CLI info leds, mode fixes

git-svn-id: https://arducopter.googlecode.com/svn/trunk@972 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArducopterNG/ArduUser.h

@@ -116,9 +116,9 @@ TODO:
 #define CAM_SMOOTHING 1000      // Camera movement smoothing on pitch axis
 #define CAM_SMOOTHING_ROLL -400 // Camera movement smoothing on roll axis
 
-#define CAM_TILT_OUT   6        // OUTx pin for Tilt servo
-#define CAM_ROLL_OUT   7        // OUTx pin for Roll servo
-#define CAM_YAW_OUT    7        // OUTx pin for Yaw servo (often same as Roll)
+#define CAM_TILT_OUT   4        // OUTx pin for Tilt servo
+#define CAM_ROLL_OUT   5        // OUTx pin for Roll servo
+#define CAM_YAW_OUT    5        // OUTx pin for Yaw servo (often same as Roll)
 
 #define CAM_TILT_CH  CH_7       // Channel for radio knob to controll tilt "zerolevel" 
 

ArducopterNG/Arducopter.h

@@ -325,6 +325,9 @@ byte gled_status = HIGH;
 long gled_timer;
 int gled_speed;
 
+long cli_timer;
+byte cli_status = LOW;
+
 long  t0;
 int   num_iter;
 float aux_debug;

ArducopterNG/ArducopterNG.pde

@@ -119,18 +119,19 @@
 // Magneto orientation and corrections.
 // If you don't have magneto activated, It is safe to ignore these
 //#ifdef IsMAG
-#define MAGORIENTATION  APM_COMPASS_COMPONENTS_UP_PINS_FORWARD       // This is default solution for ArduCopter
+//#define MAGORIENTATION  APM_COMPASS_COMPONENTS_UP_PINS_FORWARD       // This is default solution for ArduCopter
 //#define MAGORIENTATION  APM_COMPASS_COMPONENTS_UP_PINS_BACK        // Alternative orientation for ArduCopter
-//#define MAGORIENTATION  APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD    // If you have soldered Magneto to IMU shield in WIki pictures shows
+#define MAGORIENTATION  APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD    // If you have soldered Magneto to IMU shield in WIki pictures shows
 
 // To get Magneto offsets, switch to CLI mode and run offset calibration. During calibration
 // you need to roll/bank/tilt/yaw/shake etc your ArduCopter. Don't kick like Jani always does :)
-#define MAGOFFSET 0,0,0
+//#define MAGOFFSET 0,0,0
+#define MAGOFFSET 19.00,-72.00,-79.50
 
 // Declination is a correction factor between North Pole and real magnetic North. This is different on every location
 // IF you want to use really accurate headholding and future navigation features, you should update this
 // You can check Declination to your location from http://www.magnetic-declination.com/
-#define DECLINATION 0.0
+#define DECLINATION 0.61
 
 // And remember result from NOAA website is in form of DEGREES°MINUTES'. Degrees you can use directly but Minutes you need to 
 // recalculate due they one degree is 60 minutes.. For example Jani's real declination is 0.61, correct way to calculate this is
@@ -222,6 +223,19 @@ void setup() {
 
   Read_adc_raw();            // Initialize ADC readings...
   
+#ifdef SerXbee
+  Serial.begin(SerBau);
+  Serial.print("ArduCopter v");
+  Serial.println(VER);
+  Serial.println("Serial data on Telemetry port");
+  Serial.println("No commands or output on this serial, check your Arducopter.pde if needed to change.");
+  Serial.println();
+  Serial.println("General info:");
+  if(!SW_DIP1) Serial.println("Flight mode: + ");
+  if(SW_DIP1) Serial.println("Flight mode: x ");
+#endif 
+
+
   delay(10);
   digitalWrite(LED_Green,HIGH);     // Ready to go...  
 }

ArducopterNG/CLI.pde

@@ -39,7 +39,7 @@ boolean ShowMainMenu;
 // This can be moved later to CLI.pde
 void RunCLI () {
 
-//  APM_RC.Init();             // APM Radio initialization
+  //  APM_RC.Init();             // APM Radio initialization
 
   readUserConfig();          // Read memory values from EEPROM
 
@@ -69,6 +69,22 @@ void RunCLI () {
         break; 
       }
     }
+    
+    // Changing LED statuses to inform that we are in CLI mode
+    // Blinking Red, Yellow, Green when in CLI mode
+    if(millis() - cli_timer > 1000) {
+      cli_timer = millis();
+      if(cli_status == HIGH) { 
+        LEDAllOFF();
+        cli_status = LOW;
+      } 
+      else {
+        LEDAllON();
+        cli_status = HIGH; 
+      }
+    }
+
+
   } // Mainloop ends
 
 }
@@ -78,7 +94,7 @@ void Show_MainMenu() {
   SerPrln("CLI Menu - Type your command on command prompt");
   SerPrln("----------------------------------------------");
   SerPrln(" c - Show compass offsets (no return, reboot)");
-  SerPrln(" i - Initialize and calibrate Accel offsets");
+  SerPrln(" i - Initialize and calibrate Accel offsets (under work)");
   SerPrln(" ");
 }
 
@@ -176,7 +192,7 @@ void CALIB_AccOffset() {
   uint16_t xx = 0, xy = 0, xz = 0; 
 
   adc.Init();            // APM ADC library initialization
-//  delay(250);                // Giving small moment before starting
+  //  delay(250);                // Giving small moment before starting
 
   calibrateSensors();         // Calibrate neutral values of gyros  (in Sensors.pde)
 
@@ -189,12 +205,12 @@ void CALIB_AccOffset() {
     SerPri(loopy);
     SerPri(":");
     tab();
-/*    SerPri(xx += read_adc(4));
-    tab();
-    SerPri(xy += -read_adc(3));
-    tab();
-    SerPrln(xz += read_adc(5));
-*/
+    /*    SerPri(xx += read_adc(4));
+     tab();
+     SerPri(xy += -read_adc(3));
+     tab();
+     SerPrln(xz += read_adc(5));
+     */
     SerPri(xx += adc.Ch(4));
     tab();
     SerPri(xy += adc.Ch(5));
@@ -224,3 +240,5 @@ void CALIB_AccOffset() {
 }
 
 
+
+

ArducopterNG/Functions.pde

@@ -139,6 +139,25 @@ int limitRange(int data, int minLimit, int maxLimit) {
 }
 
 
+
+void CLILeds (byte ledstep) {
+  
+  
+}
+
+void LEDAllON() {
+        digitalWrite(LED_Green, HIGH);
+        digitalWrite(LED_Red, HIGH);
+        digitalWrite(LED_Yellow, HIGH);
+}
+
+void LEDAllOFF() {
+        digitalWrite(LED_Green, LOW);
+        digitalWrite(LED_Red, LOW);
+        digitalWrite(LED_Yellow, LOW);
+}
+
+
 //
 // Camera functions moved to event due it's and event 31-10-10, jp
 

ArducopterNG/GCS.pde

@@ -364,7 +364,8 @@ void sendSerialTelemetry() {
     SerPri(read_adc(3));
     comma();
     SerPri(read_adc(5));
-    /*    comma();
+
+       comma();
      SerPri(APM_Compass.Heading, 4);
      comma();
      SerPri(APM_Compass.Heading_X, 4);
@@ -377,7 +378,7 @@ void sendSerialTelemetry() {
      comma();
      SerPri(APM_Compass.Mag_Z);
      comma();
-     */
+     
     SerPriln();
     break;
   case 'T': // Spare
@@ -458,6 +459,30 @@ void sendSerialTelemetry() {
     tab();
     SerPriln();
     break;
+#ifdef IsGPS
+  case '4':  // Jani's debugs
+//  Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
+
+    SerPri(GPS.Time);
+    tab();
+    SerPri(GPS.Lattitude);
+    tab();
+    SerPri(GPS.Longitude);
+    tab();
+    SerPri(GPS.Altitude);
+    tab();
+    SerPri(GPS.Ground_Speed);
+    tab();
+    SerPri(GPS.Ground_Course);
+    tab();
+    SerPri(GPS.Fix);
+    tab();
+    SerPri(GPS.NumSats);
+
+    tab();
+    SerPriln();
+    break;
+#endif    
   case '.': // Modify GPS settings, print directly to GPS Port
     Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
     break;

ArducopterNG/Radio.pde

@@ -76,7 +76,7 @@ void read_radio()
     ch_throttle = channel_filter(tempThrottle, ch_throttle);
         
     // Flight mode
-    if(ch_aux2 > 1200) 
+    if(ch_aux2 > 1300) 
       flightMode = ACRO_MODE;  // Force to Acro mode from radio
     else
       flightMode = STABLE_MODE;  // Stable mode (default)
@@ -84,7 +84,7 @@ void read_radio()
     // Autopilot mode (only works on Stable mode)
     if (flightMode == STABLE_MODE)
       {
-      if(ch_aux < 1200)
+      if(ch_aux < 1300)
         AP_mode = AP_AUTOMATIC_MODE;   // Automatic mode : GPS position hold mode + altitude hold
       else 
         AP_mode = AP_NORMAL_MODE;   // Normal mode