mirror of https://github.com/ArduPilot/ardupilot
APM: Added MANUAL_LEVEL option
when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at startup, and instead used the values saved in the EEPROM. This makes it easier to do levelling on the bench, or once for a series of flights for the day
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@ -1083,7 +1083,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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if (packet.param1 == 1 ||
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packet.param2 == 1 ||
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packet.param3 == 1) {
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startup_IMU_ground();
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startup_IMU_ground(true);
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}
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if (packet.param4 == 1) {
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trim_radio();
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@ -1188,7 +1188,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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case MAV_ACTION_CALIBRATE_ACC:
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case MAV_ACTION_CALIBRATE_PRESSURE:
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case MAV_ACTION_REBOOT: // this is a rough interpretation
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startup_IMU_ground();
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startup_IMU_ground(true);
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result=1;
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break;
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@ -49,6 +49,7 @@ public:
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k_param_num_resets,
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k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
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k_param_reset_switch_chan,
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k_param_manual_level,
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// 110: Telemetry control
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@ -300,6 +301,7 @@ public:
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AP_Int16 log_bitmask;
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
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AP_Int8 reset_switch_chan;
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AP_Int8 manual_level;
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AP_Int16 airspeed_cruise;
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AP_Int16 min_gndspeed;
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AP_Int16 pitch_trim;
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@ -23,6 +23,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
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GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
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GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
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GSCALAR(manual_level, "MANUAL_LEVEL"),
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
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GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),
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@ -318,7 +318,7 @@ static void startup_ground(void)
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//IMU ground start
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//------------------------
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//
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startup_IMU_ground();
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startup_IMU_ground(false);
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// read the radio to set trims
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// ---------------------------
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@ -441,7 +441,7 @@ static void check_short_failsafe()
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}
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static void startup_IMU_ground(void)
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static void startup_IMU_ground(bool force_accel_level)
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{
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#if HIL_MODE != HIL_MODE_ATTITUDE
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gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
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@ -454,7 +454,12 @@ static void startup_IMU_ground(void)
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mavlink_delay(1000);
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imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
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if (force_accel_level || g.manual_level == 0) {
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// when MANUAL_LEVEL is set to 1 we don't do accelerometer
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// levelling on each boot, and instead rely on the user to do
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// it once via the ground station
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imu.init_accel(mavlink_delay, flash_leds);
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}
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ahrs.set_centripetal(1);
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ahrs.reset();
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