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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Jason Short 2011-09-29 23:27:36 -07:00
parent df1a39f650 9a2da8f22f
commit 4c30b544dc
128 changed files with 7781 additions and 586 deletions
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4
.gitignore vendored
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@ -3,3 +3,7 @@ Tools/ArdupilotMegaPlanner/bin/Release/logs/
ArduCopter/Debug/
config.mk
serialsent.raw
CMakeFiles
CMakeCache.txt
cmake_install.cmake
build

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// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
// Vehicle Configuration
#include "BoatGeneric.h"
// ArduPilotOne Default Setup
#include "APO_DefaultSetup.h"

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ArduBoat/BoatGeneric.h Normal file
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/*
* BoatGeneric.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef BOATGENERIC_H_
#define BOATGENERIC_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_BOAT;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerBoat
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
const float steeringP = 1.0;
const float steeringI = 0.0;
const float steeringD = 0.0;
const float steeringIMax = 0.0;
const float steeringYMax = 3.0;
const float throttleP = 0.0;
const float throttleI = 0.0;
const float throttleD = 0.0;
const float throttleIMax = 0.0;
const float throttleYMax = 0.0;
const float throttleDFCut = 3.0;
#include "ControllerBoat.h"
#endif /* BOATGENERIC_H_ */

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ArduBoat/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.6)
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
project(${PROJECT_NAME} C CXX)
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
find_package(Arduino 22 REQUIRED)
if (NOT DEFINED BOARD)
message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
set(BOARD "mega")
endif()
message(STATUS "Board configured as: ${BOARD}")
# need to configure based on host operating system
set(${PROJECT_NAME}_PORT COM2)
set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
include_directories(
${ARDUINO_LIBRARIES_PATH}/Wire
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
set(${PROJECT_NAME}_BOARD ${BOARD})
file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
file(GLOB ${PROJECT_NAME}_HDRS *.h)
set(${PROJECT_NAME}_LIBS
c
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
generate_arduino_firmware(${PROJECT_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex
DESTINATION bin
)

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ArduBoat/ControllerBoat.h Normal file
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/*
* ControllerBoat.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERBOAT_H_
#define CONTROLLERBOAT_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerBoat: public AP_Controller {
private:
AP_Var_group _group;
AP_Uint8 _mode;
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
CH_MODE = 0, CH_STR, CH_THR
};
BlockPIDDfb pidStr;
BlockPID pidThr;
public:
ControllerBoat(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("CNTRL_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("MODE")),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut) {
_hal->debug->println_P(PSTR("initializing boat controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
1500, 1900));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
1900));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
//_hal->debug->println("manual");
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
_hal->rc[CH_STR]->setPosition(
pidStr.update(headingError, _nav->getYawRate(), dt));
_hal->rc[CH_THR]->setPosition(
pidThr.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt));
//_hal->debug->println("automode");
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERBOAT_H_ */

1
ArduBoat/Makefile Normal file
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include ../libraries/AP_Common/Arduino.mk

1
ArduCopter/.gitignore vendored Normal file
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@ -0,0 +1 @@
arducopter.cpp

4
ArduCopter/CMakeLists.txt
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@ -42,7 +42,7 @@ PRINT_BOARD_SETTINGS(mega2560)
#====================================================================#
set(FIRMWARE_NAME arducopter)
set(${FIRMWARE_NAME}_BOARD mega2560) # Arduino Target board
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ArduCopter.pde
@ -126,8 +126,6 @@ set(${FIRMWARE_NAME}_LIBS
c
m
)
SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port

1
ArduPlane/.gitignore vendored Normal file
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@ -0,0 +1 @@
ArduPlane.cpp

12
ArduPlane/CMakeLists.txt
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@ -42,7 +42,7 @@ PRINT_BOARD_SETTINGS(mega2560)
#====================================================================#
set(FIRMWARE_NAME ArduPlane)
set(${FIRMWARE_NAME}_BOARD mega2560) # Arduino Target board
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ArduPlane.pde
@ -62,7 +62,7 @@ set(${FIRMWARE_NAME}_SKETCHES
#GCS_Standard.pde
#GCS_Xplane.pde
#heli.pde
HIL_Xplane.pde
#HIL_Xplane.pde
#leds.pde
Log.pde
#motors_hexa.pde
@ -92,12 +92,12 @@ set(${FIRMWARE_NAME}_SRCS
set(${FIRMWARE_NAME}_HDRS
APM_Config.h
APM_Config_mavlink_hil.h
APM_Config_xplane.h
#APM_Config_xplane.h
config.h
defines.h
GCS.h
HIL.h
Mavlink_Common.h
#HIL.h
#Mavlink_Common.h
Parameters.h
) # Firmware sources
@ -126,8 +126,6 @@ set(${FIRMWARE_NAME}_LIBS
c
m
)
SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port

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// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
// Vehicle Configuration
#include "CarStampede.h"
// ArduPilotOne Default Setup
#include "APO_DefaultSetup.h"

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cmake_minimum_required(VERSION 2.6)
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
project(${PROJECT_NAME} C CXX)
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
find_package(Arduino 22 REQUIRED)
if (NOT DEFINED BOARD)
message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
set(BOARD "mega")
endif()
message(STATUS "Board configured as: ${BOARD}")
# need to configure based on host operating system
set(${PROJECT_NAME}_PORT COM2)
set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
include_directories(
${ARDUINO_LIBRARIES_PATH}/Wire
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
set(${PROJECT_NAME}_BOARD ${BOARD})
file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
file(GLOB ${PROJECT_NAME}_HDRS *.h)
set(${PROJECT_NAME}_LIBS
c
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
generate_arduino_firmware(${PROJECT_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex
DESTINATION bin
)

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/*
* CarStampede.h
*
* Created on: May 1, 2011
* Author: jgoppert
*
*/
#ifndef CARSTAMPEDE_H_
#define CARSTAMPEDE_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_CAR;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerCar
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
static const float steeringP = 1.0;
static const float steeringI = 0.0;
static const float steeringD = 0.0;
static const float steeringIMax = 0.0;
static const float steeringYMax = 3.0;
static const float throttleP = 0.0;
static const float throttleI = 0.0;
static const float throttleD = 0.0;
static const float throttleIMax = 0.0;
static const float throttleYMax = 0.0;
static const float throttleDFCut = 3.0;
#include "ControllerCar.h"
#endif /* CARSTAMPEDE_H_ */

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/*
* ControllerCar.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERCAR_H_
#define CONTROLLERCAR_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerCar: public AP_Controller {
private:
AP_Var_group _group;
AP_Uint8 _mode;
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
CH_MODE = 0, CH_STR, CH_THR
};
BlockPIDDfb pidStr;
BlockPID pidThr;
public:
ControllerCar(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("CNTRL_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("MODE")),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut) {
_hal->debug->println_P(PSTR("initializing car controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
1500, 1900));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
1900));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
//_hal->debug->println("manual");
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
_hal->rc[CH_STR]->setPosition(
pidStr.update(headingError, _nav->getYawRate(), dt));
_hal->rc[CH_THR]->setPosition(
pidThr.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt));
//_hal->debug->println("automode");
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERCAR_H_ */

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/*
* ControllerTank.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERTANK_H_
#define CONTROLLERTANK_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerTank: public AP_Controller {
private:
AP_Var_group _group;
AP_Uint8 _mode;
enum {
k_chMode = k_radioChannelsStart, k_chLeft, k_chRight, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
CH_MODE = 0, CH_LEFT, CH_RIGHT, CH_STR, CH_THR
};
BlockPIDDfb pidStr;
BlockPID pidThr;
public:
ControllerTank(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("CNTRL_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("MODE")),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut) {
_hal->debug->println_P(PSTR("initializing tank controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_IN));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
void mix(float headingOutput, float throttleOutput) {
_hal->rc[CH_LEFT]->setPosition(throttleOutput + headingOutput);
_hal->rc[CH_RIGHT]->setPosition(throttleOutput - headingOutput);
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
mix(_hal->rc[CH_STR]->getPosition(),
_hal->rc[CH_THR]->getPosition());
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
mix(pidStr.update(headingError, _nav->getYawRate(), dt),
pidThr.update(_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt));
//_hal->debug->println("automode");
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERTANK_H_ */

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include ../libraries/AP_Common/Arduino.mk

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/*
* TankGeneric.h
*
* Created on: Sep 26, 2011
* Author: jgoppert
*/
#ifndef TANKGENERIC_H_
#define TANKGENERIC_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_TANK;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerTank
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
const float steeringP = 1.0;
const float steeringI = 0.0;
const float steeringD = 0.0;
const float steeringIMax = 0.0;
const float steeringYMax = 3.0;
const float throttleP = 0.0;
const float throttleI = 0.0;
const float throttleD = 0.0;
const float throttleIMax = 0.0;
const float throttleYMax = 0.0;
const float throttleDFCut = 3.0;
#include "ControllerTank.h"
#endif /* TANKGENERIC_H_ */

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apo.cpp

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cmake_minimum_required(VERSION 2.6)
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
project(${PROJECT_NAME} C CXX)
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
find_package(Arduino 22 REQUIRED)
if (NOT DEFINED BOARD)
message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
set(BOARD "mega")
endif()
message(STATUS "Board configured as: ${BOARD}")
# need to configure based on host operating system
set(${PROJECT_NAME}_PORT COM2)
set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
include_directories(
${ARDUINO_LIBRARIES_PATH}/Wire
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
set(${PROJECT_NAME}_BOARD ${BOARD})
file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
file(GLOB ${PROJECT_NAME}_HDRS *.h)
set(${PROJECT_NAME}_LIBS
c
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
generate_arduino_firmware(${PROJECT_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex
DESTINATION bin
)

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/*
* ControllerPlane.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERPLANE_H_
#define CONTROLLERPLANE_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerPlane: public AP_Controller {
private:
AP_Var_group _group;
AP_Var_group _trimGroup;
AP_Uint8 _mode;
AP_Uint8 _rdrAilMix;
bool _needsTrim;
AP_Float _ailTrim;
AP_Float _elvTrim;
AP_Float _rdrTrim;
AP_Float _thrTrim;
enum {
ch_mode = 0, ch_roll, ch_pitch, ch_thr, ch_yaw
};
enum {
k_chMode = k_radioChannelsStart,
k_chRoll,
k_chPitch,
k_chYaw,
k_chThr,
k_pidBnkRll = k_controllersStart,
k_pidSpdPit,
k_pidPitPit,
k_pidYwrYaw,
k_pidHdgBnk,
k_pidAltThr,
k_trim = k_customStart
};
BlockPID pidBnkRll; // bank error to roll servo deflection
BlockPID pidSpdPit; // speed error to pitch command
BlockPID pidPitPit; // pitch error to pitch servo deflection
BlockPID pidYwrYaw; // yaw rate error to yaw servo deflection
BlockPID pidHdgBnk; // heading error to bank command
BlockPID pidAltThr; // altitude error to throttle deflection
bool requireRadio;
public:
ControllerPlane(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("cntrl_")),
_trimGroup(k_trim, PSTR("trim_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("mode")),
_rdrAilMix(&_group, 2, rdrAilMix, PSTR("rdrAilMix")),
_needsTrim(false),
_ailTrim(&_trimGroup, 1, ailTrim, PSTR("ail")),
_elvTrim(&_trimGroup, 2, elvTrim, PSTR("elv")),
_rdrTrim(&_trimGroup, 3, rdrTrim, PSTR("rdr")),
_thrTrim(&_trimGroup, 4, thrTrim, PSTR("thr")),
pidBnkRll(new AP_Var_group(k_pidBnkRll, PSTR("bnkRll_")), 1,
pidBnkRllP, pidBnkRllI, pidBnkRllD, pidBnkRllAwu,
pidBnkRllLim, pidBnkRllDFCut),
pidPitPit(new AP_Var_group(k_pidPitPit, PSTR("pitPit_")), 1,
pidPitPitP, pidPitPitI, pidPitPitD, pidPitPitAwu,
pidPitPitLim, pidPitPitDFCut),
pidSpdPit(new AP_Var_group(k_pidSpdPit, PSTR("spdPit_")), 1,
pidSpdPitP, pidSpdPitI, pidSpdPitD, pidSpdPitAwu,
pidSpdPitLim, pidSpdPitDFCut),
pidYwrYaw(new AP_Var_group(k_pidYwrYaw, PSTR("ywrYaw_")), 1,
pidYwrYawP, pidYwrYawI, pidYwrYawD, pidYwrYawAwu,
pidYwrYawLim, pidYwrYawDFCut),
pidHdgBnk(new AP_Var_group(k_pidHdgBnk, PSTR("hdgBnk_")), 1,
pidHdgBnkP, pidHdgBnkI, pidHdgBnkD, pidHdgBnkAwu,
pidHdgBnkLim, pidHdgBnkDFCut),
pidAltThr(new AP_Var_group(k_pidAltThr, PSTR("altThr_")), 1,
pidAltThrP, pidAltThrI, pidAltThrD, pidAltThrAwu,
pidAltThrLim, pidAltThrDFCut),
requireRadio(false) {
_hal->debug->println_P(PSTR("initializing car controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("mode_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("roll_"), APM_RC, 0, 1200,
1500, 1800, RC_MODE_INOUT));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("pitch_"), APM_RC, 1, 1200,
1500, 1800, RC_MODE_INOUT));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("thr_"), APM_RC, 2, 1100, 1100,
1900, RC_MODE_INOUT));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("yaw_"), APM_RC, 3, 1200, 1500,
1800, RC_MODE_INOUT));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if the value of the throttle is less than 5% cut motor power
} else if (requireRadio && _hal->rc[ch_thr]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[ch_mode]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
// force auto to read new manual trim
if (_needsTrim == false)
_needsTrim = true;
//_hal->debug->println("manual");
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
float aileron = pidBnkRll.update(
pidHdgBnk.update(headingError, dt) - _nav->getRoll(), dt);
float elevator = pidPitPit.update(
-pidSpdPit.update(
_guide->getAirSpeedCommand() - _nav->getAirSpeed(),
dt) - _nav->getPitch(), dt);
float rudder = pidYwrYaw.update(-_nav->getYawRate(), dt);
// desired yaw rate is zero, needs washout
float throttle = pidAltThr.update(
_guide->getAltitudeCommand() - _nav->getAlt(), dt);
// if needs trim
if (_needsTrim) {
// need to subtract current controller deflections so control
// surfaces are actually at the same position as manual flight
_ailTrim = _hal->rc[ch_roll]->getRadioPosition() - aileron;
_elvTrim = _hal->rc[ch_pitch]->getRadioPosition() - elevator;
_rdrTrim = _hal->rc[ch_yaw]->getRadioPosition() - rudder;
_thrTrim = _hal->rc[ch_thr]->getRadioPosition() - throttle;
_needsTrim = false;
}
// actuator mixing/ output
_hal->rc[ch_roll]->setPosition(
aileron + _rdrAilMix * rudder + _ailTrim);
_hal->rc[ch_yaw]->setPosition(rudder + _rdrTrim);
_hal->rc[ch_pitch]->setPosition(elevator + _elvTrim);
_hal->rc[ch_thr]->setPosition(throttle + _thrTrim);
//_hal->debug->println("automode");
// heading debug
// Serial.print("heading command: "); Serial.println(_guide->getHeadingCommand());
// Serial.print("heading: "); Serial.println(_nav->getYaw());
// Serial.print("heading error: "); Serial.println(headingError);
// alt debug
// Serial.print("alt command: "); Serial.println(_guide->getAltitudeCommand());
// Serial.print("alt: "); Serial.println(_nav->getAlt());
// Serial.print("alt error: "); Serial.println(_guide->getAltitudeCommand() - _nav->getAlt());
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERPLANE_H_ */

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/*
* ControllerQuad.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERQUAD_H_
#define CONTROLLERQUAD_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerQuad: public AP_Controller {
public:
/**
* note that these are not the controller radio channel numbers, they are just
* unique keys so they can be reaccessed from the hal rc vector
*/
enum {
CH_MODE = 0, // note scicoslab channels set mode, left, right, front, back order
CH_LEFT, // this enum must match this
CH_RIGHT,
CH_FRONT,
CH_BACK,
CH_ROLL,
CH_PITCH,
CH_YAW,
CH_THRUST
};
enum {
k_chMode = k_radioChannelsStart,
k_chLeft,
k_chRight,
k_chFront,
k_chBack,
k_chRoll,
k_chPitch,
k_chYaw,
k_chThr
};
enum {
k_pidGroundSpeed2Throttle = k_controllersStart,
k_pidStr,
k_pidPN,
k_pidPE,
k_pidPD,
k_pidRoll,
k_pidPitch,
k_pidYawRate,
k_pidYaw,
};
ControllerQuad(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
pidRoll(new AP_Var_group(k_pidRoll, PSTR("ROLL_")), 1,
PID_ATT_P, PID_ATT_I, PID_ATT_D, PID_ATT_AWU,
PID_ATT_LIM),
pidPitch(new AP_Var_group(k_pidPitch, PSTR("PITCH_")), 1,
PID_ATT_P, PID_ATT_I, PID_ATT_D, PID_ATT_AWU,
PID_ATT_LIM),
pidYaw(new AP_Var_group(k_pidYaw, PSTR("YAW_")), 1,
PID_YAWPOS_P, PID_YAWPOS_I, PID_YAWPOS_D,
PID_YAWPOS_AWU, PID_YAWPOS_LIM),
pidYawRate(new AP_Var_group(k_pidYawRate, PSTR("YAWRT_")), 1,
PID_YAWSPEED_P, PID_YAWSPEED_I, PID_YAWSPEED_D,
PID_YAWSPEED_AWU, PID_YAWSPEED_LIM, PID_YAWSPEED_DFCUT),
pidPN(new AP_Var_group(k_pidPN, PSTR("NORTH_")), 1, PID_POS_P,
PID_POS_I, PID_POS_D, PID_POS_AWU, PID_POS_LIM),
pidPE(new AP_Var_group(k_pidPE, PSTR("EAST_")), 1, PID_POS_P,
PID_POS_I, PID_POS_D, PID_POS_AWU, PID_POS_LIM),
pidPD(new AP_Var_group(k_pidPD, PSTR("DOWN_")), 1, PID_POS_Z_P,
PID_POS_Z_I, PID_POS_Z_D, PID_POS_Z_AWU, PID_POS_Z_LIM) {
/*
* allocate radio channels
* the order of the channels has to match the enumeration above
*/
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chBack, PSTR("BACK_"), APM_RC, 3, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("ROLL_"), APM_RC, 0, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 2, 1100, 1500,
1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 3, 1100,
1100, 1900, RC_MODE_IN));
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THRUST]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// manual mode
float mixRemoteWeight = 0;
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
mixRemoteWeight = 1;
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// commands for inner loop
float cmdRoll = 0;
float cmdPitch = 0;
float cmdYawRate = 0;
float thrustMix = 0;
switch(_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
// "mix manual"
cmdRoll = 0.5 * _hal->rc[CH_ROLL]->getPosition()
* mixRemoteWeight;
cmdPitch = 0.5 * _hal->rc[CH_PITCH]->getPosition()
* mixRemoteWeight;
cmdYawRate = 0.5 * _hal->rc[CH_YAW]->getPosition()
* mixRemoteWeight;
thrustMix = _hal->rc[CH_THRUST]->getPosition() * mixRemoteWeight;
break;
}
case MAV_MODE_AUTO: {
// XXX kills all commands,
// auto not currently implemented
// position loop
/*
float cmdNorthTilt = pidPN.update(_nav->getPN(),_nav->getVN(),dt);
float cmdEastTilt = pidPE.update(_nav->getPE(),_nav->getVE(),dt);
float cmdDown = pidPD.update(_nav->getPD(),_nav->getVD(),dt);
// "transform-to-body"
{
float trigSin = sin(-yaw);
float trigCos = cos(-yaw);
_cmdPitch = _cmdEastTilt * trigCos
- _cmdNorthTilt * trigSin;
_cmdRoll = -_cmdEastTilt * trigSin
+ _cmdNorthTilt * trigCos;
// note that the north tilt is negative of the pitch
}
//thrustMix += THRUST_HOVER_OFFSET;
// "thrust-trim-adjust"
if (fabs(_cmdRoll) > 0.5) {
_thrustMix *= 1.13949393;
} else {
_thrustMix /= cos(_cmdRoll);
}
if (fabs(_cmdPitch) > 0.5) {
_thrustMix *= 1.13949393;
} else {
_thrustMix /= cos(_cmdPitch);
}
*/
}
}
// attitude loop
// XXX negative sign added to nav roll, not sure why this is necessary
// XXX negative sign added to nav roll rate, not sure why this is necessary
float rollMix = pidRoll.update(cmdRoll + _nav->getRoll(),
-_nav->getRollRate(), dt);
// XXX negative sign added to cmdPitch, not sure why this is necessary
float pitchMix = pidPitch.update(-cmdPitch - _nav->getPitch(),
_nav->getPitchRate(), dt);
// XXX negative sign added to cmdYawRate, not sure why this is necessary
float yawMix = pidYawRate.update(-cmdYawRate - _nav->getYawRate(), dt);
_hal->rc[CH_LEFT]->setPosition(thrustMix + rollMix + yawMix);
_hal->rc[CH_RIGHT]->setPosition(thrustMix - rollMix + yawMix);
_hal->rc[CH_FRONT]->setPosition(thrustMix + pitchMix - yawMix);
_hal->rc[CH_BACK]->setPosition(thrustMix - pitchMix - yawMix);
// _hal->debug->printf("L: %f\t R: %f\t F: %f\t B: %f\n",
// _hal->rc[CH_LEFT]->getPosition(),
// _hal->rc[CH_RIGHT]->getPosition(),
// _hal->rc[CH_FRONT]->getPosition(),
// _hal->rc[CH_BACK]->getPosition());
_hal->debug->printf(
"rollMix: %f\t pitchMix: %f\t yawMix: %f\t thrustMix: %f\n",
rollMix, pitchMix, yawMix, thrustMix);
// _hal->debug->printf("roll pwm: %d\t pitch pwm: %d\t yaw pwm: %d\t thrust pwm: %d\n",
// _hal->rc[CH_ROLL]->readRadio(),
// _hal->rc[CH_PITCH]->readRadio(),
// _hal->rc[CH_YAW]->readRadio(),
// _hal->rc[CH_THRUST]->readRadio());
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
private:
AP_Uint8 _mode;
BlockPIDDfb pidRoll, pidPitch, pidYaw;
BlockPID pidYawRate;
BlockPIDDfb pidPN, pidPE, pidPD;
};
} // namespace apo
#endif /* CONTROLLERQUAD_H_ */

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include ../libraries/AP_Common/Arduino.mk

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/*
* PlaneEasystar.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef PLANEEASYSTAR_H_
#define PLANEEASYSTAR_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_PLANE;
//static const apo::halMode_t halMode = apo::MODE_LIVE; // live mode, actual flight
static const apo::halMode_t halMode = apo::MODE_HIL_CNTL; // hardware in the loop, control level
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerPlane
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
static const float rdrAilMix = 1.0; // since there are no ailerons
// bank error to roll servo
static const float pidBnkRllP = -0.5;
static const float pidBnkRllI = 0.0;
static const float pidBnkRllD = 0.0;
static const float pidBnkRllAwu = 0.0;
static const float pidBnkRllLim = 1.0;
static const float pidBnkRllDFCut = 0.0;
// pitch error to pitch servo
static const float pidPitPitP = -1;
static const float pidPitPitI = 0.0;
static const float pidPitPitD = 0.0;
static const float pidPitPitAwu = 0.0;
static const float pidPitPitLim = 1.0;
static const float pidPitPitDFCut = 0.0;
// speed error to pitch command
static const float pidSpdPitP = 0.1;
static const float pidSpdPitI = 0.0;
static const float pidSpdPitD = 0.0;
static const float pidSpdPitAwu = 0.0;
static const float pidSpdPitLim = 1.0;
static const float pidSpdPitDFCut = 0.0;
// yaw rate error to yaw servo
static const float pidYwrYawP = -0.2;
static const float pidYwrYawI = 0.0;
static const float pidYwrYawD = 0.0;
static const float pidYwrYawAwu = 0.0;
static const float pidYwrYawLim = 1.0;
static const float pidYwrYawDFCut = 0.0;
// heading error to bank angle command
static const float pidHdgBnkP = 1.0;
static const float pidHdgBnkI = 0.0;
static const float pidHdgBnkD = 0.0;
static const float pidHdgBnkAwu = 0.0;
static const float pidHdgBnkLim = 0.5;
static const float pidHdgBnkDFCut = 0.0;
// altitude error to throttle command
static const float pidAltThrP = .01;
static const float pidAltThrI = 0.0;
static const float pidAltThrD = 0.0;
static const float pidAltThrAwu = 0.0;
static const float pidAltThrLim = 1;
static const float pidAltThrDFCut = 0.0;
// trim control positions (-1,1)
static const float ailTrim = 0.0;
static const float elvTrim = 0.0;
static const float rdrTrim = 0.0;
static const float thrTrim = 0.5;
#include "ControllerPlane.h"
#endif /* PLANEEASYSTAR_H_ */

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/*
* QuadArducopter.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef QUADARDUCOPTER_H_
#define QUADARDUCOPTER_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerQuad
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
//motor parameters
static const float MOTOR_MAX = 1;
static const float MOTOR_MIN = 0.1;
// position control loop
static const float PID_POS_INTERVAL = 1 / 100; // 5 hz
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
static const float PID_POS_LIM = 0; // about 5 deg
static const float PID_POS_AWU = 0; // about 5 deg
static const float PID_POS_Z_P = 0;
static const float PID_POS_Z_I = 0;
static const float PID_POS_Z_D = 0;
static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;
// attitude control loop
static const float PID_ATT_INTERVAL = 1 / 100; // 100 hz
static const float PID_ATT_P = 0.1; // 0.1
static const float PID_ATT_I = 0; // 0.0
static const float PID_ATT_D = 0.1; // 0.1
static const float PID_ATT_LIM = 1; // 0.01 // 10 % #define MOTORs
static const float PID_ATT_AWU = 0; // 0.0
static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = .2;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .3; // 0.01 // 10 % MOTORs
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
// mixing
static const float MIX_REMOTE_WEIGHT = 1;
static const float MIX_POSITION_WEIGHT = 1;
static const float MIX_POSITION_Z_WEIGHT = 1;
static const float MIX_POSITION_YAW_WEIGHT = 1;
static const float THRUST_HOVER_OFFSET = 0.475;
#include "ControllerQuad.h"
#endif /* QUADARDUCOPTER_H_ */

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/*
* QuadMikrokopter
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef QUADMIKROKOPTER_H_
#define QUADMIKROKOPTER_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerQuad
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
//motor parameters
static const float MOTOR_MAX = 1;
static const float MOTOR_MIN = 0.1;
// position control loop
static const float PID_POS_INTERVAL = 1 / 100; // 5 hz
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
static const float PID_POS_LIM = 0; // about 5 deg
static const float PID_POS_AWU = 0; // about 5 deg
static const float PID_POS_Z_P = 0;
static const float PID_POS_Z_I = 0;
static const float PID_POS_Z_D = 0;
static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;
// attitude control loop
static const float PID_ATT_INTERVAL = 1 / 100; // 100 hz
static const float PID_ATT_P = 0.1; // 0.1
static const float PID_ATT_I = 0; // 0.0
static const float PID_ATT_D = 0.1; // 0.1
static const float PID_ATT_LIM = 1; // 0.01 // 10 % #define MOTORs
static const float PID_ATT_AWU = 0; // 0.0
static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = .2;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .3; // 0.01 // 10 % MOTORs
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
// mixing
static const float MIX_REMOTE_WEIGHT = 1;
static const float MIX_POSITION_WEIGHT = 1;
static const float MIX_POSITION_Z_WEIGHT = 1;
static const float MIX_POSITION_YAW_WEIGHT = 1;
static const float THRUST_HOVER_OFFSET = 0.475;
#include "ControllerQuad.h"
#endif /* QUADMIKROKOPTER_H_ */

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// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
#include <WProgram.h>
// Vehicle Configuration
#include "PlaneEasystar.h"
// ArduPilotOne Default Setup
#include "APO_DefaultSetup.h"

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*.swp
*.pyc
.DS_Store
arkcmake

674
cmake/arkcmake/COPYING Normal file
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d) Limiting the use for publicity purposes of names of licensors or
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any liability that these contractual assumptions directly impose on
those licensors and authors.
All other non-permissive additional terms are considered "further
restrictions" within the meaning of section 10. If the Program as you
received it, or any part of it, contains a notice stating that it is
governed by this License along with a term that is a further
restriction, you may remove that term. If a license document contains
a further restriction but permits relicensing or conveying under this
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If you add terms to a covered work in accord with this section, you
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Additional terms, permissive or non-permissive, may be stated in the
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the above requirements apply either way.
8. Termination.
You may not propagate or modify a covered work except as expressly
provided under this License. Any attempt otherwise to propagate or
modify it is void, and will automatically terminate your rights under
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paragraph of section 11).
However, if you cease all violation of this License, then your
license from a particular copyright holder is reinstated (a)
provisionally, unless and until the copyright holder explicitly and
finally terminates your license, and (b) permanently, if the copyright
holder fails to notify you of the violation by some reasonable means
prior to 60 days after the cessation.
Moreover, your license from a particular copyright holder is
reinstated permanently if the copyright holder notifies you of the
violation by some reasonable means, this is the first time you have
received notice of violation of this License (for any work) from that
copyright holder, and you cure the violation prior to 30 days after
your receipt of the notice.
Termination of your rights under this section does not terminate the
licenses of parties who have received copies or rights from you under
this License. If your rights have been terminated and not permanently
reinstated, you do not qualify to receive new licenses for the same
material under section 10.
9. Acceptance Not Required for Having Copies.
You are not required to accept this License in order to receive or
run a copy of the Program. Ancillary propagation of a covered work
occurring solely as a consequence of using peer-to-peer transmission
to receive a copy likewise does not require acceptance. However,
nothing other than this License grants you permission to propagate or
modify any covered work. These actions infringe copyright if you do
not accept this License. Therefore, by modifying or propagating a
covered work, you indicate your acceptance of this License to do so.
10. Automatic Licensing of Downstream Recipients.
Each time you convey a covered work, the recipient automatically
receives a license from the original licensors, to run, modify and
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An "entity transaction" is a transaction transferring control of an
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Corresponding Source of the work from the predecessor in interest, if
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You may not impose any further restrictions on the exercise of the
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not impose a license fee, royalty, or other charge for exercise of
rights granted under this License, and you may not initiate litigation
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11. Patents.
A "contributor" is a copyright holder who authorizes use under this
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work thus licensed is called the contributor's "contributor version".
A contributor's "essential patent claims" are all patent claims
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available, or (2) arrange to deprive yourself of the benefit of the
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If, pursuant to or in connection with a single transaction or
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A patent license is "discriminatory" if it does not include within
the scope of its coverage, prohibits the exercise of, or is
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contain the covered work, unless you entered into that arrangement,
or that patent license was granted, prior to 28 March 2007.
Nothing in this License shall be construed as excluding or limiting
any implied license or other defenses to infringement that may
otherwise be available to you under applicable patent law.
12. No Surrender of Others' Freedom.
If conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot convey a
covered work so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you may
not convey it at all. For example, if you agree to terms that obligate you
to collect a royalty for further conveying from those to whom you convey
the Program, the only way you could satisfy both those terms and this
License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
Notwithstanding any other provision of this License, you have
permission to link or combine any covered work with a work licensed
under version 3 of the GNU Affero General Public License into a single
combined work, and to convey the resulting work. The terms of this
License will continue to apply to the part which is the covered work,
but the special requirements of the GNU Affero General Public License,
section 13, concerning interaction through a network will apply to the
combination as such.
14. Revised Versions of this License.
The Free Software Foundation may publish revised and/or new versions of
the GNU General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the
Program specifies that a certain numbered version of the GNU General
Public License "or any later version" applies to it, you have the
option of following the terms and conditions either of that numbered
version or of any later version published by the Free Software
Foundation. If the Program does not specify a version number of the
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by the Free Software Foundation.
If the Program specifies that a proxy can decide which future
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Later license versions may give you additional or different
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author or copyright holder as a result of your choosing to follow a
later version.
15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
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THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
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EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

27
cmake/arkcmake/DefineCMakeDefaults.cmake Normal file
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@ -0,0 +1,27 @@
# Always include srcdir and builddir in include path
# This saves typing ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY} in
# about every subdir
# since cmake 2.4.0
set(CMAKE_INCLUDE_CURRENT_DIR ON)
# Put the include dirs which are in the source or build tree
# before all other include dirs, so the headers in the sources
# are prefered over the already installed ones
# since cmake 2.4.1
set(CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
# Use colored output
# since cmake 2.4.0
set(CMAKE_COLOR_MAKEFILE ON)
# Define the generic version of the libraries here
set(GENERIC_LIB_VERSION "0.1.0")
set(GENERIC_LIB_SOVERSION "0")
# Set the default build type to release with debug info
if (NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RelWithDebInfo
CACHE STRING
"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
)
endif (NOT CMAKE_BUILD_TYPE)

71
cmake/arkcmake/DefineCompilerFlags.cmake Normal file
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# define system dependent compiler flags
include(CheckCCompilerFlag)
include(MacroCheckCCompilerFlagSSP)
if (UNIX AND NOT WIN32)
#
# Define GNUCC compiler flags
#
if (${CMAKE_C_COMPILER_ID} MATCHES GNU)
# add -Wconversion ?
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -pedantic -pedantic-errors")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wshadow -Wmissing-prototypes -Wdeclaration-after-statement")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wunused -Wfloat-equal -Wpointer-arith -Wwrite-strings -Wformat-security")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wmissing-format-attribute")
# with -fPIC
check_c_compiler_flag("-fPIC" WITH_FPIC)
if (WITH_FPIC)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
endif (WITH_FPIC)
check_c_compiler_flag_ssp("-fstack-protector" WITH_STACK_PROTECTOR)
if (WITH_STACK_PROTECTOR)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fstack-protector")
endif (WITH_STACK_PROTECTOR)
check_c_compiler_flag("-D_FORTIFY_SOURCE=2" WITH_FORTIFY_SOURCE)
if (WITH_FORTIFY_SOURCE)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D_FORTIFY_SOURCE=2")
endif (WITH_FORTIFY_SOURCE)
endif (${CMAKE_C_COMPILER_ID} MATCHES GNU)
#
# Check for large filesystem support
#
if (CMAKE_SIZEOF_VOID_P MATCHES "8")
# with large file support
execute_process(
COMMAND
getconf LFS64_CFLAGS
OUTPUT_VARIABLE
_lfs_CFLAGS
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE
)
else (CMAKE_SIZEOF_VOID_P MATCHES "8")
# with large file support
execute_process(
COMMAND
getconf LFS_CFLAGS
OUTPUT_VARIABLE
_lfs_CFLAGS
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE
)
endif (CMAKE_SIZEOF_VOID_P MATCHES "8")
if (_lfs_CFLAGS)
string(REGEX REPLACE "[\r\n]" " " "${_lfs_CFLAGS}" "${${_lfs_CFLAGS}}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${_lfs_CFLAGS}")
endif (_lfs_CFLAGS)
endif (UNIX AND NOT WIN32)
if (MSVC)
# Use secure functions by defaualt and suppress warnings about
#"deprecated" functions
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_CPP_OVERLOAD_STANDARD_NAMES=1")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_CPP_OVERLOAD_STANDARD_NAMES_COUNT=1")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_NONSTDC_NO_WARNINGS=1 /D _CRT_SECURE_NO_WARNINGS=1")
endif (MSVC)

104
cmake/arkcmake/DefineInstallationPaths.cmake Normal file
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if (WIN32)
# Same same
set(BIN_INSTALL_DIR "bin" CACHE PATH "-")
set(SBIN_INSTALL_DIR "." CACHE PATH "-")
set(LIB_INSTALL_DIR "lib" CACHE PATH "-")
set(INCLUDE_INSTALL_DIR "include" CACHE PATH "-")
set(PLUGIN_INSTALL_DIR "plugins" CACHE PATH "-")
set(HTML_INSTALL_DIR "doc/HTML" CACHE PATH "-")
set(ICON_INSTALL_DIR "." CACHE PATH "-")
set(SOUND_INSTALL_DIR "." CACHE PATH "-")
set(LOCALE_INSTALL_DIR "lang" CACHE PATH "-")
elseif (UNIX OR OS2)
IF (NOT APPLICATION_NAME)
MESSAGE(STATUS "${PROJECT_NAME} is used as APPLICATION_NAME")
SET(APPLICATION_NAME ${PROJECT_NAME})
ENDIF (NOT APPLICATION_NAME)
# Suffix for Linux
SET(LIB_SUFFIX
CACHE STRING "Define suffix of directory name (32/64)"
)
SET(EXEC_INSTALL_PREFIX
"${CMAKE_INSTALL_PREFIX}"
CACHE PATH "Base directory for executables and libraries"
)
SET(SHARE_INSTALL_PREFIX
"${CMAKE_INSTALL_PREFIX}/share"
CACHE PATH "Base directory for files which go to share/"
)
SET(DATA_INSTALL_PREFIX
"${SHARE_INSTALL_PREFIX}/${APPLICATION_NAME}"
CACHE PATH "The parent directory where applications can install their data")
# The following are directories where stuff will be installed to
SET(BIN_INSTALL_DIR
"${EXEC_INSTALL_PREFIX}/bin"
CACHE PATH "The ${APPLICATION_NAME} binary install dir (default prefix/bin)"
)
SET(SBIN_INSTALL_DIR
"${EXEC_INSTALL_PREFIX}/sbin"
CACHE PATH "The ${APPLICATION_NAME} sbin install dir (default prefix/sbin)"
)
SET(LIB_INSTALL_DIR
"${EXEC_INSTALL_PREFIX}/lib${LIB_SUFFIX}"
CACHE PATH "The subdirectory relative to the install prefix where libraries will be installed (default is prefix/lib)"
)
SET(LIBEXEC_INSTALL_DIR
"${EXEC_INSTALL_PREFIX}/libexec"
CACHE PATH "The subdirectory relative to the install prefix where libraries will be installed (default is prefix/libexec)"
)
SET(PLUGIN_INSTALL_DIR
"${LIB_INSTALL_DIR}/${APPLICATION_NAME}"
CACHE PATH "The subdirectory relative to the install prefix where plugins will be installed (default is prefix/lib/${APPLICATION_NAME})"
)
SET(INCLUDE_INSTALL_DIR
"${CMAKE_INSTALL_PREFIX}/include"
CACHE PATH "The subdirectory to the header prefix (default prefix/include)"
)
SET(DATA_INSTALL_DIR
"${DATA_INSTALL_PREFIX}"
CACHE PATH "The parent directory where applications can install their data (default prefix/share/${APPLICATION_NAME})"
)
SET(HTML_INSTALL_DIR
"${DATA_INSTALL_PREFIX}/doc/HTML"
CACHE PATH "The HTML install dir for documentation (default data/doc/html)"
)
SET(ICON_INSTALL_DIR
"${DATA_INSTALL_PREFIX}/icons"
CACHE PATH "The icon install dir (default data/icons/)"
)
SET(SOUND_INSTALL_DIR
"${DATA_INSTALL_PREFIX}/sounds"
CACHE PATH "The install dir for sound files (default data/sounds)"
)
SET(LOCALE_INSTALL_DIR
"${SHARE_INSTALL_PREFIX}/locale"
CACHE PATH "The install dir for translations (default prefix/share/locale)"
)
SET(XDG_APPS_DIR
"${SHARE_INSTALL_PREFIX}/applications/"
CACHE PATH "The XDG apps dir"
)
SET(XDG_DIRECTORY_DIR
"${SHARE_INSTALL_PREFIX}/desktop-directories"
CACHE PATH "The XDG directory"
)
SET(SYSCONF_INSTALL_DIR
"${EXEC_INSTALL_PREFIX}/etc"
CACHE PATH "The ${APPLICATION_NAME} sysconfig install dir (default prefix/etc)"
)
SET(MAN_INSTALL_DIR
"${SHARE_INSTALL_PREFIX}/man"
CACHE PATH "The ${APPLICATION_NAME} man install dir (default prefix/man)"
)
SET(INFO_INSTALL_DIR
"${SHARE_INSTALL_PREFIX}/info"
CACHE PATH "The ${APPLICATION_NAME} info install dir (default prefix/info)"
)
endif ()

28
cmake/arkcmake/DefinePlatformDefaults.cmake Normal file
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# Set system vars
if (CMAKE_SYSTEM_NAME MATCHES "Linux")
set(LINUX TRUE)
endif(CMAKE_SYSTEM_NAME MATCHES "Linux")
if (CMAKE_SYSTEM_NAME MATCHES "FreeBSD")
set(FREEBSD TRUE)
set(BSD TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "FreeBSD")
if (CMAKE_SYSTEM_NAME MATCHES "OpenBSD")
set(OPENBSD TRUE)
set(BSD TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "OpenBSD")
if (CMAKE_SYSTEM_NAME MATCHES "NetBSD")
set(NETBSD TRUE)
set(BSD TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "NetBSD")
if (CMAKE_SYSTEM_NAME MATCHES "(Solaris|SunOS)")
set(SOLARIS TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "(Solaris|SunOS)")
if (CMAKE_SYSTEM_NAME MATCHES "OS2")
set(OS2 TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "OS2")

36
cmake/arkcmake/FindARKCOMM.cmake Normal file
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@ -0,0 +1,36 @@
# - Try to find ARKCOMM
# Once done, this will define
#
# ARKCOMM_FOUND - system has scicoslab
# ARKCOMM_INCLUDE_DIRS - the scicoslab include directories
# ARKCOMM_LIBRARIES - libraries to link to
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(ARKCOMM)
# Include dir
find_path(ARKCOMM_INCLUDE_DIR
NAMES arkcomm/AsyncSerial.hpp
PATHS ${COMMON_INCLUDE_PATHS_ARKCOMM}
)
# the library itself
find_library(ARKCOMM_LIBRARY
NAMES arkcomm
PATHS ${COMMON_LIBRARY_PATHS_ARKCOMM}
)
# the import file
find_path(ARKCOMM_LIBRARY_DIR
NAMES arkcomm/arkcomm-targets.cmake
PATHS ${COMMON_LIBRARY_PATHS_ARKCOMM}
)
set(ARKCOMM_LIB_IMPORT ${ARKCOMM_LIBRARY_DIR}/arkcomm/arkcomm-targets.cmake)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(ARKCOMM_PROCESS_INCLUDES ARKCOMM_INCLUDE_DIR)
set(ARKCOMM_PROCESS_LIBS ARKCOMM_LIBRARY ARKCOMM_LIBRARIES)
libfind_process(ARKCOMM)

43
cmake/arkcmake/FindARKMATH.cmake Normal file
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# - Try to find ARKMATH
# Once done, this will define
#
# ARKMATH_FOUND - system has scicoslab
# ARKMATH_INCLUDE_DIRS - the scicoslab include directories
# ARKMATH_LIBRARIES - libraries to link to
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(ARKMATH)
# Include dir
find_path(ARKMATH_INCLUDE_DIR
NAMES arkmath/storage_adaptors.hpp
PATHS ${COMMON_INCLUDE_PATHS_ARKMATH}
)
# data dir
find_path(ARKMATH_DATA_DIR_SEARCH
NAMES arkmath/data/WMM.COF
PATHS ${COMMON_DATA_PATHS_ARKMATH}
)
set(ARKMATH_DATA_DIR ${ARKMATH_DATA_DIR_SEARCH}/arkmath/data)
# the library itself
find_library(ARKMATH_LIBRARY
NAMES arkmath
PATHS ${COMMON_LIBRARY_PATHS_ARKMATH}
)
# the import file
find_path(ARKMATH_LIBRARY_DIR
NAMES arkmath/arkmath-targets.cmake
PATHS ${COMMON_LIBRARY_PATHS_ARKMATH}
)
set(ARKMATH_LIB_IMPORT ${ARKMATH_LIBRARY_DIR}/arkmath/arkmath-targets.cmake)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(ARKMATH_PROCESS_INCLUDES ARKMATH_INCLUDE_DIR)
set(ARKMATH_PROCESS_LIBS ARKMATH_LIBRARY ARKMATH_LIBRARIES)
libfind_process(ARKMATH)

43
cmake/arkcmake/FindARKOSG.cmake Normal file
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# - Try to find ARKOSG
# Once done, this will define
#
# ARKOSG_FOUND - system has scicoslab
# ARKOSG_INCLUDE_DIRS - the scicoslab include directories
# ARKOSG_LIBRARIES - libraries to link to
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(ARKOSG)
# Include dir
find_path(ARKOSG_INCLUDE_DIR
NAMES arkosg/osgUtils.hpp
PATHS ${COMMON_INCLUDE_PATHS_ARKOSG}
)
# data dir
find_path(ARKOSG_DATA_DIR_SEARCH
NAMES arkosg/data/models/plane.ac
PATHS ${COMMON_DATA_PATHS_ARKOSG}
)
set(ARKOSG_DATA_DIR ${ARKOSG_DATA_DIR_SEARCH}/arkosg/data)
# the library itself
find_library(ARKOSG_LIBRARY
NAMES arkosg
PATHS ${COMMON_LIBRARY_PATHS_ARKOSG}
)
# the import file
find_path(ARKOSG_LIBRARY_DIR
NAMES arkosg/arkosg-targets.cmake
PATHS ${COMMON_LIBRARY_PATHS_ARKOSG}
)
set(ARKOSG_LIB_IMPORT ${ARKOSG_LIBRARY_DIR}/arkosg/arkosg-targets.cmake)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(ARKOSG_PROCESS_INCLUDES ARKOSG_INCLUDE_DIR)
set(ARKOSG_PROCESS_LIBS ARKOSG_LIBRARY ARKOSG_LIBRARIES)
libfind_process(ARKOSG)

36
cmake/arkcmake/FindARKSCICOS.cmake Normal file
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@ -0,0 +1,36 @@
# - Try to find ARKSCICOS
# Once done, this will define
#
# ARKSCICOS_FOUND - system has scicoslab
# ARKSCICOS_INCLUDE_DIRS - the scicoslab include directories
# ARKSCICOS_LIBRARIES - libraries to link to
include(LibFindMacroos)
include(MacroCommonPaths)
MacroCommonPaths(ARKSCICOS)
# Include dir
find_path(ARKSCICOS_INCLUDE_DIR
NAMES definiotions.hpp
PATHS ${COMMON_INCLUDE_PATHS_ARKSCICOS}
)
# the library itself
find_library(ARKSCICOS_LIBRARY
NAMES arkscicos
PATHS ${COMMON_LIBRARY_PATHS_ARKSCICOS}
)
# the import file
find_path(ARKSCICOS_LIBRARY_DIR
NAMES arkscicos/arkscicos-targets.cmake
PATHS ${COMMON_LIBRARY_PATHS_ARKSCICOS}
)
set(ARKSCICOS_LIB_IMPORT ${ARKSCICOS_LIBRARY_DIR}/arkscicos/arkscicos-targets.cmake)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(ARKSCICOS_PROCESS_INCLUDES ARKSCICOS_INCLUDE_DIR)
set(ARKSCICOS_PROCESS_LIBS ARKSCICOS_LIBRARY ARKSCICOS_LIBRARIES)
libfind_process(ARKSCICOS)

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cmake/arkcmake/FindBOOSTNUMERICBINDINGS.cmake Normal file
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# - Try to find BOOSTNUMERICBINDINGS
# Once done, this will define
#
# BOOSTNUMERICBINDINGS_FOUND - system has scicoslab
# BOOSTNUMERICBINDINGS_INCLUDE_DIRS - the scicoslab include directories
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(BOOSTNUMERICBINDINGS)
# Include dir
find_path(BOOSTNUMERICBINDINGS_INCLUDE_DIR
NAMES boost/numeric/bindings/lapack/lapack.h
PATHS ${COMMON_INCLUDE_PATHS_BOOSTNUMERICBINDINGS}
)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(BOOSTNUMERICBINDINGS_PROCESS_INCLUDES BOOSTNUMERICBINDINGS_INCLUDE_DIR)
libfind_process(BOOSTNUMERICBINDINGS)

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cmake/arkcmake/FindEASYSTAR.cmake Normal file
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# - Try to find EASYSTAR
# Once done, this will define
#
# EASYSTAR_FOUND - system has easystar
# EASYSTAR_INCLUDE_DIRS - the easystar include directories
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(EASYSTAR)
# Include dir
find_path(EASYSTAR_INCLUDE_DIR
NAMES easystar/easystar.xml
PATHS ${COMMON_INCLUDE_PATHS_EASYSTAR}
)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(EASYSTAR_PROCESS_INCLUDES EASYSTAR_INCLUDE_DIR)
libfind_process(EASYSTAR)

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cmake/arkcmake/FindJSBSIM.cmake Normal file
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# - Try to find JSBSIM
# Once done, this will define
#
# JSBSIM_FOUND - system has scicoslab
# JSBSIM_INCLUDE_DIRS - the scicoslab include directories
# JSBSIM_LIBRARIES - libraries to link to
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(JSBSIM)
# Include dir
find_path(JSBSIM_INCLUDE_DIR
NAMES JSBSim/initialization/FGTrimmer.h
PATHS ${COMMON_INCLUDE_PATHS_JSBSIM}
)
# data dir
find_path(JSBSIM_DATA_DIR_SEARCH
NAMES jsbsim/aircraft/aircraft_template.xml
PATHS ${COMMON_DATA_PATHS_JSBSIM}
)
set(JSBSIM_DATA_DIR ${JSBSIM_DATA_DIR_SEARCH}/jsbsim)
# Finally the library itself
find_library(JSBSIM_LIBRARY
NAMES JSBSim
PATHS ${COMMON_LIBRARY_PATHS_JSBSIM}
)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(JSBSIM_PROCESS_INCLUDES JSBSIM_INCLUDE_DIR)
set(JSBSIM_PROCESS_LIBS JSBSIM_LIBRARY JSBSIM_LIBRARIES)
set(JSBSIM_INCLUDE_DIR ${JSBSIM_INCLUDE_DIR} ${JSBSIM_INCLUDE_DIR}/JSBSim)
set(JSBSIM_INCLUDES ${JSBSIM_INCLUDES} ${JSBSIM_INCLUDE_DIR}/JSBSim)
libfind_process(JSBSIM)

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# - Try to find MAVLINK
# Once done, this will define
#
# MAVLINK_FOUND - system has scicoslab
# MAVLINK_INCLUDE_DIRS - the scicoslab include directories
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(MAVLINK)
# Include dir
find_path(MAVLINK_INCLUDE_DIR
NAMES mavlink/mavlink_types.h
PATHS ${COMMON_INCLUDE_PATHS_MAVLINK}
)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(MAVLINK_PROCESS_INCLUDES MAVLINK_INCLUDE_DIR)
libfind_process(MAVLINK)

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# Locate plib
# This module defines
# PLIB_LIBRARY
# PLIB_FOUND, if false, do not try to link to plib
# PLIB_INCLUDE_DIR, where to find the headers
#
# $PLIB_DIR is an environment variable that would
# correspond to the ./configure --prefix=$PLIB_DIR
#
# Created David Guthrie with code by Robert Osfield.
FIND_PATH(PLIB_INCLUDE_DIR plib/js.h
$ENV{PLIB_DIR}/include
$ENV{PLIB_DIR}
$ENV{PLIB_ROOT}/include
${DELTA3D_EXT_DIR}/inc
$ENV{DELTA_ROOT}/ext/inc
~/Library/Frameworks
/Library/Frameworks
/usr/local/include
/usr/include
/sw/include # Fink
/opt/local/include # DarwinPorts
/opt/csw/include # Blastwave
/opt/include
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\ Manager\\Environment;PLIB_ROOT]/include
/usr/freeware/include
)
MACRO(FIND_PLIB_LIBRARY MYLIBRARY MYLIBRARYNAMES)
FIND_LIBRARY(${MYLIBRARY}
NAMES ${MYLIBRARYNAMES}
PATHS
$ENV{PLIB_DIR}/lib
$ENV{PLIB_DIR}
$ENV{OSGDIR}/lib
$ENV{OSGDIR}
$ENV{PLIB_ROOT}/lib
${DELTA3D_EXT_DIR}/lib
$ENV{DELTA_ROOT}/ext/lib
~/Library/Frameworks
/Library/Frameworks
/usr/local/lib
/usr/lib
/sw/lib
/opt/local/lib
/opt/csw/lib
/opt/lib
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\ Manager\\Environment;PLIB_ROOT]/lib
/usr/freeware/lib64
)
ENDMACRO(FIND_PLIB_LIBRARY MYLIBRARY MYLIBRARYNAMES)
SET(PLIB_RELEASE_JS_LIB_NAMES js plibjs)
SET(PLIB_RELEASE_UL_LIB_NAMES ul plibul)
SET(PLIB_DEBUG_JS_LIB_NAMES js_d plibjs_d)
SET(PLIB_DEBUG_UL_LIB_NAMES ul_d plibul_d)
FIND_PLIB_LIBRARY(PLIB_JS_LIBRARY "${PLIB_RELEASE_JS_LIB_NAMES}")
FIND_PLIB_LIBRARY(PLIB_JS_LIBRARY_DEBUG "${PLIB_DEBUG_JS_LIB_NAMES}")
FIND_PLIB_LIBRARY(PLIB_UL_LIBRARY "${PLIB_RELEASE_UL_LIB_NAMES}")
FIND_PLIB_LIBRARY(PLIB_UL_LIBRARY_DEBUG "${PLIB_DEBUG_UL_LIB_NAMES}")
SET(PLIB_FOUND "NO")
IF(PLIB_JS_LIBRARY AND PLIB_INCLUDE_DIR)
SET(PLIB_FOUND "YES")
ENDIF(PLIB_JS_LIBRARY AND PLIB_INCLUDE_DIR)

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# - Try to find SCICOSLAB
# Once done, this will define
#
# SCICOSLAB_FOUND - system has scicoslab
# SCICOSLAB_INCLUDE_DIRS - the scicoslab include directories
# SCICOSLAB_CONTRIB_DIR - the scicoslab contrib directory
include(LibFindMacros)
# find scicos
if (APPLE)
execute_process(COMMAND mdfind "kMDItemKind == Application && kMDItemDisplayName == ScicosLabGtk"
COMMAND head -1
RESULT_VARIABLE RESULT
OUTPUT_VARIABLE SCICOS_APP_BUNDLE
ERROR_VARIABLE ERROR_MESSAGE
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (RESULT)
MESSAGE(FATAL_ERROR "Could not locate 'ScicosLabGtk.app' - ${ERROR_MESSAGE}")
endif (RESULT)
execute_process(COMMAND find ${SCICOS_APP_BUNDLE} -name routines
COMMAND head -1
RESULT_VARIABLE RESULT
OUTPUT_VARIABLE SCICOSLAB_GUESS_INCLUDE_DIRS
ERROR_VARIABLE ERROR_MESSAGE
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (RESULT)
MESSAGE(FATAL_ERROR "Could not locate 'scicos_block4.h' in ScicosLabGtk.app - ${ERROR_MESSAGE}")
endif (RESULT)
execute_process(COMMAND find ${SCICOS_APP_BUNDLE} -name contrib
COMMAND head -1
RESULT_VARIABLE RESULT
OUTPUT_VARIABLE SCICOSLAB_GUESS_CONTRIB_DIRS
ERROR_VARIABLE ERROR_MESSAGE
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (RESULT)
MESSAGE(FATAL_ERROR "Could not locate 'loader.sce' in ScicosLabGtk.app - ${ERROR_MESSAGE}")
endif (RESULT)
elseif(UNIX)
set(SCICOSLAB_GUESS_INCLUDE_DIRS
/usr/lib/scicoslab-gtk-4.4b7/routines
/usr/lib/scicoslab-gtk-4.4/routines
/usr/lib/scicoslab-gtk-4.4.1/routines
)
set(SCICOSLAB_GUESS_CONTRIB_DIRS
/usr/lib/scicoslab-gtk-4.4b7/contrib
/usr/lib/scicoslab-gtk-4.4/contrib
/usr/lib/scicoslab-gtk-4.4.1/contrib
)
elseif(WIN32)
message(FATAL_ERROR "scicoslab cmake find module doesn't work for windows")
endif()
# Include dir
find_path(SCICOSLAB_INCLUDE_DIR
NAMES scicos/scicos_block4.h
PATHS ${SCICOSLAB_GUESS_INCLUDE_DIRS}
)
# Contrib dir
find_path(SCICOSLAB_CONTRIB_DIR
NAMES loader.sce
PATHS ${SCICOSLAB_GUESS_CONTRIB_DIRS}
)
message(STATUS "contrib dir ${SCICOSLAB_CONTRIB_DIR}")
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(SCICOSLAB_PROCESS_INCLUDES SCICOSLAB_INCLUDE_DIR)
libfind_process(SCICOSLAB)
# vim:ts=4:sw=4:expandtab

29
cmake/arkcmake/FindSIMGEAR.cmake Normal file
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# - Try to find SIMGEAR
# Once done, this will define
#
# SIMGEAR_FOUND - system has scicoslab
# SIMGEAR_INCLUDE_DIRS - the scicoslab include directories
# SIMGEAR_LIBRARIES - libraries to link to
include(LibFindMacros)
include(MacroCommonPaths)
MacroCommonPaths(SIMGEAR)
# Include dir
find_path(SIMGEAR_INCLUDE_DIR
NAMES simgear/version.h
PATHS ${COMMON_INCLUDE_PATHS_SIMGEAR}
)
# Finally the library itself
find_library(SIMGEAR_LIBRARY
NAMES sgio
PATHS ${COMMON_LIBRARY_PATHS_SIMGEAR}
)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(SIMGEAR_PROCESS_INCLUDES SIMGEAR_INCLUDE_DIR)
set(SIMGEAR_PROCESS_LIBS SIMGEAR_LIBRARY SIMGEAR_LIBRARIES)
libfind_process(SIMGEAR)

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# Works the same as find_package, but forwards the "REQUIRED" and "QUIET" arguments
# used for the current package. For this to work, the first parameter must be the
# prefix of the current package, then the prefix of the new package etc, which are
# passed to find_package.
macro (libfind_package PREFIX)
set (LIBFIND_PACKAGE_ARGS ${ARGN})
if (${PREFIX}_FIND_QUIETLY)
set (LIBFIND_PACKAGE_ARGS ${LIBFIND_PACKAGE_ARGS} QUIET)
endif (${PREFIX}_FIND_QUIETLY)
if (${PREFIX}_FIND_REQUIRED)
set (LIBFIND_PACKAGE_ARGS ${LIBFIND_PACKAGE_ARGS} REQUIRED)
endif (${PREFIX}_FIND_REQUIRED)
find_package(${LIBFIND_PACKAGE_ARGS})
endmacro (libfind_package)
# CMake developers made the UsePkgConfig system deprecated in the same release (2.6)
# where they added pkg_check_modules. Consequently I need to support both in my scripts
# to avoid those deprecated warnings. Here's a helper that does just that.
# Works identically to pkg_check_modules, except that no checks are needed prior to use.
macro (libfind_pkg_check_modules PREFIX PKGNAME)
if (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4)
include(UsePkgConfig)
pkgconfig(${PKGNAME} ${PREFIX}_INCLUDE_DIRS ${PREFIX}_LIBRARY_DIRS ${PREFIX}_LDFLAGS ${PREFIX}_CFLAGS)
else (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4)
find_package(PkgConfig)
if (PKG_CONFIG_FOUND)
pkg_check_modules(${PREFIX} ${PKGNAME})
endif (PKG_CONFIG_FOUND)
endif (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4)
endmacro (libfind_pkg_check_modules)
# Do the final processing once the paths have been detected.
# If include dirs are needed, ${PREFIX}_PROCESS_INCLUDES should be set to contain
# all the variables, each of which contain one include directory.
# Ditto for ${PREFIX}_PROCESS_LIBS and library files.
# Will set ${PREFIX}_FOUND, ${PREFIX}_INCLUDE_DIRS and ${PREFIX}_LIBRARIES.
# Also handles errors in case library detection was required, etc.
macro (libfind_process PREFIX)
# Skip processing if already processed during this run
if (NOT ${PREFIX}_FOUND)
# Start with the assumption that the library was found
set (${PREFIX}_FOUND TRUE)
# Process all includes and set _FOUND to false if any are missing
foreach (i ${${PREFIX}_PROCESS_INCLUDES})
if (${i})
set (${PREFIX}_INCLUDE_DIRS ${${PREFIX}_INCLUDE_DIRS} ${${i}})
mark_as_advanced(${i})
else (${i})
set (${PREFIX}_FOUND FALSE)
endif (${i})
endforeach (i)
# Process all libraries and set _FOUND to false if any are missing
foreach (i ${${PREFIX}_PROCESS_LIBS})
if (${i})
set (${PREFIX}_LIBRARIES ${${PREFIX}_LIBRARIES} ${${i}})
mark_as_advanced(${i})
else (${i})
set (${PREFIX}_FOUND FALSE)
endif (${i})
endforeach (i)
# Print message and/or exit on fatal error
if (${PREFIX}_FOUND)
if (NOT ${PREFIX}_FIND_QUIETLY)
message (STATUS "Found ${PREFIX} ${${PREFIX}_VERSION}")
endif (NOT ${PREFIX}_FIND_QUIETLY)
else (${PREFIX}_FOUND)
if (${PREFIX}_FIND_REQUIRED)
foreach (i ${${PREFIX}_PROCESS_INCLUDES} ${${PREFIX}_PROCESS_LIBS})
message("${i}=${${i}}")
endforeach (i)
message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, use ccmake to set the missing variables manually.")
endif (${PREFIX}_FIND_REQUIRED)
endif (${PREFIX}_FOUND)
endif (NOT ${PREFIX}_FOUND)
endmacro (libfind_process)
macro(libfind_library PREFIX basename)
set(TMP "")
if(MSVC80)
set(TMP -vc80)
endif(MSVC80)
if(MSVC90)
set(TMP -vc90)
endif(MSVC90)
set(${PREFIX}_LIBNAMES ${basename}${TMP})
if(${ARGC} GREATER 2)
set(${PREFIX}_LIBNAMES ${basename}${TMP}-${ARGV2})
string(REGEX REPLACE "\\." "_" TMP ${${PREFIX}_LIBNAMES})
set(${PREFIX}_LIBNAMES ${${PREFIX}_LIBNAMES} ${TMP})
endif(${ARGC} GREATER 2)
find_library(${PREFIX}_LIBRARY
NAMES ${${PREFIX}_LIBNAMES}
PATHS ${${PREFIX}_PKGCONF_LIBRARY_DIRS}
)
endmacro(libfind_library)

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cmake/arkcmake/MacroAddCompileFlags.cmake Normal file
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# - MACRO_ADD_COMPILE_FLAGS(target_name flag1 ... flagN)
# Copyright (c) 2006, Oswald Buddenhagen, <ossi@kde.org>
# Copyright (c) 2006, Andreas Schneider, <mail@cynapses.org>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
macro (MACRO_ADD_COMPILE_FLAGS _target)
get_target_property(_flags ${_target} COMPILE_FLAGS)
if (_flags)
set(_flags ${_flags} ${ARGN})
else (_flags)
set(_flags ${ARGN})
endif (_flags)
set_target_properties(${_target} PROPERTIES COMPILE_FLAGS ${_flags})
endmacro (MACRO_ADD_COMPILE_FLAGS)

20
cmake/arkcmake/MacroAddLinkFlags.cmake Normal file
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# - MACRO_ADD_LINK_FLAGS(target_name flag1 ... flagN)
# Copyright (c) 2006, Oswald Buddenhagen, <ossi@kde.org>
# Copyright (c) 2006, Andreas Schneider, <mail@cynapses.org>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
macro (MACRO_ADD_LINK_FLAGS _target)
get_target_property(_flags ${_target} LINK_FLAGS)
if (_flags)
set(_flags "${_flags} ${ARGN}")
else (_flags)
set(_flags "${ARGN}")
endif (_flags)
set_target_properties(${_target} PROPERTIES LINK_FLAGS "${_flags}")
endmacro (MACRO_ADD_LINK_FLAGS)

30
cmake/arkcmake/MacroAddPlugin.cmake Normal file
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# - MACRO_ADD_PLUGIN(name [WITH_PREFIX] file1 .. fileN)
#
# Create a plugin from the given source files.
# If WITH_PREFIX is given, the resulting plugin will have the
# prefix "lib", otherwise it won't.
#
# Copyright (c) 2006, Alexander Neundorf, <neundorf@kde.org>
# Copyright (c) 2006, Laurent Montel, <montel@kde.org>
# Copyright (c) 2006, Andreas Schneider, <mail@cynapses.org>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
macro (MACRO_ADD_PLUGIN _target_NAME _with_PREFIX)
if (${_with_PREFIX} STREQUAL "WITH_PREFIX")
set(_first_SRC)
else (${_with_PREFIX} STREQUAL "WITH_PREFIX")
set(_first_SRC ${_with_PREFIX})
endif (${_with_PREFIX} STREQUAL "WITH_PREFIX")
add_library(${_target_NAME} MODULE ${_first_SRC} ${ARGN})
if (_first_SRC)
set_target_properties(${_target_NAME} PROPERTIES PREFIX "")
endif (_first_SRC)
endmacro (MACRO_ADD_PLUGIN _name _sources)

26
cmake/arkcmake/MacroCheckCCompilerFlagSSP.cmake Normal file
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# - Check whether the C compiler supports a given flag in the
# context of a stack checking compiler option.
# CHECK_C_COMPILER_FLAG_SSP(FLAG VARIABLE)
#
# FLAG - the compiler flag
# VARIABLE - variable to store the result
#
# This actually calls the check_c_source_compiles macro.
# See help for CheckCSourceCompiles for a listing of variables
# that can modify the build.
# Copyright (c) 2006, Alexander Neundorf, <neundorf@kde.org>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
INCLUDE(CheckCSourceCompiles)
MACRO (CHECK_C_COMPILER_FLAG_SSP _FLAG _RESULT)
SET(SAFE_CMAKE_REQUIRED_DEFINITIONS "${CMAKE_REQUIRED_DEFINITIONS}")
SET(CMAKE_REQUIRED_DEFINITIONS "${_FLAG}")
CHECK_C_SOURCE_COMPILES("int main(int argc, char **argv) { char buffer[256]; return buffer[argc]=0;}" ${_RESULT})
SET (CMAKE_REQUIRED_DEFINITIONS "${SAFE_CMAKE_REQUIRED_DEFINITIONS}")
ENDMACRO (CHECK_C_COMPILER_FLAG_SSP)

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macro(MacroCommonPaths NAME)
set(COMMON_INCLUDE_PATHS_${NAME}
$ENV{${NAME}_DIR}/include
$ENV{${NAME}_DIR}
$ENV{${NAME}_ROOT}/include
$ENV{${NAME}_ROOT}
~/Library/Frameworks
/Library/Frameworks
/usr/local/include
/usr/include
/sw/include # Fink
/opt/local/include # DarwinPorts
/opt/csw/include # Blastwave
/opt/include
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_DIR]/include
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_ROOT]/include
/usr/freeware/include
)
set(COMMON_LIB_PATHS_${NAME}
$ENV{${NAME}_DIR}/lib
$ENV{${NAME}_DIR}
~/Library/Frameworks
/Library/Frameworks
/usr/local/lib
/usr/lib
/sw/lib
/opt/local/lib
/opt/csw/lib
/opt/lib
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_DIR]/lib
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_ROOT]/lib
/usr/freeware/lib64
)
set(COMMON_DATA_PATHS_${NAME}
$ENV{${NAME}_DIR}/share
$ENV{${NAME}_DIR}
~/Library/Frameworks
/Library/Frameworks
/usr/local/share
/usr/share
/sw/share
/opt/local/share
/opt/csw/share
/opt/share
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_DIR]/share
[HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_ROOT]/share
/usr/freeware/share64
)
endmacro(MacroCommonPaths)
# vim:ts=4:sw=4:expandtab

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# - macro_copy_file(_src _dst)
# Copies a file to ${_dst} only if ${_src} is different (newer) than ${_dst}
#
# Example:
# macro_copy_file(${CMAKE_CURRENT_SOURCE_DIR}/icon.png ${CMAKE_CURRENT_BINARY_DIR}/.)
# Copies file icon.png to ${CMAKE_CURRENT_BINARY_DIR} directory
#
# Copyright (c) 2006-2007 Wengo
# Copyright (c) 2006-2008 Andreas Schneider <mail@cynapses.org>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING file.
macro (macro_copy_file _src _dst)
# Removes all path containing .svn or CVS or CMakeLists.txt during the copy
if (NOT ${_src} MATCHES ".*\\.svn|CVS|CMakeLists\\.txt.*")
if (CMAKE_VERBOSE_MAKEFILE)
message(STATUS "Copy file from ${_src} to ${_dst}")
endif (CMAKE_VERBOSE_MAKEFILE)
# Creates directory if necessary
get_filename_component(_path ${_dst} PATH)
file(MAKE_DIRECTORY ${_path})
execute_process(
COMMAND
${CMAKE_COMMAND} -E copy_if_different ${_src} ${_dst}
OUTPUT_QUIET
)
endif (NOT ${_src} MATCHES ".*\\.svn|CVS|CMakeLists\\.txt.*")
endmacro (macro_copy_file)

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cmake/arkcmake/MacroEnsureOutOfSourceBuild.cmake Normal file
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# - MACRO_ENSURE_OUT_OF_SOURCE_BUILD(<errorMessage>)
# MACRO_ENSURE_OUT_OF_SOURCE_BUILD(<errorMessage>)
# Copyright (c) 2006, Alexander Neundorf, <neundorf@kde.org>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
macro (MACRO_ENSURE_OUT_OF_SOURCE_BUILD _errorMessage)
string(COMPARE EQUAL "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}" _insource)
if (_insource)
file(REMOVE [CMakeCache.txt CMakeFiles])
message(FATAL_ERROR "${_errorMessage}")
endif (_insource)
endmacro (MACRO_ENSURE_OUT_OF_SOURCE_BUILD)
# vim:ts=4:sw=4:expandtab

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cmake/arkcmake/MacroFindOrBuild.cmake Normal file
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macro(MacroFindOrBuild PACKAGE PACKAGE_PATH IS_GIT_SUBMODULE)
add_custom_target(${PACKAGE})
if (NOT ${PACKAGE}_BUILD_FROM_SOURCE)
find_package(${PACKAGE})
endif()
if (NOT ${PACKAGE}_FOUND)
set(${PACKAGE}_BUILD_FROM_SOURCE TRUE)
message(STATUS "could not find package ${PACKAGE}, building from source")
add_custom_target(${PACKAGE}_BUILD DEPENDS ${PACKAGE}_BUILD.stamp)
add_dependencies(${PACKAGE} ${PACKAGE}_BUILD)
set(${PACKAGE}_FOUND TRUE)
if (${IS_GIT_SUBMODULE})
message(STATUS "${PACKAGE} detected as git submodule, will attempt to initialize it")
list(APPEND GIT_SUBMODULES ${PACKAGE_PATH})
add_dependencies(${PACKAGE}_BUILD GIT)
endif()
endif()
endmacro(MacroFindOrBuild)

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cmake/arkcmake/MacroSetDefault.cmake Normal file
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macro(MacroSetDefault VAR DEFAULT)
if (NOT DEFINED ${VAR})
set(${VAR} ${DEFAULT})
endif()
endmacro(MacroSetDefault)

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arktools cmake modules
=============
This repository contains the cmake modules used by arktools.
The python scripts do not function unless they are in an arktool.
From an arktool (ex. arktools/arkscicos) run:
```console
./cmake/updateArkcmake.py
```

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cmake/arkcmake/UseDoxygen.cmake Normal file
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# - Run Doxygen
#
# Adds a doxygen target that runs doxygen to generate the html
# and optionally the LaTeX API documentation.
# The doxygen target is added to the doc target as dependency.
# i.e.: the API documentation is built with:
# make doc
#
# USAGE: INCLUDE IN PROJECT
#
# set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
# include(UseDoxygen)
# Add the Doxyfile.in and UseDoxygen.cmake files to the projects source directory.
#
#
# Variables you may define are:
# DOXYFILE_OUTPUT_DIR - Path where the Doxygen output is stored. Defaults to "doc".
#
# DOXYFILE_LATEX_DIR - Directory where the Doxygen LaTeX output is stored. Defaults to "latex".
#
# DOXYFILE_HTML_DIR - Directory where the Doxygen html output is stored. Defaults to "html".
#
#
# Copyright (c) 2009-2010 Tobias Rautenkranz <tobias@rautenkranz.ch>
# Copyright (c) 2010 Andreas Schneider <mail@cynapses.org>
#
# Redistribution and use is allowed according to the terms of the New
# BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
#
macro(usedoxygen_set_default name value)
if(NOT DEFINED "${name}")
set("${name}" "${value}")
endif()
endmacro()
find_package(Doxygen)
if(DOXYGEN_FOUND)
find_file(DOXYFILE_IN
NAMES
doxy.config.in
PATHS
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_ROOT}/Modules/
NO_DEFAULT_PATH)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(DOXYFILE_IN DEFAULT_MSG "DOXYFILE_IN")
endif()
if(DOXYGEN_FOUND AND DOXYFILE_IN_FOUND)
add_custom_target(doxygen ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/doxy.config)
usedoxygen_set_default(DOXYFILE_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}")
usedoxygen_set_default(DOXYFILE_HTML_DIR "html")
set_property(DIRECTORY APPEND PROPERTY
ADDITIONAL_MAKE_CLEAN_FILES "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_HTML_DIR}")
set(DOXYFILE_LATEX FALSE)
set(DOXYFILE_PDFLATEX FALSE)
set(DOXYFILE_DOT FALSE)
find_package(LATEX)
if(LATEX_COMPILER AND MAKEINDEX_COMPILER)
set(DOXYFILE_LATEX TRUE)
usedoxygen_set_default(DOXYFILE_LATEX_DIR "latex")
set_property(DIRECTORY APPEND PROPERTY
ADDITIONAL_MAKE_CLEAN_FILES
"${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}")
if(PDFLATEX_COMPILER)
set(DOXYFILE_PDFLATEX TRUE)
endif()
if(DOXYGEN_DOT_EXECUTABLE)
set(DOXYFILE_DOT TRUE)
endif()
add_custom_command(TARGET doxygen
POST_BUILD
COMMAND ${CMAKE_MAKE_PROGRAM}
WORKING_DIRECTORY "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}")
endif()
configure_file(${DOXYFILE_IN} ${CMAKE_CURRENT_BINARY_DIR}/doxy.config ESCAPE_QUOTES IMMEDIATE @ONLY)
if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/doxy.trac.in)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doxy.trac.in ${CMAKE_CURRENT_BINARY_DIR}/doxy.trac ESCAPE_QUOTES IMMEDIATE @ONLY)
add_custom_target(doxygen-trac ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/doxy.trac)
endif()
get_target_property(DOC_TARGET doc TYPE)
if(NOT DOC_TARGET)
add_custom_target(doc)
endif()
add_dependencies(doc doxygen)
endif()

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cmake/arkcmake/autobuild.py Executable file
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#!/usr/bin/python
# Author: Lenna X. Peterson (github.com/lennax)
# based on bash script by James Goppert (github.com/jgoppert)
# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
# USAGE: #
# $ ./autobuild.py [1-9] #
# Then follow menu #
# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
# TODO: Error handling:
## check cmake success, etc.
## catch CMake Warning:
#Manually-specified variables were not used by the project:
#BUILD_TYPE
# (missing gprof flags)
import sys # for sys.argv[] and sys.platform
import os # for chdir()
import subprocess # for check_call()
import shutil # for rmtree()
from optparse import OptionParser # for parsing options
try:
from get_build_path import get_build_path
except ImportError:
print "Could not find 'get_build_path.py' "
print "in '%s'" % os.path.dirname(os.path.abspath(__file__))
print "This module is required."
raise SystemExit
## Move to directory containing CMakeLists.txt and src/
build_path = get_build_path()
if build_path:
os.chdir(build_path)
else:
print "The script was unable to find a build directory."
raise SystemExit
makeargs = "-j8"
cmakecall = ["cmake", ".."]
build_dir = "build"
## Parse command line options
## TODO: add makeargs/cmakeargs etc.
## (with 'action="append"' to append arg(s) to list)
usage = "usage: %prog [options] [1-9]"
parser = OptionParser(usage=usage)
parser.set_defaults(verbose=False, makeargs="-j8")
parser.add_option("-v", "--verbose",
action="store_true", dest="verbose",
help="Verbose mode")
parser.add_option("-c", "--cmake",
action="store", dest="cm",
help="Specify one or more arguments for CMake")
#parser.add_option("--makeargs",
# action="store", type="string", dest="makeargs",
# help="Argument to `make` [default '-j8']")
(options, args) = parser.parse_args()
if options.verbose:
os.environ['VERBOSE'] = "1"
### Split cmakeargs, reassemble, and insert into cmake call
if options.cm:
cm_raw = options.cm
cm_list = cm_raw.split("-D")
if cm_list[0] == "":
cm_list.pop(0)
for cm in cm_list:
cm = cm.lstrip()
cmakearg = "-D" + cm
cmakecall.insert(1, cmakearg)
#if options.makeargs:
# makeargs = options.makeargs
def install_build(cmakecall, exitVal=True):
if not os.path.isdir(build_dir):
os.mkdir(build_dir)
os.chdir(build_dir)
subprocess.check_call(cmakecall)
subprocess.check_call(["make", makeargs])
if exitVal == True:
raise SystemExit
def dev_build():
cmakecall.insert(1, "-DDEV_MODE::bool=TRUE")
install_build(cmakecall)
def grab_deps():
if 'linux' in sys.platform:
try:
subprocess.check_call('sudo apt-get install cmake', shell=True)
except:
print "Error installing dependencies: ", sys.exc_info()[0]
print "apt-get is available on Debian and Ubuntu"
raise SystemExit
elif 'darwin' in sys.platform:
try:
subprocess.check_call('sudo port install cmake', shell=True)
except:
print "Error installing dependencies: ", sys.exc_info()[0]
print "Please install Macports (http://www.macports.org)"
raise SystemExit
else:
print "Platform not recognized (did not match linux or darwin)"
print "Script doesn't download dependencies for this platform"
raise SystemExit
def package_source():
install_build(cmakecall, exitVal=False)
subprocess.check_call(["make", "package_source"])
raise SystemExit
def package():
install_build(cmakecall, exitVal=False)
subprocess.check_call(["make", "package"])
raise SystemExit
def remake():
if not os.path.isdir(build_dir):
print "Directory '%s' does not exist" % build_dir
print "You must make before you can remake."
return 1
os.chdir(build_dir)
subprocess.check_call(["make", makeargs])
raise SystemExit
def clean():
if 'posix' in os.name:
print "Cleaning '%s' with rm -rf" % build_dir
subprocess.check_call(["rm", "-rf", build_dir])
else:
print "Cleaning '%s' with shutil.rmtree()" % build_dir
print "(may be very slow)"
shutil.rmtree(build_dir, ignore_errors=True)
print "Build cleaned"
# requires PROFILE definition in CMakeLists.txt:
# set(CMAKE_BUILD_TYPE PROFILE)
# set(CMAKE_CXX_FLAGS_PROFILE "-g -pg")
# set(CMAKE_C_FLAGS_PROFILE "-g -pg")
def profile():
cmakecall.insert(1, "-DDEV_MODE::bool=TRUE")
cmakecall.insert(2, "-DBUILD_TYPE=PROFILE")
install_build(cmakecall)
def menu():
print "1. developer build: used for development."
print "2. install build: used for building before final installation to the system."
print "3. grab dependencies: installs all the required packages for debian based systems (ubuntu maverick/ debian squeeze,lenny) or darwin with macports."
print "4. package source: creates a source package for distribution."
print "5. package: creates binary packages for distribution."
print "6. remake: calls make again after project has been configured as install or in source build."
print "7. clean: removes the build directory."
print "8. profile: compiles for gprof."
print "9. end."
opt = raw_input("Please choose an option: ")
return opt
try:
loop_num = 0
# continues until a function raises system exit or ^C
while (1):
if len(args) == 1 and loop_num == 0:
opt = args[0]
loop_num += 1
else:
opt = menu()
try:
opt = int(opt)
except ValueError:
pass
if opt == 1:
print "You chose developer build"
dev_build()
elif opt == 2:
print "You chose install build"
install_build(cmakecall)
elif opt == 3:
print "You chose to install dependencies"
grab_deps()
elif opt == 4:
print "You chose to package the source"
package_source()
elif opt == 5:
print "You chose to package the binary"
package()
elif opt == 6:
print "You chose to re-call make on the previously configured build"
remake()
elif opt == 7:
print "You chose to clean the build"
clean()
elif opt == 8:
# requires definition in CMakeLists.txt (see def above)
print "You chose to compile for gprof"
profile()
elif opt == 9:
raise SystemExit
else:
print "Invalid option. Please try again: "
except KeyboardInterrupt:
print "\n"

62
cmake/arkcmake/get_build_path.py Executable file
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#!/usr/bin/python
# Author: Lenna X. Peterson (github.com/lennax)
# Determines appropriate path for CMake
# Looks for "CMakeLists.txt" and "src/"
# ( BUILDFILE and SRCDIR in find_build_dir() )
# Searches the following paths:
# 1 Path of call
# 2 Path where script is located
# 3 Path above 2 (parent directory)
# 4 Path above 3 (grandparent directory)
import os # for getcwd(), os.path
def get_build_path():
build_dir=""
## Initialize search paths
call_dir = os.getcwd()
script_dir = os.path.dirname(os.path.abspath(__file__))
script_mom = os.path.abspath(script_dir + os.sep + os.pardir)
script_grandma = os.path.abspath(script_mom + os.sep + os.pardir)
if script_mom == call_dir:
script_mom = ""
if script_grandma == call_dir:
script_grandma = ""
## Define function to search for required components for build
def find_build_dir(search_dir):
BUILDFILE = "CMakeLists.txt"
#SRCDIR = "src"
os.chdir(search_dir)
if os.path.isfile(BUILDFILE):
return search_dir
return False
## Class to emulate if temp = x
# (checking equality of x while assigning it to temp)
# Borrowed from Alex Martelli
class Holder(object):
def set(self, value):
self.value = value
return value
def get(self):
return self.value
temp = Holder()
## Search paths for build components
if temp.set(find_build_dir(call_dir)):
build_dir = temp.get()
elif temp.set(find_build_dir(script_dir)):
build_dir = temp.get()
elif script_mom and temp.set(find_build_dir(script_mom)):
build_dir = temp.get()
elif script_grandma and temp.set(find_build_dir(script_grandma)):
build_dir = temp.get()
else:
return 0
print "I go now. Good luck, everybody!"
return build_dir

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cmake/arkcmake/language_support_v2.cmake Normal file
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# cmake/modules/language_support.cmake
#
# Temporary additional general language support is contained within this
# file.
# This additional function definition is needed to provide a workaround for
# CMake bug 9220.
# On debian testing (cmake 2.6.2), I get return code zero when calling
# cmake the first time, but cmake crashes when running a second time
# as follows:
#
# -- The Fortran compiler identification is unknown
# CMake Error at /usr/share/cmake-2.6/Modules/CMakeFortranInformation.cmake:7 (GET_FILENAME_COMPONENT):
# get_filename_component called with incorrect number of arguments
# Call Stack (most recent call first):
# CMakeLists.txt:3 (enable_language)
#
# My workaround is to invoke cmake twice. If both return codes are zero,
# it is safe to invoke ENABLE_LANGUAGE(Fortran OPTIONAL)
function(workaround_9220 language language_works)
#message("DEBUG: language = ${language}")
set(text
"project(test NONE)
cmake_minimum_required(VERSION 2.6.0)
enable_language(${language} OPTIONAL)
"
)
file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/language_tests/${language})
file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language})
file(WRITE ${CMAKE_BINARY_DIR}/language_tests/${language}/CMakeLists.txt
${text})
execute_process(
COMMAND ${CMAKE_COMMAND} .
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language}
RESULT_VARIABLE return_code
OUTPUT_QUIET
ERROR_QUIET
)
if(return_code EQUAL 0)
# Second run
execute_process (
COMMAND ${CMAKE_COMMAND} .
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language}
RESULT_VARIABLE return_code
OUTPUT_QUIET
ERROR_QUIET
)
if(return_code EQUAL 0)
set(${language_works} ON PARENT_SCOPE)
else(return_code EQUAL 0)
set(${language_works} OFF PARENT_SCOPE)
endif(return_code EQUAL 0)
else(return_code EQUAL 0)
set(${language_works} OFF PARENT_SCOPE)
endif(return_code EQUAL 0)
endfunction(workaround_9220)
# Temporary tests of the above function.
#workaround_9220(CXX CXX_language_works)
#message("CXX_language_works = ${CXX_language_works}")
#workaround_9220(CXXp CXXp_language_works)
#message("CXXp_language_works = ${CXXp_language_works}")

19
cmake/arkcmake/updateArkcmake.py Executable file
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#!/usr/bin/python
# Author: Lenna X. Peterson (github.com/lennax)
# Based on bash script by James Goppert (github.com/jgoppert)
#
# script used to update cmake modules from git repo, can't make this
# a submodule otherwise it won't know how to interpret the CMakeLists.txt
# # # # # # subprocess# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
import os # for os.path
import subprocess # for check_call()
clone_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
print clone_path
os.chdir(clone_path)
subprocess.check_call(["git", "clone", "git://github.com/arktools/arkcmake.git","arkcmake_tmp"])
subprocess.check_call(["rm", "-rf", "arkcmake_tmp/.git"])
if os.path.isdir("arkcmake"):
subprocess.check_call(["rm", "-rf", "arkcmake"])
subprocess.check_call(["mv", "arkcmake_tmp", "arkcmake"])

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cmake/modules/ApmMakeLib.cmake Normal file
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string(REGEX REPLACE ".*/" "" LIB_NAME ${CMAKE_CURRENT_SOURCE_DIR})
#message(STATUS "building lib: ${LIB_NAME}")
file(GLOB ${LIB_NAME}_SRCS *.cpp)
file(GLOB ${LIB_NAME}_HDRS *.h)
set(${LIB_NAME}_BOARD ${BOARD})
generate_arduino_library(${LIB_NAME})
set_target_properties(${LIB_NAME} PROPERTIES LINKER_LANGUAGE CXX)

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cmake/modules/ApmMakeSketch.cmake Normal file
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string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
project(${PROJECT_NAME} C CXX)
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
find_package(Arduino 22 REQUIRED)
if (NOT DEFINED BOARD)
message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
set(BOARD "mega")
endif()
message(STATUS "Board configured as: ${BOARD}")
# need to configure based on host operating system
set(${PROJECT_NAME}_PORT COM2)
set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
include_directories(
${ARDUINO_LIBRARIES_PATH}/Wire
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
set(${PROJECT_NAME}_BOARD ${BOARD})
file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
file(GLOB ${PROJECT_NAME}_HDRS *.h)
set(${PROJECT_NAME}_LIBS
c
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
generate_arduino_firmware(${PROJECT_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex
DESTINATION bin
)

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libraries/APM_BMP085/CMakeLists.txt
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set(LIB_NAME APM_BMP085)
set(${LIB_NAME}_SRCS
APM_BMP085.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
APM_BMP085.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})
include(ApmMakeLib)

25
libraries/APM_PI/CMakeLists.txt
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set(LIB_NAME APM_PI)
set(${LIB_NAME}_SRCS
APM_PI.cpp
#AP_OpticalFlow_ADNS3080.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
APM_PI.h
#AP_OpticalFlow_ADNS3080.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})
include(ApmMakeLib)

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libraries/APM_PerfMon/CMakeLists.txt Normal file
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include(ApmMakeLib)

23
libraries/APM_RC/CMakeLists.txt
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set(LIB_NAME APM_RC)
set(${LIB_NAME}_SRCS
APM_RC.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
APM_RC.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})
include(ApmMakeLib)

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libraries/APO/APO.cpp Normal file
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/*
* APO.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "APO.h"

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libraries/APO/APO.h Normal file
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/*
* APO.h
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#ifndef APO_H_
#define APO_H_
#include "AP_Autopilot.h"
#include "AP_Guide.h"
#include "AP_Controller.h"
#include "AP_HardwareAbstractionLayer.h"
#include "AP_MavlinkCommand.h"
#include "AP_Navigator.h"
#include "AP_RcChannel.h"
//#include "AP_Var_keys.h"
#endif /* APO_H_ */

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libraries/APO/APO_DefaultSetup.h Normal file
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#ifndef _APO_COMMON_H
#define _APO_COMMON_H
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
FastSerialPort2(Serial2);
FastSerialPort3(Serial3);
/*
* Required Global Declarations
*/
static apo::AP_Autopilot * autoPilot;
void setup() {
using namespace apo;
AP_Var::load_all();
/*
* Communications
*/
Serial.begin(DEBUG_BAUD, 128, 128); // debug
if (board==BOARD_ARDUPILOTMEGA_2) Serial2.begin(TELEM_BAUD, 128, 128); // gcs
else Serial3.begin(TELEM_BAUD, 128, 128); // gcs
// hardware abstraction layer
AP_HardwareAbstractionLayer * hal = new AP_HardwareAbstractionLayer(
halMode, board, vehicle, heartBeatTimeout);
// debug serial
hal->debug = &Serial;
hal->debug->println_P(PSTR("initializing debug line"));
/*
* Initialize Comm Channels
*/
hal->debug->println_P(PSTR("initializing comm channels"));
if (hal->getMode() == MODE_LIVE) {
Serial1.begin(GPS_BAUD, 128, 16); // gps
} else { // hil
Serial1.begin(HIL_BAUD, 128, 128);
}
/*
* Sensor initialization
*/
if (hal->getMode() == MODE_LIVE) {
hal->debug->println_P(PSTR("initializing adc"));
hal->adc = new ADC_CLASS;
hal->adc->Init();
if (gpsEnabled) {
hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver;
hal->gps->init();
}
if (baroEnabled) {
hal->debug->println_P(PSTR("initializing baro"));
hal->baro = new BARO_CLASS;
hal->baro->Init();
}
if (compassEnabled) {
hal->debug->println_P(PSTR("initializing compass"));
hal->compass = new COMPASS_CLASS;
hal->compass->set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);
hal->compass->init();
}
/**
* Initialize ultrasonic sensors. If sensors are not plugged in, the navigator will not
* initialize them and NULL will be assigned to those corresponding pointers.
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
* will not be executed by the navigator.
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
* In set_orientation, it is defind as (front/back,left/right,down,up)
*/
if (rangeFinderFrontEnabled) {
hal->debug->println_P(PSTR("initializing front range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(1);
rangeFinder->set_orientation(1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderBackEnabled) {
hal->debug->println_P(PSTR("initializing back range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(2);
rangeFinder->set_orientation(-1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderLeftEnabled) {
hal->debug->println_P(PSTR("initializing left range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(3);
rangeFinder->set_orientation(0, -1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderRightEnabled) {
hal->debug->println_P(PSTR("initializing right range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(4);
rangeFinder->set_orientation(0, 1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderUpEnabled) {
hal->debug->println_P(PSTR("initializing up range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(5);
rangeFinder->set_orientation(0, 0, -1);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderDownEnabled) {
hal->debug->println_P(PSTR("initializing down range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(6);
rangeFinder->set_orientation(0, 0, 1);
hal->rangeFinders.push_back(rangeFinder);
}
}
/*
* Select guidance, navigation, control algorithms
*/
AP_Navigator * navigator = new NAVIGATOR_CLASS(hal);
AP_Guide * guide = new GUIDE_CLASS(navigator, hal);
AP_Controller * controller = new CONTROLLER_CLASS(navigator, guide, hal);
/*
* CommLinks
*/
if (board==BOARD_ARDUPILOTMEGA_2) hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
else hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
/*
* Start the autopilot
*/
hal->debug->printf_P(PSTR("initializing arduplane\n"));
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
autoPilot = new apo::AP_Autopilot(navigator, guide, controller, hal,
loop0Rate, loop1Rate, loop2Rate, loop3Rate);
}
void loop() {
autoPilot->update();
}
#endif _APO_COMMON_H

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/*
* AP_Autopilot.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Autopilot.h"
namespace apo {
class AP_HardwareAbstractionLayer;
AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
float loop0Rate, float loop1Rate, float loop2Rate, float loop3Rate) :
Loop(loop0Rate, callback0, this), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal), _loop0Rate(loop0Rate),
_loop1Rate(loop1Rate), _loop2Rate(loop2Rate), _loop3Rate(loop3Rate),
_loop4Rate(loop3Rate) {
hal->setState(MAV_STATE_BOOT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
/*
* Calibration
*/
hal->setState(MAV_STATE_CALIBRATING);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
navigator->calibrate();
// start clock
//uint32_t timeStart = millis();
//uint16_t gpsWaitTime = 5000; // 5 second wait for gps
/*
* Look for valid initial state
*/
while (1) {
// letc gcs known we are alive
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
hal->hil->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
delay(1000);
if (hal->getMode() == MODE_LIVE) {
_navigator->updateSlow(0);
if (_hal->gps) {
if (hal->gps->fix) {
break;
} else {
hal->gcs->sendText(SEVERITY_LOW,
PSTR("waiting for gps lock\n"));
hal->debug->printf_P(PSTR("waiting for gps lock\n"));
}
} else { // no gps, can skip
break;
}
} else if (hal->getMode() == MODE_HIL_CNTL) { // hil
_hal->hil->receive();
Serial.println("HIL Recieve Called");
if (_navigator->getTimeStamp() != 0) {
// give hil a chance to send some packets
for (int i = 0; i < 5; i++) {
hal->debug->println_P(PSTR("reading initial hil packets"));
hal->gcs->sendText(SEVERITY_LOW,
PSTR("reading initial hil packets"));
delay(1000);
}
break;
}
hal->debug->println_P(PSTR("waiting for hil packet"));
}
}
AP_MavlinkCommand::home.setAlt(_navigator->getAlt());
AP_MavlinkCommand::home.setLat(_navigator->getLat());
AP_MavlinkCommand::home.setLon(_navigator->getLon());
AP_MavlinkCommand::home.save();
_hal->debug->printf_P(PSTR("\nhome before load lat: %f deg, lon: %f deg\n"),
AP_MavlinkCommand::home.getLat()*rad2Deg,
AP_MavlinkCommand::home.getLon()*rad2Deg);
AP_MavlinkCommand::home.load();
_hal->debug->printf_P(PSTR("home after load lat: %f deg, lon: %f deg\n"),
AP_MavlinkCommand::home.getLat()*rad2Deg,
AP_MavlinkCommand::home.getLon()*rad2Deg);
/*
* Attach loops
*/
hal->debug->println_P(PSTR("attaching loops"));
subLoops().push_back(new Loop(getLoopRate(1), callback1, this));
subLoops().push_back(new Loop(getLoopRate(2), callback2, this));
subLoops().push_back(new Loop(getLoopRate(3), callback3, this));
subLoops().push_back(new Loop(getLoopRate(4), callback4, this));
hal->debug->println_P(PSTR("running"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("running"));
if (hal->getMode() == MODE_LIVE) {
hal->setState(MAV_STATE_ACTIVE);
} else {
hal->setState(MAV_STATE_HILSIM);
}
/*
* Radio setup
*/
hal->debug->println_P(PSTR("initializing radio"));
APM_RC.Init(); // APM Radio initialization,
// start this after control loop is running
}
void AP_Autopilot::callback0(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->hal()->debug->println_P(PSTR("callback 0"));
/*
* ahrs update
*/
if (apo->getNavigator())
apo->getNavigator()->updateFast(1.0 / apo->getLoopRate(0));
}
void AP_Autopilot::callback1(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 1"));
/*
* hardware in the loop
*/
if (apo->getHal()->hil && apo->getHal()->getMode() != MODE_LIVE) {
apo->getHal()->hil->receive();
apo->getHal()->hil->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
}
/*
* update guidance laws
*/
if (apo->getGuide())
{
//apo->getHal()->debug->println_P(PSTR("updating guide"));
apo->getGuide()->update();
}
/*
* update control laws
*/
if (apo->getController()) {
//apo->getHal()->debug->println_P(PSTR("updating controller"));
apo->getController()->update(1. / apo->getLoopRate(1));
}
/*
char msg[50];
sprintf(msg, "c_hdg: %f, c_thr: %f", apo->guide()->headingCommand, apo->guide()->groundSpeedCommand);
apo->hal()->gcs->sendText(AP_CommLink::SEVERITY_LOW, msg);
*/
}
void AP_Autopilot::callback2(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 2"));
/*
* send telemetry
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_ATTITUDE);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
}
/*
* slow navigation loop update
*/
if (apo->getNavigator()) {
apo->getNavigator()->updateSlow(1.0 / apo->getLoopRate(2));
}
/*
* handle ground control station communication
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->requestCmds();
apo->getHal()->gcs->sendParameters();
// receive messages
apo->getHal()->gcs->receive();
}
/*
* navigator debug
*/
/*
if (apo->navigator()) {
apo->getHal()->debug->printf_P(PSTR("roll: %f deg\tpitch: %f deg\tyaw: %f deg\n"),
apo->navigator()->getRoll()*rad2Deg,
apo->navigator()->getPitch()*rad2Deg,
apo->navigator()->getYaw()*rad2Deg);
apo->getHal()->debug->printf_P(PSTR("lat: %f deg\tlon: %f deg\talt: %f m\n"),
apo->navigator()->getLat()*rad2Deg,
apo->navigator()->getLon()*rad2Deg,
apo->navigator()->getAlt());
}
*/
}
void AP_Autopilot::callback3(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 3"));
/*
* send heartbeat
*/
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
/*
* load/loop rate/ram debug
*/
apo->getHal()->load = apo->load();
apo->getHal()->debug->printf_P(PSTR("load: %d%%\trate: %f Hz\tfree ram: %d bytes\n"),
apo->load(),1.0/apo->dt(),freeMemory());
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
/*
* adc debug
*/
//apo->getDebug().printf_P(PSTR("adc: %d %d %d %d %d %d %d %d\n"),
//apo->adc()->Ch(0), apo->adc()->Ch(1), apo->adc()->Ch(2),
//apo->adc()->Ch(3), apo->adc()->Ch(4), apo->adc()->Ch(5),
//apo->adc()->Ch(6), apo->adc()->Ch(7), apo->adc()->Ch(8));
}
void AP_Autopilot::callback4(void * data) {
//AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 4"));
}
} // apo

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/*
* AP_Autopilot.h
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#ifndef AP_AUTOPILOT_H_
#define AP_AUTOPILOT_H_
/*
* AVR runtime
*/
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <math.h>
/*
* Libraries
*/
#include "../AP_Common/AP_Common.h"
#include "../FastSerial/FastSerial.h"
#include "../AP_GPS/GPS.h"
#include "../APM_RC/APM_RC.h"
#include "../AP_ADC/AP_ADC.h"
#include "../APM_BMP085/APM_BMP085.h"
#include "../AP_Compass/AP_Compass.h"
#include "../AP_Math/AP_Math.h"
#include "../AP_IMU/AP_IMU.h"
#include "../AP_DCM/AP_DCM.h"
#include "../AP_Common/AP_Loop.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
/*
* Local Modules
*/
#include "AP_HardwareAbstractionLayer.h"
#include "AP_RcChannel.h"
#include "AP_Controller.h"
#include "AP_Navigator.h"
#include "AP_Guide.h"
#include "AP_CommLink.h"
/**
* ArduPilotOne namespace to protect varibles
* from overlap with avr and libraries etc.
* ArduPilotOne does not use any global
* variables.
*/
namespace apo {
// forward declarations
class AP_CommLink;
/**
* This class encapsulates the entire autopilot system
* The constructor takes guide, navigator, and controller
* as well as the hardware abstraction layer.
*
* It inherits from loop to manage
* the subloops and sets the overall
* frequency for the autopilot.
*
*/
class AP_Autopilot: public Loop {
public:
/**
* Default constructor
*/
AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
float loop0Rate, float loop1Rate, float loop2Rate, float loop3Rate);
/**
* Accessors
*/
AP_Navigator * getNavigator() {
return _navigator;
}
AP_Guide * getGuide() {
return _guide;
}
AP_Controller * getController() {
return _controller;
}
AP_HardwareAbstractionLayer * getHal() {
return _hal;
}
float getLoopRate(uint8_t i) {
switch(i) {
case 0: return _loop0Rate;
case 1: return _loop1Rate;
case 2: return _loop2Rate;
case 3: return _loop3Rate;
case 4: return _loop4Rate;
default: return 0;
}
}
private:
/**
* Loop 0 Callbacks (fastest)
* - inertial navigation
* @param data A void pointer used to pass the apo class
* so that the apo public interface may be accessed.
*/
static void callback0(void * data);
float _loop0Rate;
/**
* Loop 1 Callbacks
* - control
* - compass reading
* @see callback0
*/
static void callback1(void * data);
float _loop1Rate;
/**
* Loop 2 Callbacks
* - gps sensor fusion
* - compass sensor fusion
* @see callback0
*/
static void callback2(void * data);
float _loop2Rate;
/**
* Loop 3 Callbacks
* - slow messages
* @see callback0
*/
static void callback3(void * data);
float _loop3Rate;
/**
* Loop 4 Callbacks
* - super slow mesages
* - log writing
* @see callback0
*/
static void callback4(void * data);
float _loop4Rate;
/**
* Components
*/
AP_Navigator * _navigator;
AP_Guide * _guide;
AP_Controller * _controller;
AP_HardwareAbstractionLayer * _hal;
/**
* Constants
*/
static const float deg2rad = M_PI / 180;
static const float rad2deg = 180 / M_PI;
};
} // namespace apo
#endif /* AP_AUTOPILOT_H_ */

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/*
* AP_CommLink.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_CommLink.h"
namespace apo {
uint8_t MavlinkComm::_nChannels = 0;
uint8_t MavlinkComm::_paramNameLengthMax = 13;
} // apo

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/*
* AP_CommLink.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_CommLink_H
#define AP_CommLink_H
#include "AP_HardwareAbstractionLayer.h"
#include "AP_MavlinkCommand.h"
#include "AP_Controller.h"
namespace apo {
class AP_Controller;
class AP_Navigator;
class AP_Guide;
class AP_HardwareAbstractionLayer;
enum {
SEVERITY_LOW, SEVERITY_MED, SEVERITY_HIGH
};
// forward declarations
//class ArduPilotOne;
//class AP_Controller;
/// CommLink class
class AP_CommLink {
public:
AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal) :
_link(link), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal) {
}
virtual void send() = 0;
virtual void receive() = 0;
virtual void sendMessage(uint8_t id, uint32_t param = 0) = 0;
virtual void sendText(uint8_t severity, const char *str) = 0;
virtual void sendText(uint8_t severity, const prog_char_t *str) = 0;
virtual void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) = 0;
virtual void sendParameters() = 0;
virtual void requestCmds() = 0;
protected:
FastSerial * _link;
AP_Navigator * _navigator;
AP_Guide * _guide;
AP_Controller * _controller;
AP_HardwareAbstractionLayer * _hal;
};
class MavlinkComm: public AP_CommLink {
public:
MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal) :
AP_CommLink(link, nav, guide, controller, hal),
// options
_useRelativeAlt(true),
// commands
_sendingCmds(false), _receivingCmds(false),
_cmdTimeLastSent(millis()), _cmdTimeLastReceived(millis()),
_cmdDestSysId(0), _cmdDestCompId(0), _cmdRequestIndex(0),
_cmdMax(30), _cmdNumberRequested(0),
// parameters
_parameterCount(0), _queuedParameter(NULL),
_queuedParameterIndex(0) {
switch (_nChannels) {
case 0:
mavlink_comm_0_port = link;
_channel = MAVLINK_COMM_0;
_nChannels++;
break;
case 1:
mavlink_comm_1_port = link;
_channel = MAVLINK_COMM_1;
_nChannels++;
break;
default:
// signal that number of channels exceeded
_channel = MAVLINK_COMM_3;
break;
}
}
virtual void send() {
// if number of channels exceeded return
if (_channel == MAVLINK_COMM_3)
return;
}
void sendMessage(uint8_t id, uint32_t param = 0) {
//_hal->debug->printf_P(PSTR("send message\n"));
// if number of channels exceeded return
if (_channel == MAVLINK_COMM_3)
return;
uint64_t timeStamp = micros();
switch (id) {
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_msg_heartbeat_send(_channel, mavlink_system.type,
MAV_AUTOPILOT_ARDUPILOTMEGA);
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
mavlink_msg_attitude_send(_channel, timeStamp,
_navigator->getRoll(), _navigator->getPitch(),
_navigator->getYaw(), _navigator->getRollRate(),
_navigator->getPitchRate(), _navigator->getYawRate());
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION: {
mavlink_msg_global_position_send(_channel, timeStamp,
_navigator->getLat() * rad2Deg,
_navigator->getLon() * rad2Deg, _navigator->getAlt(),
_navigator->getVN(), _navigator->getVE(),
_navigator->getVD());
break;
}
case MAVLINK_MSG_ID_GPS_RAW: {
mavlink_msg_gps_raw_send(_channel, timeStamp, _hal->gps->status(),
_navigator->getLat() * rad2Deg,
_navigator->getLon() * rad2Deg, _navigator->getAlt(), 0, 0,
_navigator->getGroundSpeed(),
_navigator->getYaw() * rad2Deg);
break;
}
/*
case MAVLINK_MSG_ID_GPS_RAW_INT: {
mavlink_msg_gps_raw_int_send(_channel,timeStamp,_hal->gps->status(),
_navigator->getLat_degInt(), _navigator->getLon_degInt(),_navigator->getAlt_intM(), 0,0,
_navigator->getGroundSpeed(),_navigator->getYaw()*rad2Deg);
break;
}
*/
case MAVLINK_MSG_ID_SCALED_IMU: {
/*
* accel/gyro debug
*/
/*
Vector3f accel = _hal->imu->get_accel();
Vector3f gyro = _hal->imu->get_gyro();
Serial.printf_P(PSTR("accel: %f %f %f gyro: %f %f %f\n"),
accel.x,accel.y,accel.z,gyro.x,gyro.y,gyro.z);
*/
Vector3f accel = _hal->imu->get_accel();
Vector3f gyro = _hal->imu->get_gyro();
mavlink_msg_raw_imu_send(_channel, timeStamp, 1000 * accel.x,
1000 * accel.y, 1000 * accel.z, 1000 * gyro.x,
1000 * gyro.y, 1000 * gyro.z, _hal->compass->mag_x,
_hal->compass->mag_y, _hal->compass->mag_z); // XXX THIS IS NOT SCALED FOR MAG
}
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED: {
int16_t ch[8];
for (int i = 0; i < 8; i++)
ch[i] = 0;
for (uint8_t i = 0; i < 8 && i < _hal->rc.getSize(); i++) {
ch[i] = 10000 * _hal->rc[i]->getPosition();
//_hal->debug->printf_P(PSTR("ch: %d position: %d\n"),i,ch[i]);
}
mavlink_msg_rc_channels_scaled_send(_channel, ch[0], ch[1], ch[2],
ch[3], ch[4], ch[5], ch[6], ch[7], 255);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
int16_t ch[8];
for (int i = 0; i < 8; i++)
ch[i] = 0;
for (uint8_t i = 0; i < 8 && i < _hal->rc.getSize(); i++)
ch[i] = _hal->rc[i]->getPwm();
mavlink_msg_rc_channels_raw_send(_channel, ch[0], ch[1], ch[2],
ch[3], ch[4], ch[5], ch[6], ch[7], 255);
break;
}
case MAVLINK_MSG_ID_SYS_STATUS: {
float batteryVoltage, temp;
temp = analogRead(0);
batteryVoltage = ((temp * 5 / 1023) / 0.28);
mavlink_msg_sys_status_send(_channel, _controller->getMode(),
_guide->getMode(), _hal->getState(), _hal->load * 10,
batteryVoltage * 1000,
(batteryVoltage - 3.3) / (4.2 - 3.3) * 1000, _packetDrops);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: {
sendText(SEVERITY_LOW, PSTR("waypoint ack"));
//mavlink_waypoint_ack_t packet;
uint8_t type = 0; // ok (0), error(1)
mavlink_msg_waypoint_ack_send(_channel, _cmdDestSysId,
_cmdDestCompId, type);
// turn off waypoint send
_receivingCmds = false;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CURRENT: {
mavlink_msg_waypoint_current_send(_channel,
_guide->getCurrentIndex());
break;
}
default: {
char msg[50];
sprintf(msg, "autopilot sending unknown command with id: %d", id);
sendText(SEVERITY_HIGH, msg);
}
} // switch
} // send message
virtual void receive() {
//_hal->debug->printf_P(PSTR("receive\n"));
// if number of channels exceeded return
//
if (_channel == MAVLINK_COMM_3)
return;
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
// process received bytes
while (comm_get_available(_channel)) {
uint8_t c = comm_receive_ch(_channel);
// Try to get a new message
if (mavlink_parse_char(_channel, c, &msg, &status))
_handleMessage(&msg);
}
// Update packet drops counter
_packetDrops += status.packet_rx_drop_count;
}
void sendText(uint8_t severity, const char *str) {
mavlink_msg_statustext_send(_channel, severity, (const int8_t*) str);
}
void sendText(uint8_t severity, const prog_char_t *str) {
mavlink_statustext_t m;
uint8_t i;
for (i = 0; i < sizeof(m.text); i++) {
m.text[i] = pgm_read_byte((const prog_char *) (str++));
}
if (i < sizeof(m.text))
m.text[i] = 0;
sendText(severity, (const char *) m.text);
}
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) {
}
/**
* sends parameters one at a time
*/
void sendParameters() {
//_hal->debug->printf_P(PSTR("send parameters\n"));
// Check to see if we are sending parameters
while (NULL != _queuedParameter) {
AP_Var *vp;
float value;
// copy the current parameter and prepare to move to the next
vp = _queuedParameter;
_queuedParameter = _queuedParameter->next();
// if the parameter can be cast to float, report it here and break out of the loop
value = vp->cast_to_float();
if (!isnan(value)) {
char paramName[_paramNameLengthMax];
vp->copy_name(paramName, sizeof(paramName));
mavlink_msg_param_value_send(_channel, (int8_t*) paramName,
value, _countParameters(), _queuedParameterIndex);
_queuedParameterIndex++;
break;
}
}
}
/**
* request commands one at a time
*/
void requestCmds() {
//_hal->debug->printf_P(PSTR("requesting commands\n"));
// request cmds one by one
if (_receivingCmds && _cmdRequestIndex <= _cmdNumberRequested) {
mavlink_msg_waypoint_request_send(_channel, _cmdDestSysId,
_cmdDestCompId, _cmdRequestIndex);
}
}
private:
// options
bool _useRelativeAlt;
// commands
bool _sendingCmds;
bool _receivingCmds;
uint16_t _cmdTimeLastSent;
uint16_t _cmdTimeLastReceived;
uint16_t _cmdDestSysId;
uint16_t _cmdDestCompId;
uint16_t _cmdRequestIndex;
uint16_t _cmdNumberRequested;
uint16_t _cmdMax;
Vector<mavlink_command_t *> _cmdList;
// parameters
static uint8_t _paramNameLengthMax;
uint16_t _parameterCount;
AP_Var * _queuedParameter;
uint16_t _queuedParameterIndex;
// channel
mavlink_channel_t _channel;
uint16_t _packetDrops;
static uint8_t _nChannels;
void _handleMessage(mavlink_message_t * msg) {
uint32_t timeStamp = micros();
switch (msg->msgid) {
//_hal->debug->printf_P(PSTR("message received: %d"), msg->msgid);
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(msg, &packet);
_hal->lastHeartBeat = micros();
break;
}
case MAVLINK_MSG_ID_GPS_RAW: {
// decode
mavlink_gps_raw_t packet;
mavlink_msg_gps_raw_decode(msg, &packet);
_navigator->setTimeStamp(timeStamp);
_navigator->setLat(packet.lat * deg2Rad);
_navigator->setLon(packet.lon * deg2Rad);
_navigator->setAlt(packet.alt);
_navigator->setYaw(packet.hdg * deg2Rad);
_navigator->setGroundSpeed(packet.v);
_navigator->setAirSpeed(packet.v);
//_hal->debug->printf_P(PSTR("received hil gps raw packet\n"));
/*
_hal->debug->printf_P(PSTR("received lat: %f deg\tlon: %f deg\talt: %f m\n"),
packet.lat,
packet.lon,
packet.alt);
*/
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
// decode
mavlink_attitude_t packet;
mavlink_msg_attitude_decode(msg, &packet);
// set dcm hil sensor
_navigator->setTimeStamp(timeStamp);
_navigator->setRoll(packet.roll);
_navigator->setPitch(packet.pitch);
_navigator->setYaw(packet.yaw);
_navigator->setRollRate(packet.rollspeed);
_navigator->setPitchRate(packet.pitchspeed);
_navigator->setYawRate(packet.yawspeed);
//_hal->debug->printf_P(PSTR("received hil attitude packet\n"));
break;
}
case MAVLINK_MSG_ID_ACTION: {
// decode
mavlink_action_t packet;
mavlink_msg_action_decode(msg, &packet);
if (_checkTarget(packet.target, packet.target_component))
break;
// do action
sendText(SEVERITY_LOW, PSTR("action received"));
switch (packet.action) {
case MAV_ACTION_STORAGE_READ:
AP_Var::load_all();
break;
case MAV_ACTION_STORAGE_WRITE:
AP_Var::save_all();
break;
case MAV_ACTION_CALIBRATE_RC:
case MAV_ACTION_CALIBRATE_GYRO:
case MAV_ACTION_CALIBRATE_MAG:
case MAV_ACTION_CALIBRATE_ACC:
case MAV_ACTION_CALIBRATE_PRESSURE:
case MAV_ACTION_REBOOT:
case MAV_ACTION_REC_START:
case MAV_ACTION_REC_PAUSE:
case MAV_ACTION_REC_STOP:
case MAV_ACTION_TAKEOFF:
case MAV_ACTION_LAND:
case MAV_ACTION_NAVIGATE:
case MAV_ACTION_LOITER:
case MAV_ACTION_MOTORS_START:
case MAV_ACTION_CONFIRM_KILL:
case MAV_ACTION_EMCY_KILL:
case MAV_ACTION_MOTORS_STOP:
case MAV_ACTION_SHUTDOWN:
case MAV_ACTION_CONTINUE:
case MAV_ACTION_SET_MANUAL:
case MAV_ACTION_SET_AUTO:
case MAV_ACTION_LAUNCH:
case MAV_ACTION_RETURN:
case MAV_ACTION_EMCY_LAND:
case MAV_ACTION_HALT:
sendText(SEVERITY_LOW, PSTR("action not implemented"));
break;
default:
sendText(SEVERITY_LOW, PSTR("unknown action"));
break;
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: {
sendText(SEVERITY_LOW, PSTR("waypoint request list"));
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(_channel, msg->sysid, msg->compid,
_guide->getNumberOfCommands());
_cmdTimeLastSent = millis();
_cmdTimeLastReceived = millis();
_sendingCmds = true;
_receivingCmds = false;
_cmdDestSysId = msg->sysid;
_cmdDestCompId = msg->compid;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: {
sendText(SEVERITY_LOW, PSTR("waypoint request"));
// Check if sending waypiont
if (!_sendingCmds)
break;
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
_hal->debug->printf_P(PSTR("sequence: %d\n"),packet.seq);
AP_MavlinkCommand cmd(packet.seq);
cmd.load();
mavlink_waypoint_t wp = cmd.convert(_guide->getCurrentIndex());
mavlink_msg_waypoint_send(_channel, _cmdDestSysId, _cmdDestCompId,
wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue,
wp.param1, wp.param2, wp.param3, wp.param4, wp.x, wp.y,
wp.z);
// update last waypoint comm stamp
_cmdTimeLastSent = millis();
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: {
sendText(SEVERITY_LOW, PSTR("waypoint ack"));
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// check for error
//uint8_t type = packet.type; // ok (0), error(1)
// turn off waypoint send
_sendingCmds = false;
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
sendText(SEVERITY_LOW, PSTR("param request list"));
// decode
mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// Start sending parameters - next call to ::update will kick the first one out
_queuedParameter = AP_Var::first();
_queuedParameterIndex = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: {
sendText(SEVERITY_LOW, PSTR("waypoint clear all"));
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// clear all waypoints
uint8_t type = 0; // ok (0), error(1)
_guide->setNumberOfCommands(1);
_guide->setCurrentIndex(0);
// send acknowledgement 3 times to makes sure it is received
for (int i = 0; i < 3; i++)
mavlink_msg_waypoint_ack_send(_channel, msg->sysid,
msg->compid, type);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: {
sendText(SEVERITY_LOW, PSTR("waypoint set current"));
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
Serial.print("Packet Sequence:");
Serial.println(packet.seq);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// set current waypoint
Serial.print("Current Index:");
Serial.println(_guide->getCurrentIndex());
Serial.flush();
_guide->setCurrentIndex(packet.seq);
mavlink_msg_waypoint_current_send(_channel,
_guide->getCurrentIndex());
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT: {
sendText(SEVERITY_LOW, PSTR("waypoint count"));
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// start waypoint receiving
if (packet.count > _cmdMax) {
packet.count = _cmdMax;
}
_cmdNumberRequested = packet.count;
_cmdTimeLastReceived = millis();
_receivingCmds = true;
_sendingCmds = false;
_cmdRequestIndex = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT: {
sendText(SEVERITY_LOW, PSTR("waypoint"));
// Check if receiving waypiont
if (!_receivingCmds) {
//sendText(SEVERITY_HIGH, PSTR("not receiving commands"));
break;
}
// decode
mavlink_waypoint_t packet;
mavlink_msg_waypoint_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// check if this is the requested waypoint
if (packet.seq != _cmdRequestIndex) {
char warningMsg[50];
sprintf(warningMsg,
"waypoint request out of sequence: (packet) %d / %d (ap)",
packet.seq, _cmdRequestIndex);
sendText(SEVERITY_HIGH, warningMsg);
break;
}
_hal->debug->printf_P(PSTR("received waypoint x: %f\ty: %f\tz: %f\n"),
packet.x,
packet.y,
packet.z);
// store waypoint
AP_MavlinkCommand command(packet);
//sendText(SEVERITY_HIGH, PSTR("waypoint stored"));
_cmdRequestIndex++;
if (_cmdRequestIndex == _cmdNumberRequested) {
sendMessage(MAVLINK_MSG_ID_WAYPOINT_ACK);
_receivingCmds = false;
_guide->setNumberOfCommands(_cmdNumberRequested);
//sendText(SEVERITY_LOW, PSTR("waypoint ack sent"));
} else if (_cmdRequestIndex > _cmdNumberRequested) {
_receivingCmds = false;
}
_cmdTimeLastReceived = millis();
break;
}
case MAVLINK_MSG_ID_PARAM_SET: {
sendText(SEVERITY_LOW, PSTR("param set"));
AP_Var *vp;
AP_Meta_class::Type_id var_type;
// decode
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// set parameter
char key[_paramNameLengthMax + 1];
strncpy(key, (char *) packet.param_id, _paramNameLengthMax);
key[_paramNameLengthMax] = 0;
// find the requested parameter
vp = AP_Var::find(key);
if ((NULL != vp) && // exists
!isnan(packet.param_value) && // not nan
!isinf(packet.param_value)) { // not inf
// add a small amount before casting parameter values
// from float to integer to avoid truncating to the
// next lower integer value.
const float rounding_addition = 0.01;
// fetch the variable type ID
var_type = vp->meta_type_id();
// handle variables with standard type IDs
if (var_type == AP_Var::k_typeid_float) {
((AP_Float *) vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_float16) {
((AP_Float16 *) vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_int32) {
((AP_Int32 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else if (var_type == AP_Var::k_typeid_int16) {
((AP_Int16 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else if (var_type == AP_Var::k_typeid_int8) {
((AP_Int8 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else {
// we don't support mavlink set on this parameter
break;
}
// Report back the new value if we accepted the change
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
mavlink_msg_param_value_send(_channel, (int8_t *) key,
vp->cast_to_float(), _countParameters(), -1); // XXX we don't actually know what its index is...
}
break;
} // end case
}
}
uint16_t _countParameters() {
// if we haven't cached the parameter count yet...
if (0 == _parameterCount) {
AP_Var *vp;
vp = AP_Var::first();
do {
// if a parameter responds to cast_to_float then we are going to be able to report it
if (!isnan(vp->cast_to_float())) {
_parameterCount++;
}
} while (NULL != (vp = vp->next()));
}
return _parameterCount;
}
AP_Var * _findParameter(uint16_t index) {
AP_Var *vp;
vp = AP_Var::first();
while (NULL != vp) {
// if the parameter is reportable
if (!(isnan(vp->cast_to_float()))) {
// if we have counted down to the index we want
if (0 == index) {
// return the parameter
return vp;
}
// count off this parameter, as it is reportable but not
// the one we want
index--;
}
// and move to the next parameter
vp = vp->next();
}
return NULL;
}
// check the target
uint8_t _checkTarget(uint8_t sysid, uint8_t compid) {
/*
char msg[50];
sprintf(msg, "target = %d / %d\tcomp = %d / %d", sysid,
mavlink_system.sysid, compid, mavlink_system.compid);
sendText(SEVERITY_LOW, msg);
*/
if (sysid != mavlink_system.sysid) {
//sendText(SEVERITY_LOW, PSTR("system id mismatch"));
return 1;
} else if (compid != mavlink_system.compid) {
//sendText(SEVERITY_LOW, PSTR("component id mismatch"));
return 0; // XXX currently not receiving correct compid from gcs
} else {
return 0; // no error
}
}
};
} // namespace apo
#endif // AP_CommLink_H
// vim:ts=4:sw=4:tw=78:expandtab

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/*
* AP_Controller.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Controller.h"

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/*
* AP_Controller.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Controller_H
#define AP_Controller_H
#include "AP_Navigator.h"
#include "AP_Guide.h"
#include "AP_HardwareAbstractionLayer.h"
#include "../AP_Common/AP_Vector.h"
#include "../AP_Common/AP_Var.h"
namespace apo {
/// Controller class
class AP_Controller {
public:
AP_Controller(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
_nav(nav), _guide(guide), _hal(hal) {
}
virtual void update(const float & dt) = 0;
virtual MAV_MODE getMode() = 0;
void setAllRadioChannelsToNeutral() {
for (uint8_t i = 0; i < _hal->rc.getSize(); i++) {
_hal->rc[i]->setPosition(0.0);
}
}
void setAllRadioChannelsManually() {
for (uint8_t i = 0; i < _hal->rc.getSize(); i++) {
_hal->rc[i]->setUsingRadio();
}
}
protected:
AP_Navigator * _nav;
AP_Guide * _guide;
AP_HardwareAbstractionLayer * _hal;
};
class AP_ControllerBlock {
public:
AP_ControllerBlock(AP_Var_group * group, uint8_t groupStart,
uint8_t groupLength) :
_group(group), _groupStart(groupStart),
_groupEnd(groupStart + groupLength) {
}
uint8_t getGroupEnd() {
return _groupEnd;
}
protected:
AP_Var_group * _group; /// helps with parameter management
uint8_t _groupStart;
uint8_t _groupEnd;
};
class BlockLowPass: public AP_ControllerBlock {
public:
BlockLowPass(AP_Var_group * group, uint8_t groupStart, float fCut,
const prog_char_t * fCutLabel = NULL) :
AP_ControllerBlock(group, groupStart, 1),
_fCut(group, groupStart, fCut, fCutLabel ? : PSTR("fCut")),
_y(0) {
}
float update(const float & input, const float & dt) {
float RC = 1 / (2 * M_PI * _fCut); // low pass filter
_y = _y + (input - _y) * (dt / (dt + RC));
return _y;
}
protected:
AP_Float _fCut;
float _y;
};
class BlockSaturation: public AP_ControllerBlock {
public:
BlockSaturation(AP_Var_group * group, uint8_t groupStart, float yMax,
const prog_char_t * yMaxLabel = NULL) :
AP_ControllerBlock(group, groupStart, 1),
_yMax(group, groupStart, yMax, yMaxLabel ? : PSTR("yMax")) {
}
float update(const float & input) {
// pid sum
float y = input;
// saturation
if (y > _yMax)
y = _yMax;
if (y < -_yMax)
y = -_yMax;
return y;
}
protected:
AP_Float _yMax; /// output saturation
};
class BlockDerivative {
public:
BlockDerivative() :
_lastInput(0), firstRun(true) {
}
float update(const float & input, const float & dt) {
float derivative = (input - _lastInput) / dt;
_lastInput = input;
if (firstRun) {
firstRun = false;
return 0;
} else
return derivative;
}
protected:
float _lastInput; /// last input
bool firstRun;
};
class BlockIntegral {
public:
BlockIntegral() :
_i(0) {
}
float update(const float & input, const float & dt) {
_i += input * dt;
return _i;
}
protected:
float _i; /// integral
};
class BlockP: public AP_ControllerBlock {
public:
BlockP(AP_Var_group * group, uint8_t groupStart, float kP,
const prog_char_t * kPLabel = NULL) :
AP_ControllerBlock(group, groupStart, 1),
_kP(group, groupStart, kP, kPLabel ? : PSTR("p")) {
}
float update(const float & input) {
return _kP * input;
}
protected:
AP_Float _kP; /// proportional gain
};
class BlockI: public AP_ControllerBlock {
public:
BlockI(AP_Var_group * group, uint8_t groupStart, float kI, float iMax,
const prog_char_t * kILabel = NULL,
const prog_char_t * iMaxLabel = NULL) :
AP_ControllerBlock(group, groupStart, 2),
_kI(group, groupStart, kI, kILabel ? : PSTR("i")),
_blockSaturation(group, groupStart + 1, iMax, iMaxLabel ? : PSTR("iMax")),
_eI(0) {
}
float update(const float & input, const float & dt) {
// integral
_eI += input * dt;
_eI = _blockSaturation.update(_eI);
return _kI * _eI;
}
protected:
AP_Float _kI; /// integral gain
BlockSaturation _blockSaturation; /// integrator saturation
float _eI; /// integral of input
};
class BlockD: public AP_ControllerBlock {
public:
BlockD(AP_Var_group * group, uint8_t groupStart, float kD, uint8_t dFCut,
const prog_char_t * kDLabel = NULL,
const prog_char_t * dFCutLabel = NULL) :
AP_ControllerBlock(group, groupStart, 2),
_blockLowPass(group, groupStart, dFCut,
dFCutLabel ? : PSTR("dFCut")),
_kD(group, _blockLowPass.getGroupEnd(), kD,
kDLabel ? : PSTR("d")), _eP(0) {
}
float update(const float & input, const float & dt) {
// derivative with low pass
float _eD = _blockLowPass.update((_eP - input) / dt, dt);
// proportional, note must come after derivative
// because derivatve uses _eP as previous value
_eP = input;
return _kD * _eD;
}
protected:
BlockLowPass _blockLowPass;
AP_Float _kD; /// derivative gain
float _eP; /// input
};
class BlockPID: public AP_ControllerBlock {
public:
BlockPID(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float kD, float iMax, float yMax, uint8_t dFcut) :
AP_ControllerBlock(group, groupStart, 6),
_blockP(group, groupStart, kP),
_blockI(group, _blockP.getGroupEnd(), kI, iMax),
_blockD(group, _blockI.getGroupEnd(), kD, dFcut),
_blockSaturation(group, _blockD.getGroupEnd(), yMax) {
}
float update(const float & input, const float & dt) {
return _blockSaturation.update(
_blockP.update(input) + _blockI.update(input, dt)
+ _blockD.update(input, dt));
}
protected:
BlockP _blockP;
BlockI _blockI;
BlockD _blockD;
BlockSaturation _blockSaturation;
};
class BlockPI: public AP_ControllerBlock {
public:
BlockPI(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float iMax, float yMax) :
AP_ControllerBlock(group, groupStart, 4),
_blockP(group, groupStart, kP),
_blockI(group, _blockP.getGroupEnd(), kI, iMax),
_blockSaturation(group, _blockI.getGroupEnd(), yMax) {
}
float update(const float & input, const float & dt) {
float y = _blockP.update(input) + _blockI.update(input, dt);
return _blockSaturation.update(y);
}
protected:
BlockP _blockP;
BlockI _blockI;
BlockSaturation _blockSaturation;
};
class BlockPD: public AP_ControllerBlock {
public:
BlockPD(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float kD, float iMax, float yMax, uint8_t dFcut) :
AP_ControllerBlock(group, groupStart, 4),
_blockP(group, groupStart, kP),
_blockD(group, _blockP.getGroupEnd(), kD, dFcut),
_blockSaturation(group, _blockD.getGroupEnd(), yMax) {
}
float update(const float & input, const float & dt) {
float y = _blockP.update(input) + _blockD.update(input, dt);
return _blockSaturation.update(y);
}
protected:
BlockP _blockP;
BlockD _blockD;
BlockSaturation _blockSaturation;
};
/// PID with derivative feedback (ignores reference derivative)
class BlockPIDDfb: public AP_ControllerBlock {
public:
BlockPIDDfb(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float kD, float iMax, float yMax, const prog_char_t * dLabel = NULL) :
AP_ControllerBlock(group, groupStart, 5),
_blockP(group, groupStart, kP),
_blockI(group, _blockP.getGroupEnd(), kI, iMax),
_blockSaturation(group, _blockI.getGroupEnd(), yMax),
_kD(group, _blockSaturation.getGroupEnd(), kD, dLabel ? : PSTR("d")) {
}
float update(const float & input, const float & derivative,
const float & dt) {
float y = _blockP.update(input) + _blockI.update(input, dt) - _kD
* derivative;
return _blockSaturation.update(y);
}
protected:
BlockP _blockP;
BlockI _blockI;
BlockSaturation _blockSaturation;
AP_Float _kD; /// derivative gain
};
} // apo
#endif // AP_Controller_H
// vim:ts=4:sw=4:expandtab

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/*
* AP_Guide.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Guide.h"

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/*
* AP_Guide.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Guide_H
#define AP_Guide_H
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "AP_HardwareAbstractionLayer.h"
#include "AP_Navigator.h"
#include "../AP_Common/AP_Common.h"
#include "../AP_Common/AP_Vector.h"
#include "AP_MavlinkCommand.h"
#include "constants.h"
//#include "AP_CommLink.h"
namespace apo {
/// Guide class
class AP_Guide {
public:
/**
* This is the constructor, which requires a link to the navigator.
* @param navigator This is the navigator pointer.
*/
AP_Guide(AP_Navigator * navigator, AP_HardwareAbstractionLayer * hal) :
_navigator(navigator), _hal(hal), _command(0), _previousCommand(0),
_headingCommand(0), _airSpeedCommand(0),
_groundSpeedCommand(0), _altitudeCommand(0), _pNCmd(0),
_pECmd(0), _pDCmd(0), _mode(MAV_NAV_LOST),
_numberOfCommands(1), _cmdIndex(0), _nextCommandCalls(0),
_nextCommandTimer(0) {
}
virtual void update() = 0;
virtual void nextCommand() = 0;
MAV_NAV getMode() const {
return _mode;
}
uint8_t getCurrentIndex() {
return _cmdIndex;
}
void setCurrentIndex(uint8_t val) {
_cmdIndex.set_and_save(val);
_command = AP_MavlinkCommand(getCurrentIndex());
_command.load();
_previousCommand = AP_MavlinkCommand(getPreviousIndex());
_previousCommand.load();
//_hal->gcs->sendMessage(MAVLINK_MSG_ID_WAYPOINT_CURRENT);
}
uint8_t getNumberOfCommands() {
return _numberOfCommands;
}
void setNumberOfCommands(uint8_t val) {
_numberOfCommands.set_and_save(val);
}
uint8_t getPreviousIndex() {
// find previous waypoint, TODO, handle non-nav commands
int16_t prevIndex = int16_t(getCurrentIndex()) - 1;
if (prevIndex < 0)
prevIndex = getNumberOfCommands() - 1;
return (uint8_t) prevIndex;
}
uint8_t getNextIndex() {
// find previous waypoint, TODO, handle non-nav commands
int16_t nextIndex = int16_t(getCurrentIndex()) + 1;
if (nextIndex > (getNumberOfCommands() - 1))
nextIndex = 0;
return nextIndex;
}
float getHeadingCommand() {
return _headingCommand;
}
float getAirSpeedCommand() {
return _airSpeedCommand;
}
float getGroundSpeedCommand() {
return _groundSpeedCommand;
}
float getAltitudeCommand() {
return _altitudeCommand;
}
float getPNCmd() {
return _pNCmd;
}
float getPECmd() {
return _pECmd;
}
float getPDCmd() {
return _pDCmd;
}
MAV_NAV getMode() {
return _mode;
}
uint8_t getCommandIndex() {
return _cmdIndex;
}
protected:
AP_Navigator * _navigator;
AP_HardwareAbstractionLayer * _hal;
AP_MavlinkCommand _command, _previousCommand;
float _headingCommand;
float _airSpeedCommand;
float _groundSpeedCommand;
float _altitudeCommand;
float _pNCmd;
float _pECmd;
float _pDCmd;
MAV_NAV _mode;
AP_Uint8 _numberOfCommands;
AP_Uint8 _cmdIndex;
uint16_t _nextCommandCalls;
uint16_t _nextCommandTimer;
};
class MavlinkGuide: public AP_Guide {
public:
MavlinkGuide(AP_Navigator * navigator,
AP_HardwareAbstractionLayer * hal) :
AP_Guide(navigator, hal), _rangeFinderFront(), _rangeFinderBack(),
_rangeFinderLeft(), _rangeFinderRight(),
_group(k_guide, PSTR("guide_")),
_velocityCommand(&_group, 1, 1, PSTR("velCmd")),
_crossTrackGain(&_group, 2, 2, PSTR("xt")),
_crossTrackLim(&_group, 3, 10, PSTR("xtLim")) {
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
RangeFinder * rF = _hal->rangeFinders[i];
if (rF == NULL)
continue;
if (rF->orientation_x == 1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderFront = rF;
else if (rF->orientation_x == -1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderBack = rF;
else if (rF->orientation_x == 0 && rF->orientation_y == 1
&& rF->orientation_z == 0)
_rangeFinderRight = rF;
else if (rF->orientation_x == 0 && rF->orientation_y == -1
&& rF->orientation_z == 0)
_rangeFinderLeft = rF;
}
}
virtual void update() {
// _hal->debug->printf_P(
// PSTR("guide loop, number: %d, current index: %d, previous index: %d\n"),
// getNumberOfCommands(),
// getCurrentIndex(),
// getPreviousIndex());
// if we don't have enough waypoint for cross track calcs
// go home
if (_numberOfCommands == 1) {
_mode = MAV_NAV_RETURNING;
_altitudeCommand = AP_MavlinkCommand::home.getAlt();
_headingCommand = AP_MavlinkCommand::home.bearingTo(
_navigator->getLat_degInt(), _navigator->getLon_degInt())
+ 180 * deg2Rad;
if (_headingCommand > 360 * deg2Rad)
_headingCommand -= 360 * deg2Rad;
// _hal->debug->printf_P(PSTR("going home: bearing: %f distance: %f\n"),
// headingCommand,AP_MavlinkCommand::home.distanceTo(_navigator->getLat_degInt(),_navigator->getLon_degInt()));
} else {
_mode = MAV_NAV_WAYPOINT;
_altitudeCommand = _command.getAlt();
// TODO wrong behavior if 0 selected as waypoint, says previous 0
float dXt = _command.crossTrack(_previousCommand,
_navigator->getLat_degInt(),
_navigator->getLon_degInt());
float temp = dXt * _crossTrackGain * deg2Rad; // crosstrack gain, rad/m
if (temp > _crossTrackLim * deg2Rad)
temp = _crossTrackLim * deg2Rad;
if (temp < -_crossTrackLim * deg2Rad)
temp = -_crossTrackLim * deg2Rad;
float bearing = _previousCommand.bearingTo(_command);
_headingCommand = bearing - temp;
float alongTrack = _command.alongTrack(_previousCommand,
_navigator->getLat_degInt(),
_navigator->getLon_degInt());
float distanceToNext = _command.distanceTo(
_navigator->getLat_degInt(), _navigator->getLon_degInt());
float segmentLength = _previousCommand.distanceTo(_command);
if (distanceToNext < _command.getRadius() || alongTrack
> segmentLength)
{
Serial.println("radius reached");
nextCommand();
}
// _hal->debug->printf_P(
// PSTR("nav: bCurrent2Dest: %f\tdXt: %f\tcmdHeading: %f\tnextWpDistance: %f\talongTrack: %f\n"),
// bearing * rad2Deg, dXt, _headingCommand * rad2Deg, distanceToNext, alongTrack);
}
_groundSpeedCommand = _velocityCommand;
// TODO : calculate pN,pE,pD from home and gps coordinates
_pNCmd = _command.getPN(_navigator->getLat_degInt(),
_navigator->getLon_degInt());
_pECmd = _command.getPE(_navigator->getLat_degInt(),
_navigator->getLon_degInt());
_pDCmd = _command.getPD(_navigator->getAlt_intM());
// process mavlink commands
//handleCommand();
// obstacle avoidance overrides
// stop if your going to drive into something in front of you
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++)
_hal->rangeFinders[i]->read();
float frontDistance = _rangeFinderFront->distance / 200.0; //convert for other adc
if (_rangeFinderFront && frontDistance < 2) {
_mode = MAV_NAV_VECTOR;
//airSpeedCommand = 0;
//groundSpeedCommand = 0;
// _headingCommand -= 45 * deg2Rad;
// _hal->debug->print("Obstacle Distance (m): ");
// _hal->debug->println(frontDistance);
// _hal->debug->print("Obstacle avoidance Heading Command: ");
// _hal->debug->println(headingCommand);
// _hal->debug->printf_P(
// PSTR("Front Distance, %f\n"),
// frontDistance);
}
if (_rangeFinderBack && _rangeFinderBack->distance < 5) {
_airSpeedCommand = 0;
_groundSpeedCommand = 0;
}
if (_rangeFinderLeft && _rangeFinderLeft->distance < 5) {
_airSpeedCommand = 0;
_groundSpeedCommand = 0;
}
if (_rangeFinderRight && _rangeFinderRight->distance < 5) {
_airSpeedCommand = 0;
_groundSpeedCommand = 0;
}
}
void nextCommand() {
// within 1 seconds, check if more than 5 calls to next command occur
// if they do, go to home waypoint
if (millis() - _nextCommandTimer < 1000) {
if (_nextCommandCalls > 5) {
Serial.println("commands loading too fast, returning home");
setCurrentIndex(0);
setNumberOfCommands(1);
_nextCommandCalls = 0;
_nextCommandTimer = millis();
return;
}
_nextCommandCalls++;
} else {
_nextCommandTimer = millis();
_nextCommandCalls = 0;
}
_cmdIndex = getNextIndex();
Serial.print("cmd : "); Serial.println(int(_cmdIndex));
Serial.print("cmd prev : "); Serial.println(int(getPreviousIndex()));
Serial.print("cmd num : "); Serial.println(int(getNumberOfCommands()));
_command = AP_MavlinkCommand(getCurrentIndex());
_previousCommand = AP_MavlinkCommand(getPreviousIndex());
}
void handleCommand(AP_MavlinkCommand command,
AP_MavlinkCommand previousCommand) {
// TODO handle more commands
switch (command.getCommand()) {
case MAV_CMD_NAV_WAYPOINT: {
// if within radius, increment
float d = previousCommand.distanceTo(_navigator->getLat_degInt(),
_navigator->getLon_degInt());
if (d < command.getRadius()) {
nextCommand();
Serial.println("radius reached");
}
break;
}
// case MAV_CMD_CONDITION_CHANGE_ALT:
// case MAV_CMD_CONDITION_DELAY:
// case MAV_CMD_CONDITION_DISTANCE:
// case MAV_CMD_CONDITION_LAST:
// case MAV_CMD_CONDITION_YAW:
// case MAV_CMD_DO_CHANGE_SPEED:
// case MAV_CMD_DO_CONTROL_VIDEO:
// case MAV_CMD_DO_JUMP:
// case MAV_CMD_DO_LAST:
// case MAV_CMD_DO_LAST:
// case MAV_CMD_DO_REPEAT_RELAY:
// case MAV_CMD_DO_REPEAT_SERVO:
// case MAV_CMD_DO_SET_HOME:
// case MAV_CMD_DO_SET_MODE:
// case MAV_CMD_DO_SET_PARAMETER:
// case MAV_CMD_DO_SET_RELAY:
// case MAV_CMD_DO_SET_SERVO:
// case MAV_CMD_PREFLIGHT_CALIBRATION:
// case MAV_CMD_PREFLIGHT_STORAGE:
// case MAV_CMD_NAV_LAND:
// case MAV_CMD_NAV_LAST:
// case MAV_CMD_NAV_LOITER_TIME:
// case MAV_CMD_NAV_LOITER_TURNS:
// case MAV_CMD_NAV_LOITER_UNLIM:
// case MAV_CMD_NAV_ORIENTATION_TARGET:
// case MAV_CMD_NAV_PATHPLANNING:
// case MAV_CMD_NAV_RETURN_TO_LAUNCH:
// case MAV_CMD_NAV_TAKEOFF:
default:
// unhandled command, skip
Serial.println("unhandled command");
nextCommand();
break;
}
}
private:
RangeFinder * _rangeFinderFront;
RangeFinder * _rangeFinderBack;
RangeFinder * _rangeFinderLeft;
RangeFinder * _rangeFinderRight;
AP_Var_group _group;
AP_Float _velocityCommand;
AP_Float _crossTrackGain;
AP_Float _crossTrackLim;
};
} // namespace apo
#endif // AP_Guide_H
// vim:ts=4:sw=4:expandtab

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/*
* AP_HardwareAbstractionLayer.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_HardwareAbstractionLayer.h"

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/*
* AP_HardwareAbstractionLayer.h
*
* Created on: Apr 4, 2011
*
*/
#ifndef AP_HARDWAREABSTRACTIONLAYER_H_
#define AP_HARDWAREABSTRACTIONLAYER_H_
#include "../AP_Common/AP_Common.h"
#include "../FastSerial/FastSerial.h"
#include "../AP_Common/AP_Vector.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_ADC/AP_ADC.h"
#include "../AP_IMU/AP_IMU.h"
#include "../AP_GPS/GPS.h"
#include "../APM_BMP085/APM_BMP085.h"
#include "../AP_Compass/AP_Compass.h"
#include "AP_RcChannel.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
class AP_ADC;
class IMU;
class GPS;
class APM_BMP085_Class;
class Compass;
class BetterStream;
class RangeFinder;
namespace apo {
class AP_RcChannel;
class AP_CommLink;
// enumerations
enum halMode_t {
MODE_LIVE, MODE_HIL_CNTL,
/*MODE_HIL_NAV*/};
enum board_t {
BOARD_ARDUPILOTMEGA_1280, BOARD_ARDUPILOTMEGA_2560, BOARD_ARDUPILOTMEGA_2
};
enum vehicle_t {
VEHICLE_CAR, VEHICLE_QUAD, VEHICLE_PLANE, VEHICLE_BOAT, VEHICLE_TANK
};
class AP_HardwareAbstractionLayer {
public:
AP_HardwareAbstractionLayer(halMode_t mode, board_t board,
vehicle_t vehicle, uint8_t heartBeatTimeout) :
adc(), gps(), baro(), compass(), rangeFinders(), imu(), rc(), gcs(),
hil(), debug(), load(), lastHeartBeat(),
_heartBeatTimeout(heartBeatTimeout), _mode(mode),
_board(board), _vehicle(vehicle), _state(MAV_STATE_UNINIT) {
/*
* Board specific hardware initialization
*/
if (board == BOARD_ARDUPILOTMEGA_1280) {
slideSwitchPin = 40;
pushButtonPin = 41;
aLedPin = 37;
bLedPin = 36;
cLedPin = 35;
eepromMaxAddr = 1024;
pinMode(aLedPin, OUTPUT); // extra led
pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
pinMode(cLedPin, OUTPUT); // gps led
pinMode(slideSwitchPin, INPUT);
pinMode(pushButtonPin, INPUT);
DDRL |= B00000100; // set port L, pint 2 to output for the relay
} else if (board == BOARD_ARDUPILOTMEGA_2560) {
slideSwitchPin = 40;
pushButtonPin = 41;
aLedPin = 37;
bLedPin = 36;
cLedPin = 35;
eepromMaxAddr = 2048;
pinMode(aLedPin, OUTPUT); // extra led
pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
pinMode(cLedPin, OUTPUT); // gps led
pinMode(slideSwitchPin, INPUT);
pinMode(pushButtonPin, INPUT);
DDRL |= B00000100; // set port L, pint 2 to output for the relay
}
}
/**
* Sensors
*/
AP_ADC * adc;
GPS * gps;
APM_BMP085_Class * baro;
Compass * compass;
Vector<RangeFinder *> rangeFinders;
IMU * imu;
/**
* Radio Channels
*/
Vector<AP_RcChannel *> rc;
/**
* Communication Channels
*/
AP_CommLink * gcs;
AP_CommLink * hil;
FastSerial * debug;
/**
* data
*/
uint8_t load;
uint32_t lastHeartBeat;
/**
* settings
*/
uint8_t slideSwitchPin;
uint8_t pushButtonPin;
uint8_t aLedPin;
uint8_t bLedPin;
uint8_t cLedPin;
uint16_t eepromMaxAddr;
// accessors
halMode_t getMode() {
return _mode;
}
board_t getBoard() {
return _board;
}
vehicle_t getVehicle() {
return _vehicle;
}
MAV_STATE getState() {
return _state;
}
void setState(MAV_STATE state) {
_state = state;
}
bool heartBeatLost() {
if (_heartBeatTimeout == 0)
return false;
else
return ((micros() - lastHeartBeat) / 1e6) > _heartBeatTimeout;
}
private:
// enumerations
uint8_t _heartBeatTimeout;
halMode_t _mode;
board_t _board;
vehicle_t _vehicle;
MAV_STATE _state;
};
}
#endif /* AP_HARDWAREABSTRACTIONLAYER_H_ */

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/*
* AP_MavlinkCommand.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_MavlinkCommand.h"
namespace apo {
AP_MavlinkCommand::AP_MavlinkCommand(const AP_MavlinkCommand & v) :
_data(v._data), _seq(v._seq) {
//if (FastSerial::getInitialized(0)) Serial.println("copy ctor");
}
AP_MavlinkCommand::AP_MavlinkCommand(uint16_t index, bool doLoad) :
_data(k_commands + index), _seq(index) {
if (FastSerial::getInitialized(0)) {
Serial.println("index ctor");
Serial.println("++");
Serial.print("index: "); Serial.println(index);
Serial.print("key: "); Serial.println(k_commands + index);
Serial.println("++");
}
// This is a failsafe measure to stop trying to load a command if it can't load
if (doLoad && !load()) {
Serial.println("load failed, reverting to home waypoint");
_data = AP_MavlinkCommand::home._data;
_seq = AP_MavlinkCommand::home._seq;
}
}
AP_MavlinkCommand::AP_MavlinkCommand(mavlink_waypoint_t cmd) :
_data(k_commands + cmd.seq), _seq(cmd.seq) {
setCommand(MAV_CMD(cmd.command));
setAutocontinue(cmd.autocontinue);
setFrame(MAV_FRAME(cmd.frame));
setParam1(cmd.param1);
setParam2(cmd.param2);
setParam3(cmd.param3);
setParam4(cmd.param4);
setX(cmd.x);
setY(cmd.y);
setZ(cmd.z);
save();
// reload home if sent
if (cmd.seq == 0) home.load();
Serial.println("============================================================");
Serial.println("storing new command from mavlink_waypoint_t");
Serial.print("key: "); Serial.println(_data.key(),DEC);
Serial.print("number: "); Serial.println(cmd.seq,DEC);
Serial.print("command: "); Serial.println(getCommand());
Serial.print("autocontinue: "); Serial.println(getAutocontinue(),DEC);
Serial.print("frame: "); Serial.println(getFrame(),DEC);
Serial.print("1000*param1: "); Serial.println(int(1000*getParam1()),DEC);
Serial.print("1000*param2: "); Serial.println(int(1000*getParam2()),DEC);
Serial.print("1000*param3: "); Serial.println(int(1000*getParam3()),DEC);
Serial.print("1000*param4: "); Serial.println(int(1000*getParam4()),DEC);
Serial.print("1000*x0: "); Serial.println(int(1000*cmd.x),DEC);
Serial.print("1000*y0: "); Serial.println(int(1000*cmd.y),DEC);
Serial.print("1000*z0: "); Serial.println(int(1000*cmd.z),DEC);
Serial.print("1000*x: "); Serial.println(int(1000*getX()),DEC);
Serial.print("1000*y: "); Serial.println(int(1000*getY()),DEC);
Serial.print("1000*z: "); Serial.println(int(1000*getZ()),DEC);
load();
Serial.print("1000*x1: "); Serial.println(int(1000*getX()),DEC);
Serial.print("1000*y1: "); Serial.println(int(1000*getY()),DEC);
Serial.print("1000*z1: "); Serial.println(int(1000*getZ()),DEC);
Serial.println("============================================================");
Serial.flush();
}
mavlink_waypoint_t AP_MavlinkCommand::convert(uint8_t current) {
mavlink_waypoint_t mavCmd;
mavCmd.seq = getSeq();
mavCmd.command = getCommand();
mavCmd.frame = getFrame();
mavCmd.param1 = getParam1();
mavCmd.param2 = getParam2();
mavCmd.param3 = getParam3();
mavCmd.param4 = getParam4();
mavCmd.x = getX();
mavCmd.y = getY();
mavCmd.z = getZ();
mavCmd.autocontinue = getAutocontinue();
mavCmd.current = (getSeq() == current);
mavCmd.target_component = mavlink_system.compid;
mavCmd.target_system = mavlink_system.sysid;
return mavCmd;
}
float AP_MavlinkCommand::bearingTo(AP_MavlinkCommand next) const {
float deltaLon = next.getLon() - getLon();
/*
Serial.print("Lon: "); Serial.println(getLon());
Serial.print("nextLon: "); Serial.println(next.getLon());
Serial.print("deltaLonDeg * 1e7: "); Serial.println(deltaLon*rad2DegInt);
*/
float bearing = atan2(
sin(deltaLon) * cos(next.getLat()),
cos(getLat()) * sin(next.getLat()) - sin(getLat()) * cos(
next.getLat()) * cos(deltaLon));
return bearing;
}
float AP_MavlinkCommand::bearingTo(int32_t latDegInt, int32_t lonDegInt) const {
// have to be careful to maintain the precision of the gps coordinate
float deltaLon = (lonDegInt - getLon_degInt()) * degInt2Rad;
float nextLat = latDegInt * degInt2Rad;
float bearing = atan2(
sin(deltaLon) * cos(nextLat),
cos(getLat()) * sin(nextLat) - sin(getLat()) * cos(nextLat)
* cos(deltaLon));
if (bearing < 0)
bearing += 2 * M_PI;
return bearing;
}
float AP_MavlinkCommand::distanceTo(AP_MavlinkCommand next) const {
float sinDeltaLat2 = sin((getLat() - next.getLat()) / 2);
float sinDeltaLon2 = sin((getLon() - next.getLon()) / 2);
float a = sinDeltaLat2 * sinDeltaLat2 + cos(getLat()) * cos(
next.getLat()) * sinDeltaLon2 * sinDeltaLon2;
float c = 2 * atan2(sqrt(a), sqrt(1 - a));
return rEarth * c;
}
float AP_MavlinkCommand::distanceTo(int32_t lat_degInt, int32_t lon_degInt) const {
float sinDeltaLat2 = sin(
(lat_degInt - getLat_degInt()) * degInt2Rad / 2);
float sinDeltaLon2 = sin(
(lon_degInt - getLon_degInt()) * degInt2Rad / 2);
float a = sinDeltaLat2 * sinDeltaLat2 + cos(getLat()) * cos(
lat_degInt * degInt2Rad) * sinDeltaLon2 * sinDeltaLon2;
float c = 2 * atan2(sqrt(a), sqrt(1 - a));
/*
Serial.print("wp lat_degInt: "); Serial.println(getLat_degInt());
Serial.print("wp lon_degInt: "); Serial.println(getLon_degInt());
Serial.print("lat_degInt: "); Serial.println(lat_degInt);
Serial.print("lon_degInt: "); Serial.println(lon_degInt);
Serial.print("sinDeltaLat2: "); Serial.println(sinDeltaLat2);
Serial.print("sinDeltaLon2: "); Serial.println(sinDeltaLon2);
*/
return rEarth * c;
}
//calculates cross track of a current location
float AP_MavlinkCommand::crossTrack(AP_MavlinkCommand previous,
int32_t lat_degInt, int32_t lon_degInt) {
float d = previous.distanceTo(lat_degInt, lon_degInt);
float bCurrent = previous.bearingTo(lat_degInt, lon_degInt);
float bNext = previous.bearingTo(*this);
return asin(sin(d / rEarth) * sin(bCurrent - bNext)) * rEarth;
return 0;
}
// calculates along track distance of a current location
float AP_MavlinkCommand::alongTrack(AP_MavlinkCommand previous,
int32_t lat_degInt, int32_t lon_degInt) {
// ignores lat/lon since single prec.
float dXt = this->crossTrack(previous,lat_degInt, lon_degInt);
float d = previous.distanceTo(lat_degInt, lon_degInt);
return dXt / tan(asin(dXt / d));
}
AP_MavlinkCommand AP_MavlinkCommand::home = AP_MavlinkCommand(0,false);
}

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/*
* AP_MavlinkCommand.h
*
* Created on: Apr 4, 2011
* Author: jgoppert
*/
#ifndef AP_MAVLINKCOMMAND_H_
#define AP_MAVLINKCOMMAND_H_
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_Common/AP_Common.h"
#include "AP_Var_keys.h"
#include "constants.h"
#include "../FastSerial/FastSerial.h"
namespace apo {
class AP_MavlinkCommand {
private:
struct CommandStorage {
MAV_CMD command;
bool autocontinue;
MAV_FRAME frame;
float param1;
float param2;
float param3;
float param4;
float x;
float y;
float z;
};
AP_VarS<CommandStorage> _data;
uint16_t _seq;
public:
static AP_MavlinkCommand home;
/**
* Copy Constructor
*/
AP_MavlinkCommand(const AP_MavlinkCommand & v);
/**
* Basic Constructor
* @param index Start at zero.
*/
AP_MavlinkCommand(uint16_t index, bool doLoad = true);
/**
* Constructor for copying/ saving from a mavlink waypoint.
* @param cmd The mavlink_waopint_t structure for the command.
*/
AP_MavlinkCommand(mavlink_waypoint_t cmd);
bool save() {
return _data.save();
}
bool load() {
return _data.load();
}
uint8_t getSeq() const {
return _seq;
}
bool getAutocontinue() const {
return _data.get().autocontinue;
}
void setAutocontinue(bool val) {
_data.get().autocontinue = val;
}
void setSeq(uint8_t val) {
_seq = val;
}
MAV_CMD getCommand() const {
return _data.get().command;
}
void setCommand(MAV_CMD val) {
_data.get().command = val;
}
MAV_FRAME getFrame() const {
return _data.get().frame;
}
void setFrame(MAV_FRAME val) {
_data.get().frame = val;
}
float getParam1() const {
return _data.get().param1;
}
void setParam1(float val) {
_data.get().param1 = val;
}
float getParam2() const {
return _data.get().param2;
}
void setParam2(float val) {
_data.get().param2 = val;
}
float getParam3() const {
return _data.get().param3;
}
void setParam3(float val) {
_data.get().param3 = val;
}
float getParam4() const {
return _data.get().param4;
}
void setParam4(float val) {
_data.get().param4 = val;
}
float getX() const {
return _data.get().x;
}
void setX(float val) {
_data.get().x = val;
}
float getY() const {
return _data.get().y;
}
void setY(float val) {
_data.get().y = val;
}
float getZ() const {
return _data.get().z;
}
void setZ(float val) {
_data.get().z = val;
}
float getLatDeg() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
return getX();
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
void setLatDeg(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
setX(val);
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
break;
}
}
float getLonDeg() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
return getY();
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
void setLonDeg(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
setY(val);
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
break;
}
}
void setLon(float val) {
setLonDeg(val * rad2Deg);
}
void setLon_degInt(int32_t val) {
setLonDeg(val / 1.0e7);
}
void setLat_degInt(int32_t val) {
setLatDeg(val / 1.0e7);
}
int32_t getLon_degInt() const {
return getLonDeg() * 1e7;
}
int32_t getLat_degInt() const {
return getLatDeg() * 1e7;
}
float getLon() const {
return getLonDeg() * deg2Rad;
}
float getLat() const {
return getLatDeg() * deg2Rad;
}
void setLat(float val) {
setLatDeg(val * rad2Deg);
}
float getAlt() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
return getZ();
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
return getZ() + home.getAlt();
break;
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
/**
* set the altitude in meters
*/
void setAlt(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
setZ(val);
break;
case MAV_FRAME_LOCAL:
setZ(val - home.getLonDeg());
break;
case MAV_FRAME_MISSION:
default:
break;
}
}
/**
* Get the relative altitude to home
* @return relative altitude in meters
*/
float getRelAlt() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
return getZ() - home.getAlt();
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
return getZ();
break;
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
/**
* set the relative altitude in meters from home
*/
void setRelAlt(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
setZ(val + home.getAlt());
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
setZ(val);
break;
case MAV_FRAME_MISSION:
break;
}
}
float getRadius() const {
return getParam2();
}
void setRadius(float val) {
setParam2(val);
}
/**
* conversion for outbound packets to ground station
* @return output the mavlink_waypoint_t packet
*/
mavlink_waypoint_t convert(uint8_t current);
/**
* Calculate the bearing from this command to the next command
* @param next The command to calculate the bearing to.
* @return the bearing
*/
float bearingTo(AP_MavlinkCommand next) const;
/**
* Bearing form this command to a gps coordinate in integer units
* @param latDegInt latitude in degrees E-7
* @param lonDegInt longitude in degrees E-7
* @return
*/
float bearingTo(int32_t latDegInt, int32_t lonDegInt) const;
/**
* Distance to another command
* @param next The command to measure to.
* @return The distance in meters.
*/
float distanceTo(AP_MavlinkCommand next) const;
/**
* Distance to a gps coordinate in integer units
* @param latDegInt latitude in degrees E-7
* @param lonDegInt longitude in degrees E-7
* @return The distance in meters.
*/
float distanceTo(int32_t lat_degInt, int32_t lon_degInt) const;
float getPN(int32_t lat_degInt, int32_t lon_degInt) const {
// local tangent approximation at this waypoint
float deltaLat = (lat_degInt - getLat_degInt()) * degInt2Rad;
return deltaLat * rEarth;
}
float getPE(int32_t lat_degInt, int32_t lon_degInt) const {
// local tangent approximation at this waypoint
float deltaLon = (lon_degInt - getLon_degInt()) * degInt2Rad;
return cos(getLat()) * deltaLon * rEarth;
}
float getPD(int32_t alt_intM) const {
return -(alt_intM / scale_m - getAlt());
}
float getLat(float pN) const {
return pN / rEarth + getLat();
}
float getLon(float pE) const {
return pE / rEarth / cos(getLat()) + getLon();
}
/**
* Gets altitude in meters
* @param pD alt in meters
* @return
*/
float getAlt(float pD) const {
return getAlt() - pD;
}
//calculates cross track of a current location
float crossTrack(AP_MavlinkCommand previous, int32_t lat_degInt, int32_t lon_degInt);
// calculates along track distance of a current location
float alongTrack(AP_MavlinkCommand previous, int32_t lat_degInt, int32_t lon_degInt);
};
} // namespace apo
#endif /* AP_MAVLINKCOMMAND_H_ */

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/*
* AP_Navigator.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Navigator.h"

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/*
* AP_Navigator.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Navigator_H
#define AP_Navigator_H
#include "AP_HardwareAbstractionLayer.h"
#include "../AP_DCM/AP_DCM.h"
#include "../AP_Math/AP_Math.h"
#include "../AP_Compass/AP_Compass.h"
#include "AP_MavlinkCommand.h"
#include "constants.h"
#include "AP_Var_keys.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
#include "../AP_IMU/AP_IMU.h"
namespace apo {
/// Navigator class
class AP_Navigator {
public:
AP_Navigator(AP_HardwareAbstractionLayer * hal) :
_hal(hal), _timeStamp(0), _roll(0), _rollRate(0), _pitch(0),
_pitchRate(0), _yaw(0), _yawRate(0), _airSpeed(0),
_groundSpeed(0), _vD(0), _lat_degInt(0),
_lon_degInt(0), _alt_intM(0) {
}
virtual void calibrate() {
}
virtual void updateFast(float dt) = 0;
virtual void updateSlow(float dt) = 0;
float getPD() const {
return AP_MavlinkCommand::home.getPD(getAlt_intM());
}
float getPE() const {
return AP_MavlinkCommand::home.getPE(getLat_degInt(), getLon_degInt());
}
float getPN() const {
return AP_MavlinkCommand::home.getPN(getLat_degInt(), getLon_degInt());
}
void setPD(float _pD) {
setAlt(AP_MavlinkCommand::home.getAlt(_pD));
}
void setPE(float _pE) {
setLat(AP_MavlinkCommand::home.getLat(_pE));
}
void setPN(float _pN) {
setLon(AP_MavlinkCommand::home.getLon(_pN));
}
float getAirSpeed() const {
return _airSpeed;
}
int32_t getAlt_intM() const {
return _alt_intM;
}
float getAlt() const {
return _alt_intM / scale_m;
}
void setAlt(float _alt) {
this->_alt_intM = _alt * scale_m;
}
float getLat() const {
//Serial.print("getLatfirst");
//Serial.println(_lat_degInt * degInt2Rad);
return _lat_degInt * degInt2Rad;
}
void setLat(float _lat) {
//Serial.print("setLatfirst");
//Serial.println(_lat * rad2DegInt);
setLat_degInt(_lat*rad2DegInt);
}
float getLon() const {
return _lon_degInt * degInt2Rad;
}
void setLon(float _lon) {
this->_lon_degInt = _lon * rad2DegInt;
}
float getVD() const {
return _vD;
}
float getVE() const {
return sin(getYaw()) * getGroundSpeed();
}
float getGroundSpeed() const {
return _groundSpeed;
}
int32_t getLat_degInt() const {
//Serial.print("getLat_degInt");
//Serial.println(_lat_degInt);
return _lat_degInt;
}
int32_t getLon_degInt() const {
return _lon_degInt;
}
float getVN() const {
return cos(getYaw()) * getGroundSpeed();
}
float getPitch() const {
return _pitch;
}
float getPitchRate() const {
return _pitchRate;
}
float getRoll() const {
return _roll;
}
float getRollRate() const {
return _rollRate;
}
float getYaw() const {
return _yaw;
}
float getYawRate() const {
return _yawRate;
}
void setAirSpeed(float airSpeed) {
_airSpeed = airSpeed;
}
void setAlt_intM(int32_t alt_intM) {
_alt_intM = alt_intM;
}
void setVD(float vD) {
_vD = vD;
}
void setGroundSpeed(float groundSpeed) {
_groundSpeed = groundSpeed;
}
void setLat_degInt(int32_t lat_degInt) {
_lat_degInt = lat_degInt;
//Serial.print("setLat_degInt");
//Serial.println(_lat_degInt);
}
void setLon_degInt(int32_t lon_degInt) {
_lon_degInt = lon_degInt;
}
void setPitch(float pitch) {
_pitch = pitch;
}
void setPitchRate(float pitchRate) {
_pitchRate = pitchRate;
}
void setRoll(float roll) {
_roll = roll;
}
void setRollRate(float rollRate) {
_rollRate = rollRate;
}
void setYaw(float yaw) {
_yaw = yaw;
}
void setYawRate(float yawRate) {
_yawRate = yawRate;
}
void setTimeStamp(int32_t timeStamp) {
_timeStamp = timeStamp;
}
int32_t getTimeStamp() const {
return _timeStamp;
}
protected:
AP_HardwareAbstractionLayer * _hal;
private:
int32_t _timeStamp; // micros clock
float _roll; // rad
float _rollRate; //rad/s
float _pitch; // rad
float _pitchRate; // rad/s
float _yaw; // rad
float _yawRate; // rad/s
float _airSpeed; // m/s
float _groundSpeed; // m/s
float _vD; // m/s
int32_t _lat_degInt; // deg / 1e7
int32_t _lon_degInt; // deg / 1e7
int32_t _alt_intM; // meters / 1e3
};
class DcmNavigator: public AP_Navigator {
private:
/**
* Sensors
*/
RangeFinder * _rangeFinderDown;
AP_DCM * _dcm;
IMU * _imu;
uint16_t _imuOffsetAddress;
public:
DcmNavigator(AP_HardwareAbstractionLayer * hal) :
AP_Navigator(hal), _dcm(), _imuOffsetAddress(0) {
// if orientation equal to front, store as front
/**
* rangeFinder<direction> is assigned values based on orientation which
* is specified in ArduPilotOne.pde.
*/
for (uint8_t i = 0; i < _hal-> rangeFinders.getSize(); i++) {
if (_hal->rangeFinders[i] == NULL)
continue;
if (_hal->rangeFinders[i]->orientation_x == 0
&& _hal->rangeFinders[i]->orientation_y == 0
&& _hal->rangeFinders[i]->orientation_z == 1)
_rangeFinderDown = _hal->rangeFinders[i];
}
if (_hal->getMode() == MODE_LIVE) {
if (_hal->adc)
_hal->imu = new AP_IMU_Oilpan(_hal->adc, k_sensorCalib);
if (_hal->imu)
_dcm = new AP_DCM(_hal->imu, _hal->gps, _hal->compass);
if (_hal->compass) {
_dcm->set_compass(_hal->compass);
}
}
}
virtual void calibrate() {
AP_Navigator::calibrate();
// TODO: handle cold restart
if (_hal->imu) {
/*
* Gyro has built in warm up cycle and should
* run first */
_hal->imu->init_gyro(NULL);
_hal->imu->init_accel(NULL);
}
}
virtual void updateFast(float dt) {
if (_hal->getMode() != MODE_LIVE)
return;
setTimeStamp(micros()); // if running in live mode, record new time stamp
//_hal->debug->println_P(PSTR("nav loop"));
/**
* The altitued is read off the barometer by implementing the following formula:
* altitude (in m) = 44330*(1-(p/po)^(1/5.255)),
* where, po is pressure in Pa at sea level (101325 Pa).
* See http://www.sparkfun.com/tutorials/253 or type this formula
* in a search engine for more information.
* altInt contains the altitude in meters.
*/
if (_hal->baro) {
if (_rangeFinderDown != NULL && _rangeFinderDown->distance <= 695)
setAlt(_rangeFinderDown->distance);
else {
float tmp = (_hal->baro->Press / 101325.0);
tmp = pow(tmp, 0.190295);
//setAlt(44330 * (1.0 - tmp)); //sets the altitude in meters XXX wrong, baro reads 0 press
setAlt(0.0);
}
}
// dcm class for attitude
if (_dcm) {
_dcm->update_DCM();
setRoll(_dcm->roll);
setPitch(_dcm->pitch);
setYaw(_dcm->yaw);
setRollRate(_dcm->get_gyro().x);
setPitchRate(_dcm->get_gyro().y);
setYawRate(_dcm->get_gyro().z);
/*
* accel/gyro debug
*/
/*
Vector3f accel = _hal->imu->get_accel();
Vector3f gyro = _hal->imu->get_gyro();
Serial.printf_P(PSTR("accel: %f %f %f gyro: %f %f %f\n"),
accel.x,accel.y,accel.z,gyro.x,gyro.y,gyro.z);
*/
}
}
virtual void updateSlow(float dt) {
if (_hal->getMode() != MODE_LIVE)
return;
setTimeStamp(micros()); // if running in live mode, record new time stamp
if (_hal->gps) {
_hal->gps->update();
updateGpsLight();
if (_hal->gps->fix && _hal->gps->new_data) {
setLat_degInt(_hal->gps->latitude);
setLon_degInt(_hal->gps->longitude);
setAlt_intM(_hal->gps->altitude * 10); // gps in cm, intM in mm
setGroundSpeed(_hal->gps->ground_speed / 100.0); // gps is in cm/s
}
}
if (_hal->compass) {
_hal->compass->read();
_hal->compass->calculate(getRoll(), getPitch());
_hal->compass->null_offsets(_dcm->get_dcm_matrix());
}
}
void updateGpsLight(void) {
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
static bool GPS_light = false;
switch (_hal->gps->status()) {
case (2):
//digitalWrite(C_LED_PIN, HIGH); //Turn LED C on when gps has valid fix.
break;
case (1):
if (_hal->gps->valid_read == true) {
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light) {
digitalWrite(_hal->cLedPin, LOW);
} else {
digitalWrite(_hal->cLedPin, HIGH);
}
_hal->gps->valid_read = false;
}
break;
default:
digitalWrite(_hal->cLedPin, LOW);
break;
}
}
};
} // namespace apo
#endif // AP_Navigator_H
// vim:ts=4:sw=4:expandtab

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/*
AP_RcChannel.cpp - Radio library for Arduino
Code by Jason Short, James Goppert. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <math.h>
#include <avr/eeprom.h>
#include "AP_RcChannel.h"
#include "../AP_Common/AP_Common.h"
#include <HardwareSerial.h>
namespace apo {
AP_RcChannel::AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name,
APM_RC_Class & rc, const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode, const bool & reverse) :
AP_Var_group(keyValue, name), _ch(this, 1, ch, PSTR("ch")),
_pwmMin(this, 2, pwmMin, PSTR("pMin")),
_pwmNeutral(this, 3, pwmNeutral, PSTR("pNtrl")),
_pwmMax(this, 4, pwmMax, PSTR("pMax")), _rcMode(rcMode),
_reverse(this, 5, reverse, PSTR("rev")), _rc(rc), _pwm(pwmNeutral) {
//Serial.print("pwm after ctor: "); Serial.println(pwmNeutral);
if (rcMode == RC_MODE_IN)
return;
//Serial.print("pwm set for ch: "); Serial.println(int(ch));
rc.OutputCh(ch, pwmNeutral);
}
uint16_t AP_RcChannel::getRadioPwm() {
if (_rcMode == RC_MODE_OUT) {
Serial.print("tryng to read from output channel: ");
Serial.println(int(_ch));
return _pwmNeutral; // if this happens give a safe value of neutral
}
return _rc.InputCh(_ch);
}
void AP_RcChannel::setUsingRadio() {
setPwm(getRadioPwm());
}
void AP_RcChannel::setPwm(uint16_t pwm) {
//Serial.printf("pwm in setPwm: %d\n", pwm);
//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
// apply reverse
if (_reverse)
pwm = int16_t(_pwmNeutral - pwm) + _pwmNeutral;
//Serial.printf("pwm after reverse: %d\n", pwm);
// apply saturation
if (_pwm > uint8_t(_pwmMax))
_pwm = _pwmMax;
if (_pwm < uint8_t(_pwmMin))
_pwm = _pwmMin;
_pwm = pwm;
//Serial.print("ch: "); Serial.print(ch); Serial.print(" pwm: "); Serial.println(pwm);
if (_rcMode == RC_MODE_IN)
return;
_rc.OutputCh(_ch, _pwm);
}
void AP_RcChannel::setPosition(float position) {
if (position > 1.0)
position = 1.0;
else if (position < -1.0)
position = -1.0;
setPwm(_positionToPwm(position));
}
uint16_t AP_RcChannel::_positionToPwm(const float & position) {
uint16_t pwm;
//Serial.printf("position: %f\n", position);
if (position < 0)
pwm = position * int16_t(_pwmNeutral - _pwmMin) + _pwmNeutral;
else
pwm = position * int16_t(_pwmMax - _pwmNeutral) + _pwmNeutral;
if (pwm > uint16_t(_pwmMax))
pwm = _pwmMax;
if (pwm < uint16_t(_pwmMin))
pwm = _pwmMin;
return pwm;
}
float AP_RcChannel::_pwmToPosition(const uint16_t & pwm) {
float position;
if (pwm < uint8_t(_pwmNeutral))
position = 1.0 * int16_t(pwm - _pwmNeutral) / int16_t(
_pwmNeutral - _pwmMin);
else
position = 1.0 * int16_t(pwm - _pwmNeutral) / int16_t(
_pwmMax - _pwmNeutral);
if (position > 1)
position = 1;
if (position < -1)
position = -1;
return position;
}
} // namespace apo

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_RcChannel.h
/// @brief AP_RcChannel manager
#ifndef AP_RCCHANNEL_H
#define AP_RCCHANNEL_H
#include <stdint.h>
#include "../APM_RC/APM_RC.h"
#include "../AP_Common/AP_Common.h"
#include "../AP_Common/AP_Var.h"
namespace apo {
enum rcMode_t {
RC_MODE_IN, RC_MODE_OUT, RC_MODE_INOUT
};
/// @class AP_RcChannel
/// @brief Object managing one RC channel
class AP_RcChannel: public AP_Var_group {
public:
/// Constructor
AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc,
const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode = RC_MODE_INOUT,
const bool & reverse = false);
// configuration
AP_Uint8 _ch;AP_Uint16 _pwmMin;AP_Uint16 _pwmNeutral;AP_Uint16 _pwmMax;
rcMode_t _rcMode;AP_Bool _reverse;
// set
void setUsingRadio();
void setPwm(uint16_t pwm);
void setPosition(float position);
// get
uint16_t getPwm() {
return _pwm;
}
uint16_t getRadioPwm();
float getPosition() {
return _pwmToPosition(_pwm);
}
float getRadioPosition() {
return _pwmToPosition(getRadioPwm());
}
private:
// configuration
APM_RC_Class & _rc;
// internal states
uint16_t _pwm; // this is the internal state, position is just created when needed
// private methods
uint16_t _positionToPwm(const float & position);
float _pwmToPosition(const uint16_t & pwm);
};
} // apo
#endif // AP_RCCHANNEL_H

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#ifndef AP_Var_keys_H
#define AP_Var_keys_H
enum keys {
// general
k_config = 0,
k_cntrl,
k_guide,
k_sensorCalib,
k_radioChannelsStart=10,
k_controllersStart=30,
k_customStart=100,
// 200-256 reserved for commands
k_commands = 200
};
// max 256 keys
#endif

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include(ApmMakeLib)

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libraries/APO/constants.h Normal file
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@ -0,0 +1,23 @@
/*
* constants.h
*
* Created on: Apr 7, 2011
* Author: nkgentry
*/
#ifndef CONSTANTS_H_
#define CONSTANTS_H_
#include "math.h"
const float scale_deg = 1e7; // scale of integer degrees/ degree
const float scale_m = 1e3; // scale of integer meters/ meter
const float rEarth = 6371000; // radius of earth, meters
const float rad2Deg = 180 / M_PI; // radians to degrees
const float deg2Rad = M_PI / 180; // degrees to radians
const float rad2DegInt = rad2Deg * scale_deg; // radians to degrees x 1e7
const float degInt2Rad = deg2Rad / scale_deg; // degrees x 1e7 to radians
#define MAV_MODE_FAILSAFE MAV_MODE_TEST3
#endif /* CONSTANTS_H_ */

2
libraries/APO/examples/MavlinkTest/Makefile Normal file
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@ -0,0 +1,2 @@
BOARD = mega
include ../../../AP_Common/Arduino.mk

49
libraries/APO/examples/MavlinkTest/MavlinkTest.pde Normal file
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@ -0,0 +1,49 @@
/*
AnalogReadSerial
Reads an analog input on pin 0, prints the result to the serial monitor
This example code is in the public domain.
*/
#include <GCS_MAVLink.h>
int packetDrops = 0;
void handleMessage(mavlink_message_t * msg) {
Serial.print(", received mavlink message: ");
Serial.print(msg->msgid, DEC);
}
void setup() {
Serial.begin(57600);
Serial3.begin(57600);
mavlink_comm_0_port = &Serial3;
packetDrops = 0;
}
void loop() {
mavlink_msg_heartbeat_send(MAVLINK_COMM_0, mavlink_system.type,
MAV_AUTOPILOT_ARDUPILOTMEGA);
Serial.print("heartbeat sent");
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
Serial.print(", bytes available: ");
Serial.print(comm_get_available(MAVLINK_COMM_0));
while (comm_get_available( MAVLINK_COMM_0)) {
uint8_t c = comm_receive_ch(MAVLINK_COMM_0);
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
handleMessage(&msg);
}
// Update packet drops counter
packetDrops += status.packet_rx_drop_count;
Serial.print(", dropped packets: ");
Serial.println(packetDrops);
delay(1000);
}

2
libraries/APO/examples/ServoManual/Makefile Normal file
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@ -0,0 +1,2 @@
BOARD = mega
include ../../../AP_Common/Arduino.mk

109
libraries/APO/examples/ServoManual/ServoManual.pde Normal file
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@ -0,0 +1,109 @@
/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <APO.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h>
#include <AP_Vector.h>
FastSerialPort0(Serial)
; // make sure this proceeds variable declarations
// test settings
using namespace apo;
class RadioTest {
private:
float testPosition;
int8_t testSign;
enum {
version,
rollKey,
pitchKey,
thrKey,
yawKey,
ch5Key,
ch6Key,
ch7Key,
ch8Key
};
Vector<AP_RcChannel *> ch;
public:
RadioTest() :
testPosition(2), testSign(1) {
ch.push_back(
new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
1500, 1900));
ch.push_back(
new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
1900));
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
}
void update() {
// read the radio
for (uint8_t i = 0; i < ch.getSize(); i++)
ch[i]->setUsingRadio();
// print channel names
Serial.print("\t\t");
static char name[7];
for (uint8_t i = 0; i < ch.getSize(); i++) {
ch[i]->copy_name(name, 7);
Serial.printf("%7s\t", name);
}
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7d\t", ch[i]->getPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7.2f\t", ch[i]->getPosition());
Serial.println();
delay(500);
}
};
RadioTest * test;
void setup() {
test = new RadioTest;
}
void loop() {
test->update();
}

2
libraries/APO/examples/ServoSweep/Makefile Normal file
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@ -0,0 +1,2 @@
BOARD = mega
include ../../../AP_Common/Arduino.mk

125
libraries/APO/examples/ServoSweep/ServoSweep.pde Normal file
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@ -0,0 +1,125 @@
/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <APO.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h>
#include <AP_Vector.h>
FastSerialPort0(Serial)
; // make sure this proceeds variable declarations
// test settings
using namespace apo;
class RadioTest {
private:
float testPosition;
int8_t testSign;
enum {
version,
rollKey,
pitchKey,
thrKey,
yawKey,
ch5Key,
ch6Key,
ch7Key,
ch8Key
};
Vector<AP_RcChannel *> ch;
public:
RadioTest() :
testPosition(2), testSign(1) {
ch.push_back(
new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
1500, 1900));
ch.push_back(
new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
1900));
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
}
void update() {
// update test value
testPosition += testSign * .1;
if (testPosition > 1) {
//eepromRegistry.print(Serial); // show eeprom map
testPosition = 1;
testSign = -1;
} else if (testPosition < -1) {
testPosition = -1;
testSign = 1;
}
// set channel positions
for (uint8_t i = 0; i < ch.getSize(); i++)
ch[i]->setPosition(testPosition);
// print test position
Serial.printf("\nnormalized position (%f)\n", testPosition);
// print channel names
Serial.print("\t\t");
static char name[7];
for (uint8_t i = 0; i < ch.getSize(); i++) {
ch[i]->copy_name(name, 7);
Serial.printf("%7s\t", name);
}
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7d\t", ch[i]->getRadioPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7.2f\t", ch[i]->getRadioPosition());
Serial.println();
delay(500);
}
};
RadioTest * test;
void setup() {
test = new RadioTest;
}
void loop() {
test->update();
}
// vim:ts=4:sw=4:expandtab

32
libraries/APO/template.h Normal file
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@ -0,0 +1,32 @@
/*
* Class.h
* Copyright (C) Author 2011 <email>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef Class_H
#define Class_H
namespace apo {
/// Class desciprtion
class Class {
public:
}
} // namespace apo
#endif // Class_H
// vim:ts=4:sw=4:expandtab

27
libraries/AP_ADC/CMakeLists.txt
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@ -1,26 +1 @@
set(LIB_NAME AP_ADC)
set(${LIB_NAME}_SRCS
AP_ADC_HIL.cpp
AP_ADC_ADS7844.cpp
AP_ADC.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_ADC_HIL.h
AP_ADC_ADS7844.h
AP_ADC.h
)
include_directories(
-
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})
include(ApmMakeLib)

161
libraries/AP_Common/AP_Var.cpp
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@ -9,19 +9,21 @@
/// @file AP_Var.cpp
/// @brief The AP variable store.
#if 0
# include <FastSerial.h>
extern "C" { extern void delay(unsigned long); }
# define debug(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(100); } while(0)
#else
# define debug(fmt, args...)
#endif
#include <AP_Common.h>
#include <math.h>
#include <string.h>
//#define ENABLE_FASTSERIAL_DEBUG
#ifdef ENABLE_FASTSERIAL_DEBUG
# include <FastSerial.h>
# define serialDebug(fmt, args...) if (FastSerial::getInitialized(0)) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
#else
# define serialDebug(fmt, args...)
#endif
// Global constants exported for general use.
//
AP_Float AP_Float_unity ( 1.0, AP_Var::k_key_none, NULL, AP_Var::k_flag_unlisted);
@ -71,7 +73,11 @@ AP_Var::AP_Var(AP_Var_group *pGroup, Key index, const prog_char_t *name, Flags f
// to the pointer to the node that we are considering inserting in front of.
//
vp = &_grouped_variables;
size_t loopCount = 0;
while (*vp != NULL) {
if (loopCount++>k_num_max) return;
if ((*vp)->_key >= _key) {
break;
}
@ -98,12 +104,19 @@ AP_Var::~AP_Var(void)
}
// Scan the list and remove this if we find it
while (*vp) {
if (*vp == this) {
*vp = _link;
break;
}
vp = &((*vp)->_link);
{
size_t loopCount = 0;
while (*vp) {
if (loopCount++>k_num_max) return;
if (*vp == this) {
*vp = _link;
break;
}
vp = &((*vp)->_link);
}
}
// If we are destroying a group, remove all its variables from the list
@ -112,8 +125,12 @@ AP_Var::~AP_Var(void)
// Scan the list and remove any variable that has this as its group
vp = &_grouped_variables;
size_t loopCount = 0;
while (*vp) {
if (loopCount++>k_num_max) return;
// Does the variable claim us as its group?
if ((*vp)->_group == this) {
*vp = (*vp)->_link;
@ -145,7 +162,12 @@ AP_Var::find(const char *name)
{
AP_Var *vp;
size_t loopCount = 0;
for (vp = first(); vp; vp = vp->next()) {
if (loopCount++>k_num_max) return NULL;
char name_buffer[32];
// copy the variable's name into our scratch buffer
@ -165,9 +187,9 @@ AP_Var *
AP_Var::find(Key key)
{
AP_Var *vp;
size_t loopCount = 0;
for (vp = first(); vp; vp = vp->next()) {
if (loopCount++>k_num_max) return NULL;
if (key == vp->key()) {
return vp;
}
@ -188,11 +210,11 @@ bool AP_Var::save(void)
return _group->save();
}
debug("save: %S", _name ? _name : PSTR("??"));
serialDebug("save: %S", _name ? _name : PSTR("??"));
// locate the variable in EEPROM, allocating space as required
if (!_EEPROM_locate(true)) {
debug("locate failed");
serialDebug("locate failed");
return false;
}
@ -200,13 +222,13 @@ bool AP_Var::save(void)
size = serialize(vbuf, sizeof(vbuf));
if (0 == size) {
// variable cannot be serialised into the buffer
debug("cannot save (too big or not supported)");
serialDebug("cannot save (too big or not supported)");
return false;
}
// if it fit in the buffer, save it to EEPROM
if (size <= sizeof(vbuf)) {
debug("saving %u to %u", size, _key);
serialDebug("saving %u to %u", size, _key);
// XXX this should use eeprom_update_block if/when Arduino moves to
// avr-libc >= 1.7
uint8_t *ep = (uint8_t *)_key;
@ -219,7 +241,7 @@ bool AP_Var::save(void)
// now read it back
newv = eeprom_read_byte(ep);
if (newv != vbuf[i]) {
debug("readback failed at offset %p: got %u, expected %u",
serialDebug("readback failed at offset %p: got %u, expected %u",
ep, newv, vbuf[i]);
return false;
}
@ -241,11 +263,11 @@ bool AP_Var::load(void)
return _group->load();
}
debug("load: %S", _name ? _name : PSTR("??"));
serialDebug("load: %S", _name ? _name : PSTR("??"));
// locate the variable in EEPROM, but do not allocate space
if (!_EEPROM_locate(false)) {
debug("locate failed");
serialDebug("locate failed");
return false;
}
@ -255,7 +277,7 @@ bool AP_Var::load(void)
//
size = serialize(NULL, 0);
if (0 == size) {
debug("cannot load (too big or not supported)");
serialDebug("cannot load (too big or not supported)");
return false;
}
@ -263,7 +285,7 @@ bool AP_Var::load(void)
// has converted _key into an EEPROM address.
//
if (size <= sizeof(vbuf)) {
debug("loading %u from %u", size, _key);
serialDebug("loading %u from %u", size, _key);
eeprom_read_block(vbuf, (void *)_key, size);
return unserialize(vbuf, size);
}
@ -278,7 +300,12 @@ bool AP_Var::save_all(void)
bool result = true;
AP_Var *vp = _variables;
size_t loopCount = 0;
while (vp) {
if (loopCount++>k_num_max) return false;
if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autosave
(vp->_key != k_key_none)) { // has a key
@ -298,7 +325,12 @@ bool AP_Var::load_all(void)
bool result = true;
AP_Var *vp = _variables;
size_t loopCount = 0;
while (vp) {
if (loopCount++>k_num_max) return false;
if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autoload
(vp->_key != k_key_none)) { // has a key
@ -322,13 +354,19 @@ AP_Var::erase_all()
AP_Var *vp;
uint16_t i;
debug("erase EEPROM");
serialDebug("erase EEPROM");
// Scan the list of variables/groups, fetching their key values and
// reverting them to their not-located state.
//
vp = _variables;
size_t loopCount = 0;
while (vp) {
if (loopCount++>k_num_max) return;
vp->_key = vp->key() | k_key_not_located;
vp = vp->_link;
}
@ -405,9 +443,15 @@ AP_Var::first_member(AP_Var_group *group)
vp = &_grouped_variables;
debug("seeking %p", group);
serialDebug("seeking %p", group);
size_t loopCount = 0;
while (*vp) {
debug("consider %p with %p", *vp, (*vp)->_group);
if (loopCount++>k_num_max) return NULL;
serialDebug("consider %p with %p", *vp, (*vp)->_group);
if ((*vp)->_group == group) {
return *vp;
}
@ -423,7 +467,12 @@ AP_Var::next_member()
AP_Var *vp;
vp = _link;
size_t loopCount = 0;
while (vp) {
if (loopCount++>k_num_max) return NULL;
if (vp->_group == _group) {
return vp;
}
@ -451,7 +500,7 @@ bool AP_Var::_EEPROM_scan(void)
if ((ee_header.magic != k_EEPROM_magic) ||
(ee_header.revision != k_EEPROM_revision)) {
debug("no header, magic 0x%x revision %u", ee_header.magic, ee_header.revision);
serialDebug("no header, magic 0x%x revision %u", ee_header.magic, ee_header.revision);
return false;
}
@ -460,17 +509,22 @@ bool AP_Var::_EEPROM_scan(void)
// Avoid trying to read a header when there isn't enough space left.
//
eeprom_address = sizeof(ee_header);
size_t loopCount = 0;
while (eeprom_address < (k_EEPROM_size - sizeof(var_header) - 1)) {
if (loopCount++>k_num_max) return NULL;
// Read a variable header
//
debug("reading header from %u", eeprom_address);
serialDebug("reading header from %u", eeprom_address);
eeprom_read_block(&var_header, (void *)eeprom_address, sizeof(var_header));
// If the header is for the sentinel, scanning is complete
//
if (var_header.key == k_key_sentinel) {
debug("found tail sentinel");
serialDebug("found tail sentinel");
break;
}
@ -482,23 +536,25 @@ bool AP_Var::_EEPROM_scan(void)
var_header.size + 1 + // data for this variable
sizeof(var_header))) { // header for sentinel
debug("header overruns EEPROM");
serialDebug("header overruns EEPROM");
return false;
}
// look for a variable with this key
vp = _variables;
while (vp) {
size_t loopCount2 = 0;
while(vp) {
if (loopCount2++>k_num_max) return false;
if (vp->key() == var_header.key) {
// adjust the variable's key to point to this entry
vp->_key = eeprom_address + sizeof(var_header);
debug("update %p with key %u -> %u", vp, var_header.key, vp->_key);
serialDebug("update %p with key %u -> %u", vp, var_header.key, vp->_key);
break;
}
vp = vp->_link;
}
if (!vp) {
debug("key %u not claimed (already scanned or unknown)", var_header.key);
serialDebug("key %u not claimed (already scanned or unknown)", var_header.key);
}
// move to the next variable header
@ -514,16 +570,18 @@ bool AP_Var::_EEPROM_scan(void)
// mark all the rest as not allocated.
//
vp = _variables;
while (vp) {
size_t loopCount3 = 0;
while(vp) {
if (loopCount3++>k_num_max) return false;
if (vp->_key & k_key_not_located) {
vp->_key |= k_key_not_allocated;
debug("key %u not allocated", vp->key());
serialDebug("key %u not allocated", vp->key());
}
vp = vp->_link;
}
// Scanning is complete
debug("scan done");
serialDebug("scan done");
_tail_sentinel = eeprom_address;
return true;
}
@ -539,7 +597,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// Is it a group member, or does it have a no-location key?
//
if (_group || (_key == k_key_none)) {
debug("not addressable");
serialDebug("not addressable");
return false; // it is/does, and thus it has no location
}
@ -554,7 +612,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// try scanning to see if we can locate it.
//
if (!(_key & k_key_not_allocated)) {
debug("need scan");
serialDebug("need scan");
_EEPROM_scan();
// Has the variable now been located?
@ -569,7 +627,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
if (!allocate) {
return false;
}
debug("needs allocation");
serialDebug("needs allocation");
// Ask the serializer for the size of the thing we are allocating, and fail
// if it is too large or if it has no size, as we will not be able to allocate
@ -577,7 +635,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
//
size = serialize(NULL, 0);
if ((size == 0) || (size > k_size_max)) {
debug("size %u out of bounds", size);
serialDebug("size %u out of bounds", size);
return false;
}
@ -585,7 +643,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// header and the new tail sentinel.
//
if ((_tail_sentinel + size + sizeof(Var_header) * 2) > k_EEPROM_size) {
debug("no space in EEPROM");
serialDebug("no space in EEPROM");
return false;
}
@ -595,7 +653,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
if (0 == _tail_sentinel) {
uint8_t pad_size;
debug("writing header");
serialDebug("writing header");
EEPROM_header ee_header;
ee_header.magic = k_EEPROM_magic;
@ -621,7 +679,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
//
new_location = _tail_sentinel;
_tail_sentinel += sizeof(var_header) + size;
debug("allocated %u/%u for key %u new sentinel %u", new_location, size, key(), _tail_sentinel);
serialDebug("allocated %u/%u for key %u new sentinel %u", new_location, size, key(), _tail_sentinel);
// Write the new sentinel first. If we are interrupted during this operation
// the old sentinel will still correctly terminate the EEPROM image.
@ -670,17 +728,22 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
// Traverse the list of group members, serializing each in order
//
vp = first_member(this);
debug("starting with %p", vp);
serialDebug("starting with %p", vp);
total_size = 0;
size_t loopCount = 0;
while (vp) {
if (loopCount++>k_num_max) return false;
// (un)serialise the group member
if (do_serialize) {
size = vp->serialize(buf, buf_size);
debug("serialize %p -> %u", vp, size);
serialDebug("serialize %p -> %u", vp, size);
} else {
size = vp->unserialize(buf, buf_size);
debug("unserialize %p -> %u", vp, size);
serialDebug("unserialize %p -> %u", vp, size);
}
// Unserialize will return zero if the buffer is too small
@ -688,7 +751,7 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
// Either case is fatal for any operation we might be trying.
//
if (0 == size) {
debug("group (un)serialize failed, buffer too small or not supported");
serialDebug("group (un)serialize failed, buffer too small or not supported");
return 0;
}
@ -704,7 +767,7 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
// and the calling function will have to treat it as an error.
//
total_size += size;
debug("used %u", total_size);
serialDebug("used %u", total_size);
if (size <= buf_size) {
// there was space for this one, account for it
buf_size -= size;

4
libraries/AP_Common/AP_Var.h
View File

@ -128,6 +128,10 @@ public:
///
static const size_t k_size_max = 64;
/// The maximum number of keys
///
static const size_t k_num_max = 255;
/// Optional flags affecting the behavior and usage of the variable.
///
typedef uint8_t Flags;

2
libraries/AP_Common/Arduino.mk
View File

@ -305,7 +305,7 @@ LIBOBJS := $(SKETCHLIBOBJS) $(ARDUINOLIBOBJS)
# Pull the Arduino version from the revisions.txt file
#
# XXX can we count on this? If not, what?
ARDUINO_VERS := $(shell expr `head -1 $(ARDUINO)/revisions.txt | cut -d ' ' -f 2`)
ARDUINO_VERS := $(shell expr `head -1 $(ARDUINO)/lib/version.txt | cut -d ' ' -f 2`)
# Find the hardware directory to use
HARDWARE_DIR := $(firstword $(wildcard $(SKETCHBOOK)/hardware/$(HARDWARE) \

34
libraries/AP_Common/CMakeLists.txt
View File

@ -1,33 +1 @@
set(LIB_NAME AP_Common)
set(${LIB_NAME}_SRCS
AP_Common.cpp
AP_Loop.cpp
AP_MetaClass.cpp
AP_Var.cpp
AP_Var_menufuncs.cpp
c++.cpp
menu.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_Common.h
AP_Loop.h
AP_MetaClass.h
AP_Var.h
AP_Test.h
c++.h
AP_Vector.h
)
include_directories(
-
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})
include(ApmMakeLib)

28
libraries/AP_Compass/CMakeLists.txt
View File

@ -1,27 +1 @@
set(LIB_NAME AP_Compass)
set(${LIB_NAME}_SRCS
AP_Compass_HIL.cpp
AP_Compass_HMC5843.cpp
Compass.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
Compass.h
AP_Compass_HIL.h
AP_Compass_HMC5843.h
AP_Compass.h
)
include_directories(
-
${ARDUINO_LIBRARIES_PATH}/Wire
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
#
)
set(${LIB_NAME}_BOARD mega2560)
generate_arduino_library(${LIB_NAME})
include(ApmMakeLib)

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