mirror of https://github.com/ArduPilot/ardupilot
Copter: use sensors from board subtypes
This commit is contained in:
Andrew Tridgell
parent
ae29a24348
commit
49954a3a61
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@ -215,15 +215,8 @@ static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
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static DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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static DataFlash_File DataFlash("logs");
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//static DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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static DataFlash_File DataFlash("logs");
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
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#elif defined(HAL_BOARD_LOG_DIRECTORY)
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static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
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#else
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static DataFlash_Empty DataFlash;
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#endif
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@ -258,77 +251,57 @@ static GPS_Glitch gps_glitch(gps);
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// flight modes convenience array
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static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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#if CONFIG_ADC == ENABLED
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static AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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static AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_MPU9250
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static AP_InertialSensor_MPU9250 ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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static AP_InertialSensor_Oilpan ins(&adc);
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
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static AP_InertialSensor_HIL ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4
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static AP_InertialSensor_PX4 ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_VRBRAIN
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static AP_InertialSensor_VRBRAIN ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE
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AP_InertialSensor_Flymaple ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_L3G4200D
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AP_InertialSensor_L3G4200D ins;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// When building for SITL we use the HIL barometer and compass drivers
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static AP_Baro_HIL barometer;
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static AP_Compass_HIL compass;
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static SITL sitl;
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#else
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// Otherwise, instantiate a real barometer and compass driver
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#if CONFIG_BARO == AP_BARO_BMP085
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#if CONFIG_BARO == HAL_BARO_BMP085
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_PX4
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#elif CONFIG_BARO == HAL_BARO_PX4
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static AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == AP_BARO_VRBRAIN
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#elif CONFIG_BARO == HAL_BARO_VRBRAIN
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static AP_Baro_VRBRAIN barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
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#elif CONFIG_BARO == HAL_BARO_HIL
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static AP_Baro_HIL barometer;
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#elif CONFIG_BARO == HAL_BARO_MS5611
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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static AP_Compass_VRBRAIN compass;
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#else
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static AP_Compass_HMC5843 compass;
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#endif
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#endif
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#elif HIL_MODE != HIL_MODE_DISABLED
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// sensor emulators
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static AP_ADC_HIL adc;
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static AP_Baro_HIL barometer;
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static AP_Compass_HIL compass;
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static AP_InertialSensor_HIL ins;
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// When building for SITL we use the HIL barometer and compass drivers
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static SITL sitl;
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#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#else
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#error Unrecognized CONFIG_BARO setting
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#endif
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#if CONFIG_COMPASS == HAL_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
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static AP_Compass_VRBRAIN compass;
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#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == HAL_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 apm1_adc;
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#endif
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#if CONFIG_INS_TYPE == HAL_INS_MPU6000
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_INS_TYPE == HAL_INS_PX4
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AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
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AP_InertialSensor_VRBRAIN ins;
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#elif CONFIG_INS_TYPE == HAL_INS_HIL
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AP_InertialSensor_HIL ins;
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#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &apm1_adc );
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#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
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AP_InertialSensor_Flymaple ins;
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#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
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AP_InertialSensor_L3G4200D ins;
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#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
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AP_InertialSensor_MPU9250 ins;
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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// Inertial Navigation EKF
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#if AP_AHRS_NAVEKF_AVAILABLE
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@ -337,6 +310,10 @@ AP_AHRS_NavEKF ahrs(ins, barometer, gps);
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AP_AHRS_DCM ahrs(ins, barometer, gps);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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SITL sitl;
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#endif
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// Mission library
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// forward declaration to keep compiler happy
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static bool start_command(const AP_Mission::Mission_Command& cmd);
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@ -53,48 +53,50 @@
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT CONTROLLER HARDWARE DEFAULT SETTINGS
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//
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// sensor types
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#define CONFIG_INS_TYPE HAL_INS_DEFAULT
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#define CONFIG_BARO HAL_BARO_DEFAULT
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#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
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#ifdef HAL_SERIAL0_BAUD_DEFAULT
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# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef CONFIG_BARO
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#define CONFIG_BARO HAL_BARO_HIL
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#undef CONFIG_INS_TYPE
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#define CONFIG_INS_TYPE HAL_INS_HIL
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#undef CONFIG_COMPASS
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#define CONFIG_COMPASS HAL_COMPASS_HIL
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#endif
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#define MAGNETOMETER ENABLED
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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# define PARACHUTE DISABLED
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# define AC_RALLY DISABLED
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
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# endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define CONFIG_IMU_TYPE CONFIG_IMU_SITL
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define CONFIG_IMU_TYPE CONFIG_IMU_PX4
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# define CONFIG_BARO AP_BARO_PX4
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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# define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
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# define CONFIG_BARO AP_BARO_BMP085
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define CONFIG_ADC DISABLED
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# define MAGNETOMETER ENABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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# define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
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# define CONFIG_BARO AP_BARO_BMP085
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define CONFIG_ADC DISABLED
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# define MAGNETOMETER ENABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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# define CONFIG_IMU_TYPE CONFIG_IMU_VRBRAIN
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# define CONFIG_BARO AP_BARO_VRBRAIN
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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#endif
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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@ -102,6 +104,11 @@
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# define MAIN_LOOP_RATE 100
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# define MAIN_LOOP_SECONDS 0.01
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# define MAIN_LOOP_MICROS 10000
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// Linux boards
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# define MAIN_LOOP_RATE 200
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# define MAIN_LOOP_SECONDS 0.005
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# define MAIN_LOOP_MICROS 5000
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#else
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// high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
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# define MAIN_LOOP_RATE 400
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@ -141,18 +148,11 @@
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# define RATE_YAW_I 0.015f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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#ifndef CONFIG_IMU_TYPE
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# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADC Enable - used to eliminate for systems which don't have ADC.
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//
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#ifndef CONFIG_ADC
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# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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# if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define CONFIG_ADC ENABLED
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# else
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# define CONFIG_ADC DISABLED
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@ -334,22 +334,6 @@ enum FlipState {
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// IMU selection
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#define CONFIG_IMU_OILPAN 1
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#define CONFIG_IMU_MPU6000 2
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#define CONFIG_IMU_SITL 3
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#define CONFIG_IMU_PX4 4
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#define CONFIG_IMU_FLYMAPLE 5
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#define CONFIG_IMU_VRBRAIN 6
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define AP_BARO_PX4 3
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#define AP_BARO_VRBRAIN 4
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#define AP_BARO_MS5611_SPI 1
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#define AP_BARO_MS5611_I2C 2
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// Error message sub systems and error codes
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#define ERROR_SUBSYSTEM_MAIN 1
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#define ERROR_SUBSYSTEM_RADIO 2
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@ -205,7 +205,7 @@ static void init_ardupilot()
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#if CONFIG_ADC == ENABLED
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// begin filtering the ADC Gyros
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adc.Init(); // APM ADC library initialization
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apm1_adc.Init(); // APM ADC library initialization
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#endif // CONFIG_ADC
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// Do GPS init
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