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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
This commit is contained in:
Andrew Tridgell 2012-03-29 12:39:28 +11:00
parent b549b88e5e
commit 4c4c38f69a
4 changed files with 13 additions and 5 deletions
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4
ArduPlane/GCS_Mavlink.pde
View File

@ -1083,7 +1083,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.param1 == 1 ||
packet.param2 == 1 ||
packet.param3 == 1) {
startup_IMU_ground();
startup_IMU_ground(true);
}
if (packet.param4 == 1) {
trim_radio();
@ -1188,7 +1188,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_CALIBRATE_ACC:
case MAV_ACTION_CALIBRATE_PRESSURE:
case MAV_ACTION_REBOOT: // this is a rough interpretation
startup_IMU_ground();
startup_IMU_ground(true);
result=1;
break;

2
ArduPlane/Parameters.h
View File

@ -49,6 +49,7 @@ public:
k_param_num_resets,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan,
k_param_manual_level,
// 110: Telemetry control
@ -300,6 +301,7 @@ public:
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan;
AP_Int8 manual_level;
AP_Int16 airspeed_cruise;
AP_Int16 min_gndspeed;
AP_Int16 pitch_trim;

1
ArduPlane/Parameters.pde
View File

@ -23,6 +23,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
GSCALAR(manual_level, "MANUAL_LEVEL"),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),

11
ArduPlane/system.pde
View File

@ -318,7 +318,7 @@ static void startup_ground(void)
//IMU ground start
//------------------------
//
startup_IMU_ground();
startup_IMU_ground(false);
// read the radio to set trims
// ---------------------------
@ -441,7 +441,7 @@ static void check_short_failsafe()
}
static void startup_IMU_ground(void)
static void startup_IMU_ground(bool force_accel_level)
{
#if HIL_MODE != HIL_MODE_ATTITUDE
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
@ -454,7 +454,12 @@ static void startup_IMU_ground(void)
mavlink_delay(1000);
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
imu.init_accel(mavlink_delay, flash_leds);
if (force_accel_level || g.manual_level == 0) {
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
// levelling on each boot, and instead rely on the user to do
// it once via the ground station
imu.init_accel(mavlink_delay, flash_leds);
}
ahrs.set_centripetal(1);
ahrs.reset();