mirror of https://github.com/ArduPilot/ardupilot
Added support for the AttoPilot Current sensor, Logging current is enabled at 10hz,
Trim is now called again on pitch and roll, now that trimming can be done with adc_offsets. Fixed setup::motors for x frame. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1505 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
5e0fff1618
commit
548fc9debf
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@ -5,8 +5,8 @@
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#define GPS_PROTOCOL GPS_PROTOCOL_MTK
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#define GCS_PROTOCOL GCS_PROTOCOL_NONE
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//#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
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#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
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//#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#define ARM_AT_STARTUP 0
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@ -19,3 +19,6 @@
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//#define ENABLE_AM ENABLED
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//#define ENABLE_xx ENABLED
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// Logging
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#define LOG_CURRENT ENABLED
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@ -223,6 +223,11 @@ float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 +
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float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
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float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
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float current_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
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float current_amps;
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boolean current_sensor = false;
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// Magnetometer variables
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// ----------------------
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int magnetom_x;
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@ -556,12 +561,18 @@ void medium_loop()
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if (log_bitmask & MASK_LOG_GPS)
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Log_Write_GPS(GPS.time, current_loc.lat, current_loc.lng, GPS.altitude, current_loc.alt, (long) GPS.ground_speed, GPS.ground_course, GPS.fix, GPS.num_sats);
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if (log_bitmask & MASK_LOG_CUR)
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Log_Write_Current();
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send_message(MSG_ATTITUDE); // Sends attitude data
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break;
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// This case controls the slow loop
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//---------------------------------
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case 4:
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if (current_sensor){
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read_current();
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}
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// shall we trim the copter?
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// ------------------------
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@ -203,6 +203,18 @@ void read_EEPROM_mag_declination(void)
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/********************************************************************************/
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void save_EEPROM_current_sensor(void)
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{
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eeprom_write_byte((uint8_t *) EE_CURRENT_SENSOR, current_sensor);
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}
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void read_EEPROM_current_sensor(void)
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{
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current_sensor = eeprom_read_byte((uint8_t *) EE_CURRENT_SENSOR);
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}
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/********************************************************************************/
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void save_EEPROM_mag_offset(void)
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{
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write_EE_compressed_float(mag_offset_x, EE_MAG_X, 2);
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@ -69,6 +69,7 @@ print_log_menu(void)
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PLOG(MODE);
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PLOG(RAW);
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PLOG(CMD);
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PLOG(CURRENT);
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#undef PLOG
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}
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Serial.println();
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@ -165,6 +166,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
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TARG(MODE);
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TARG(RAW);
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TARG(CMD);
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TARG(CURRENT);
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#undef TARG
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}
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@ -338,6 +340,26 @@ void Log_Write_Raw()
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DataFlash.WriteByte(END_BYTE);
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}
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void Log_Write_Current()
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_CURRENT_MSG);
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DataFlash.WriteLong((long)(current_voltage * 1000.0));
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DataFlash.WriteLong((long)(current_amps * 1000.0));
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a Current packet
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void Log_Read_Current()
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{
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float logvoltage, logcurrent;
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Serial.print("CURR:");
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Serial.print((float)DataFlash.ReadLong() / 1000.f);
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadLong() / 1000.f);
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Serial.println();
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}
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// Read an control tuning packet
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void Log_Read_Control_Tuning()
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{
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@ -111,11 +111,17 @@
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# define BATTERY_TYPE 0
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#endif
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#ifndef LOW_VOLTAGE
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# define LOW_VOLTAGE 11.4
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# define LOW_VOLTAGE 9.6
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#endif
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#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.0
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#endif
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#ifndef CURR_VOLT_DIV_RATIO
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# define CURR_VOLT_DIV_RATIO 15.7
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#endif
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#ifndef CURR_AMP_DIV_RATIO
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# define CURR_AMP_DIV_RATIO 30.35
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#endif
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//////////////////////////////////////////////////////////////////////////////
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@ -458,6 +464,9 @@
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#ifndef LOG_CMD
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# define LOG_CMD ENABLED
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#endif
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#ifndef LOG_CURRENT
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# define LOG_CURRENT DISABLED
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#endif
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@ -171,19 +171,21 @@
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#define LOG_PERFORMANCE_MSG 0X06
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#define LOG_RAW_MSG 0x07
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#define LOG_CMD_MSG 0x08
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#define LOG_STARTUP_MSG 0x09
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#define LOG_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MASK_LOG_ATTITUDE_FAST 0
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#define MASK_LOG_ATTITUDE_MED 2
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#define MASK_LOG_GPS 4
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#define MASK_LOG_PM 8
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#define MASK_LOG_CTUN 16
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#define MASK_LOG_NTUN 32
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#define MASK_LOG_MODE 64
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#define MASK_LOG_RAW 128
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#define MASK_LOG_CMD 256
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#define MASK_LOG_ATTITUDE_FAST (1<<0)
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#define MASK_LOG_ATTITUDE_MED (1<<1)
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#define MASK_LOG_GPS (1<<2)
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#define MASK_LOG_PM (1<<3)
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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// Waypoint Modes
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// ----------------
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@ -205,13 +207,20 @@
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#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
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#define CURRENT_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_VOLT_DIV_RATIO
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#define CURRENT_AMPS(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_AMP_DIV_RATIO
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#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
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#define BATTERY_PIN1 0 // These are the pins for the voltage dividers
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#define BATTERY_PIN2 1
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#define BATTERY_PIN3 2
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#define BATTERY_PIN4 3
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#define CURRENT_PIN1 4 // These are the pins for current sensor: voltage
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#define CURRENT_PIN2 5 // and current
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#define RELAY_PIN 47
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// sonar
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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@ -301,6 +310,7 @@
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#define EE_GND_TEMP 0x11A
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#define EE_GND_ALT 0x11C
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#define EE_AP_OFFSET 0x11E
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#define EE_CURRENT_SENSOR 0x127
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// log
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#define EE_LAST_LOG_PAGE 0xE00
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@ -317,4 +327,5 @@
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#define LOGBIT_MODE (1<<6)
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#define LOGBIT_RAW (1<<7)
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#define LOGBIT_CMD (1<<8)
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#define LOGBIT_CURRENT (1<<9)
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@ -38,18 +38,25 @@ void read_battery(void)
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battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
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battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
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battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
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#if BATTERY_TYPE == 0
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if(battery_voltage3 < LOW_VOLTAGE)
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if(battery_voltage3 < LOW_VOLTAGE)
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low_battery_event();
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battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
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#endif
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#if BATTERY_TYPE == 1
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if(battery_voltage4 < LOW_VOLTAGE)
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low_battery_event();
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battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream
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#endif
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#endif
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}
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#endif
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void read_current(void)
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{
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current_voltage = CURRENT_VOLTAGE(analogRead(CURRENT_PIN1)) * .1 + battery_voltage1 * .9; //reads power sensor voltage pin
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current_amps = CURRENT_AMPS(analogRead(CURRENT_PIN2)) * .1 + battery_voltage2 * .9; //reads power sensor current pin
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}
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@ -79,6 +79,16 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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Serial.printf_P(PSTR("(%d)\n"), (int)frame_type);
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print_blanks(2);
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read_EEPROM_current_sensor();
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Serial.printf_P(PSTR("Current Sensor "));
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if(current_sensor){
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Serial.printf_P(PSTR("enabled\n"));
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} else {
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Serial.printf_P(PSTR("disabled\n"));
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}
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print_blanks(2);
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Serial.printf_P(PSTR("Gains\n"));
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print_divider();
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@ -240,7 +250,8 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
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LOGBIT(NTUN) |
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LOGBIT(MODE) |
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LOGBIT(RAW) |
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LOGBIT(CMD);
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LOGBIT(CMD) |
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LOGBIT(CURRENT);
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#undef LOGBIT
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save_EEPROM_configs();
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print_done();
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@ -297,7 +308,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
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rc_6.radio_trim = 1500;
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rc_7.radio_trim = 1500;
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rc_8.radio_trim = 1500;
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Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
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while(1){
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@ -386,7 +398,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
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Serial.println("2");
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}
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}else if(frame_type == PLUS_FRAME){
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}else if(frame_type == X_FRAME){
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// lower right
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if((rc_1.control_in > 0) && (rc_2.control_in > 0)){
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@ -234,7 +234,7 @@ void startup_ground(void)
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// read the radio to set trims
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// ---------------------------
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trim_yaw();
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trim_radio();
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// Warm up and read Gyro offsets
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// -----------------------------
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@ -11,6 +11,7 @@ static int8_t test_gyro(uint8_t argc, const Menu::arg *argv);
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static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
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static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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static int8_t test_current(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
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@ -50,6 +51,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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{"dcm", test_dcm},
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{"omega", test_omega},
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{"battery", test_battery},
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{"current", test_current},
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{"relay", test_relay},
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{"waypoints", test_wp},
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{"airpressure", test_pressure},
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@ -609,6 +611,29 @@ test_battery(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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static int8_t
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test_current(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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while(1){
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for (int i = 0; i < 20; i++){
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delay(20);
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read_current();
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}
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Serial.printf_P(PSTR("Volts:"));
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Serial.print(battery_voltage1, 2); //power sensor voltage pin
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Serial.print(" Amps:");
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Serial.println(battery_voltage2, 2); //power sensor current pin
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_relay(uint8_t argc, const Menu::arg *argv)
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