with 57 additions and 41 deletions
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98
ArduCopterMega/setup.pde
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@ -2,36 +2,32 @@
// Functions called from the setup menu // Functions called from the setup menu
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv); static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
static int8_t setup_motors (uint8_t argc, const Menu::arg *argv); static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel (uint8_t argc, const Menu::arg *argv); static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel_flat (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_erase (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_flightmodes (uint8_t argc, const Menu::arg *argv);
static int8_t setup_pid (uint8_t argc, const Menu::arg *argv); static int8_t setup_pid (uint8_t argc, const Menu::arg *argv);
static int8_t setup_frame (uint8_t argc, const Menu::arg *argv); static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv); static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass_enable (uint8_t argc, const Menu::arg *argv); static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass_disable (uint8_t argc, const Menu::arg *argv); static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
// Command/function table for the setup menu // Command/function table for the setup menu
const struct Menu::command setup_menu_commands[] PROGMEM = { const struct Menu::command setup_menu_commands[] PROGMEM = {
// command function called // command function called
// ======= =============== // ======= ===============
{"reset", setup_factory},
{"erase", setup_erase}, {"erase", setup_erase},
{"reset", setup_factory},
{"pid", setup_pid},
{"radio", setup_radio}, {"radio", setup_radio},
{"motors", setup_motors}, {"motors", setup_motors},
{"level", setup_accel}, {"level", setup_accel},
{"flat", setup_accel_flat},
{"modes", setup_flightmodes}, {"modes", setup_flightmodes},
{"pid", setup_pid},
{"frame", setup_frame}, {"frame", setup_frame},
{"enable_mag", setup_compass_enable},
{"disable_mag", setup_compass_disable},
{"compass", setup_compass}, {"compass", setup_compass},
{"mag_offset", setup_mag_offset},
{"declination", setup_declination}, {"declination", setup_declination},
{"show", setup_show} {"show", setup_show}
}; };
@ -70,7 +66,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
// frame // frame
print_blanks(3); print_blanks(2);
Serial.printf_P(PSTR("Frame\n")); Serial.printf_P(PSTR("Frame\n"));
print_divider(); print_divider();
@ -83,7 +79,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("(%d)\n"), (int)frame_type); Serial.printf_P(PSTR("(%d)\n"), (int)frame_type);
print_blanks(3); print_blanks(2);
Serial.printf_P(PSTR("Gains\n")); Serial.printf_P(PSTR("Gains\n"));
print_divider(); print_divider();
@ -110,11 +106,13 @@ setup_show(uint8_t argc, const Menu::arg *argv)
// Nav // Nav
Serial.printf_P(PSTR("Nav:\npitch:\n")); Serial.printf_P(PSTR("Nav:\npitch:\n"));
print_PID(&pid_nav); print_PID(&pid_nav);
Serial.printf_P(PSTR("throttle:\n")); Serial.printf_P(PSTR("baro throttle:\n"));
print_PID(&pid_throttle); print_PID(&pid_baro_throttle);
Serial.printf_P(PSTR("sonar throttle:\n"));
print_PID(&pid_sonar_throttle);
Serial.println(" "); Serial.println(" ");
print_blanks(3); print_blanks(2);
Serial.printf_P(PSTR("User Configs\n")); Serial.printf_P(PSTR("User Configs\n"));
print_divider(); print_divider();
// Crosstrack // Crosstrack
@ -131,13 +129,13 @@ setup_show(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("throttle_failsafe_value: %d\n"), throttle_failsafe_value); Serial.printf_P(PSTR("throttle_failsafe_value: %d\n"), throttle_failsafe_value);
Serial.printf_P(PSTR("log_bitmask: %d\n"), log_bitmask); Serial.printf_P(PSTR("log_bitmask: %d\n"), log_bitmask);
print_blanks(3); print_blanks(2);
Serial.printf_P(PSTR("IMU\n")); Serial.printf_P(PSTR("IMU\n"));
print_divider(); print_divider();
imu.print_gyro_offsets(); imu.print_gyro_offsets();
imu.print_accel_offsets(); imu.print_accel_offsets();
print_blanks(3); print_blanks(2);
Serial.printf_P(PSTR("Compass\n")); Serial.printf_P(PSTR("Compass\n"));
print_divider(); print_divider();
@ -532,10 +530,15 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
pid_nav.kD(NAV_D); pid_nav.kD(NAV_D);
pid_nav.imax(NAV_IMAX * 100); pid_nav.imax(NAV_IMAX * 100);
pid_throttle.kP(THROTTLE_P); pid_baro_throttle.kP(THROTTLE_BARO_P);
pid_throttle.kI(THROTTLE_I); pid_baro_throttle.kI(THROTTLE_BARO_I);
pid_throttle.kD(THROTTLE_D); pid_baro_throttle.kD(THROTTLE_BARO_D);
pid_throttle.imax(THROTTLE_IMAX * 100); pid_baro_throttle.imax(THROTTLE_BARO_IMAX * 100);
pid_sonar_throttle.kP(THROTTLE_SONAR_P);
pid_sonar_throttle.kI(THROTTLE_SONAR_I);
pid_sonar_throttle.kD(THROTTLE_SONAR_D);
pid_sonar_throttle.imax(THROTTLE_SONAR_IMAX * 100);
save_EEPROM_PID(); save_EEPROM_PID();
print_done(); print_done();
@ -591,7 +594,6 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
} }
} }
static int8_t static int8_t
setup_declination(uint8_t argc, const Menu::arg *argv) setup_declination(uint8_t argc, const Menu::arg *argv)
{ {
@ -610,25 +612,40 @@ setup_erase(uint8_t argc, const Menu::arg *argv)
return 0; return 0;
} }
static int8_t static int8_t
setup_compass_enable(uint8_t argc, const Menu::arg *argv) setup_compass(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("\nCompass enabled:\n")); Serial.printf_P(PSTR("Compass "));
compass_enabled = true; if (!strcmp_P(argv[1].str, PSTR("on"))) {
save_EEPROM_mag(); Serial.printf_P(PSTR("Enabled\n"));
init_compass(); compass_enabled = true;
init_compass();
save_EEPROM_mag();
print_done();
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
Serial.printf_P(PSTR("Disabled\n"));
compass_enabled = false;
save_EEPROM_mag();
print_done();
} else {
if (compass_enabled) {
Serial.printf_P(PSTR("en"));
} else {
Serial.printf_P(PSTR("dis"));
}
Serial.printf_P(PSTR("abled\n\n"));
Serial.printf_P(PSTR("\nUsage:\nEnabled =>compass 1\nDisabled =>compass 0\n\n"));
}
return 0; return 0;
} }
static int8_t
setup_compass_disable(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("\nCompass disabled:\n"));
compass_enabled = false;
save_EEPROM_mag();
return 0;
}
static int8_t static int8_t
setup_frame(uint8_t argc, const Menu::arg *argv) setup_frame(uint8_t argc, const Menu::arg *argv)
@ -637,22 +654,21 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("\nUsage:\nPlus frame =>frame 1\nX frame =>frame 2\nTRI frame =>frame 3\n\n")); Serial.printf_P(PSTR("\nUsage:\nPlus frame =>frame 1\nX frame =>frame 2\nTRI frame =>frame 3\n\n"));
return 0; return 0;
} }
Serial.printf_P(PSTR("\nSaving ")); print_done();
if(argv[1].i == 1){ if(argv[1].i == 1){
Serial.printf_P(PSTR("Plus ")); Serial.printf_P(PSTR("Plus "));
frame_type = PLUS_FRAME; frame_type = PLUS_FRAME;
}else if(argv[1].i == 2){ }else if(argv[1].i == 2){
Serial.printf_P(PSTR("X ")); Serial.printf_P(PSTR("X "));
frame_type = X_FRAME; frame_type = X_FRAME;
}else if(argv[1].i == 3){ }else if(argv[1].i == 3){
Serial.printf_P(PSTR("Tri ")); Serial.printf_P(PSTR("Tri "));
frame_type = TRI_FRAME; frame_type = TRI_FRAME;
} }
Serial.printf_P(PSTR("frame\n\n")); Serial.printf_P(PSTR("frame\n\n"));
save_EEPROM_frame(); save_EEPROM_frame();
return 0; return 0;
@ -660,7 +676,7 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
setup_compass(uint8_t argc, const Menu::arg *argv) setup_mag_offset(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("\nRotate/Pitch/Roll your ArduCopter until the offset variables stop changing.\n")); Serial.printf_P(PSTR("\nRotate/Pitch/Roll your ArduCopter until the offset variables stop changing.\n"));
print_hit_enter(); print_hit_enter();