mirror of https://github.com/ArduPilot/ardupilot
Rover: fixed cliSerial and clean out more gunk
This commit is contained in:
Andrew Tridgell
parent
5e7ca5b0f8
commit
54a722158a
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@ -1,13 +1,8 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
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// their default values, place the appropriate #define statements here.
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// For example if you wanted the Port 3 baud rate to be 38400 you would add a statement like the one below (uncommented)
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//#define SERIAL3_BAUD 38400
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//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
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//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
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#define LITE DISABLED // if LITE is ENABLED, you may use an APM1280 or APM2560 CPU only (IMU less) with a GPS MT3329
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@ -41,14 +36,3 @@
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// Ch3: to the motor ESC
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// Ch4: not used
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// The following are the recommended settings for Xplane simulation. Remove the leading "/* and trailing "*/" to enable:
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/*
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#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
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#define HIL_MODE HIL_MODE_ATTITUDE
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#define HIL_PORT 0
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#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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#define GCS_PORT 3
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*/
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@ -134,7 +134,7 @@ FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port for APM1
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#endif
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static FastSerial *cliSerial = &Serial3;
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static FastSerial *cliSerial = &Serial;
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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@ -296,21 +296,7 @@ ModeFilterInt16_Size5 sonar_mode_filter(2);
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AP_RangeFinder_SharpGP2Y sonar(&sonar_analog_source, &sonar_mode_filter);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// PITOT selection
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////////////////////////////////////////////////////////////////////////////////
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//
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#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
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AP_AnalogSource_ADC pitot_analog_source( &adc,
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CONFIG_PITOT_SOURCE_ADC_CHANNEL, 1.0);
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#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
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AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0);
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#endif
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// Barometer filter
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AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration
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// relay support
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AP_Relay relay;
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// Camera/Antenna mount tracking and stabilisation stuff
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@ -1003,11 +989,7 @@ static void update_GPS(void)
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static void update_current_flight_mode(void)
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{
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if(control_mode == AUTO) {
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switch (nav_command_ID) {
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case MAV_CMD_NAV_TAKEOFF:
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break;
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default:
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hold_course = -1;
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calc_nav_roll();
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calc_throttle();
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@ -1016,17 +998,11 @@ static void update_current_flight_mode(void)
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}else{
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switch(control_mode){
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case RTL:
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case LOITER:
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case GUIDED:
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hold_course = -1;
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calc_nav_roll();
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calc_throttle();
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break;
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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break;
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case LEARNING:
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nav_roll = 0;
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nav_pitch = 0;
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@ -1040,18 +1016,6 @@ static void update_current_flight_mode(void)
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// throttle is passthrough
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break;
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case CIRCLE:
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// we have no GPS installed and have lost radio contact
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// or we just want to fly around in a gentle circle w/o GPS
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// ----------------------------------------------------
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nav_roll = g.roll_limit / 3;
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nav_pitch = 0;
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if (failsafe != FAILSAFE_NONE){
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g.channel_throttle.servo_out = g.throttle_cruise;
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}
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break;
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case MANUAL:
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// servo_out is for Sim control only
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// ---------------------------------
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@ -96,17 +96,15 @@ static void set_servos(void)
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g.channel_throttle.radio_out = g.channel_throttle.radio_in;
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g.channel_rudder.radio_out = g.channel_roll.radio_in;
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} else {
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g.channel_roll.calc_pwm();
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g.channel_pitch.calc_pwm();
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g.channel_rudder.calc_pwm();
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g.channel_throttle.radio_out = g.channel_throttle.radio_in;
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g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
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}
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if (control_mode >= FLY_BY_WIRE_B) {
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if (control_mode >= AUTO) {
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// convert 0 to 100% into PWM
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g.channel_throttle.calc_pwm();
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}
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@ -42,9 +42,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
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base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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break;
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case LEARNING:
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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case FLY_BY_WIRE_C:
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base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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break;
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case AUTO:
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@ -141,29 +138,12 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
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break;
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case LEARNING:
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case FLY_BY_WIRE_A:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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break;
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case FLY_BY_WIRE_B:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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control_sensors_enabled |= (1<<15); // motor control
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break;
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case FLY_BY_WIRE_C:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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control_sensors_enabled |= (1<<13); // altitude control
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control_sensors_enabled |= (1<<15); // motor control
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case GUIDED:
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case CIRCLE:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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control_sensors_enabled |= (1<<12); // yaw position
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@ -1012,11 +992,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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switch(packet.command) {
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case MAV_CMD_NAV_LOITER_UNLIM:
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set_mode(LOITER);
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result = MAV_RESULT_ACCEPTED;
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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set_mode(RTL);
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result = MAV_RESULT_ACCEPTED;
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@ -1070,14 +1045,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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}
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switch (packet.custom_mode) {
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case MANUAL:
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case CIRCLE:
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case LEARNING:
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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case FLY_BY_WIRE_C:
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case AUTO:
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case RTL:
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case LOITER:
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set_mode(packet.custom_mode);
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break;
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}
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@ -29,8 +29,6 @@ const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED),
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GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE),
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GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX),
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GSCALAR(command_total, "CMD_TOTAL", 0),
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GSCALAR(command_index, "CMD_INDEX", 0),
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GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
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@ -61,10 +59,6 @@ const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM),
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GSCALAR(switch_enable, "SWITCH_ENABLE", REVERSE_SWITCH),
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GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING),
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GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE),
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GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE),
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GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE),
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GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
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GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
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GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
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@ -74,11 +68,6 @@ const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
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GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
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GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT),
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GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_2_SPEED),
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GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT),
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GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED),
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GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
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GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
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@ -50,23 +50,6 @@
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
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#endif
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#ifndef X_PLANE
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# define X_PLANE DISABLED
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#endif
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#if X_PLANE == ENABLED
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# define LITE ENABLED
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#else
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#ifndef LITE
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# define LITE DISABLED
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#endif
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#endif
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#if defined( __AVR_ATmega1280__ )
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#define CLI_ENABLED DISABLED
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#define LOGGING_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// APM2 HARDWARE DEFAULTS
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//
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@ -77,13 +60,7 @@
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# define CONFIG_RELAY DISABLED
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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@ -181,14 +158,6 @@
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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# undef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_NONE
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#undef CONFIG_SONAR
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#define CONFIG_SONAR DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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@ -232,14 +201,10 @@
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#endif
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#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.56 // This is the proper value for an on-board APM1 voltage divider with a 3.9kOhm resistor
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//# define VOLT_DIV_RATIO 15.70 // This is the proper value for the AttoPilot 50V/90A sensor
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//# define VOLT_DIV_RATIO 4.127 // This is the proper value for the AttoPilot 13.6V/45A sensor
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#endif
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#ifndef CURR_AMP_PER_VOLT
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# define CURR_AMP_PER_VOLT 27.32 // This is the proper value for the AttoPilot 50V/90A sensor
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//# define CURR_AMP_PER_VOLT 13.66 // This is the proper value for the AttoPilot 13.6V/45A sensor
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#endif
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#ifndef CURR_AMPS_OFFSET
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@ -304,18 +269,6 @@
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#endif
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#ifndef FLAP_1_PERCENT
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# define FLAP_1_PERCENT 0
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#endif
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#ifndef FLAP_1_SPEED
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# define FLAP_1_SPEED 255
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#endif
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#ifndef FLAP_2_PERCENT
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# define FLAP_2_PERCENT 0
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#endif
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#ifndef FLAP_2_SPEED
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# define FLAP_2_SPEED 255
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE_CHANNEL
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@ -432,25 +385,6 @@
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# define REVERSE_SWITCH ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE ELEVON_MIXING
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//
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#ifndef ELEVON_MIXING
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# define ELEVON_MIXING DISABLED
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#endif
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#ifndef ELEVON_REVERSE
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# define ELEVON_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH1_REVERSE
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# define ELEVON_CH1_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH2_REVERSE
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# define ELEVON_CH2_REVERSE DISABLED
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#endif
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#ifndef FLAPERON
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# define FLAPERON DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MOUNT (ANTENNA OR CAMERA)
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//
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@ -458,31 +392,6 @@
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# define MOUNT DISABLED
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#endif
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#if defined( __AVR_ATmega1280__ ) && CAMERA == ENABLED
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// The small ATmega1280 chip does not have enough memory for camera support
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// so disable CLI, this will allow camera support and other improvements to fit.
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// This should almost have no side effects, because the APM planner can now do a complete board setup.
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#define CLI_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT AND NAVIGATION CONTROL
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Altitude measurement and control.
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//
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#ifndef ALT_EST_GAIN
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# define ALT_EST_GAIN 0.01
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#endif
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#ifndef ALTITUDE_MIX
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# define ALTITUDE_MIX 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_CRUISE
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//
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@ -517,23 +426,6 @@
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#endif
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#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
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/* The following parmaeters have no corresponding control implementation
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#ifndef THROTTLE_ALT_P
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# define THROTTLE_ALT_P 0.32
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#endif
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#ifndef THROTTLE_ALT_I
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# define THROTTLE_ALT_I 0.0
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#endif
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#ifndef THROTTLE_ALT_D
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# define THROTTLE_ALT_D 0.0
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#endif
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#ifndef THROTTLE_ALT_INT_MAX
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# define THROTTLE_ALT_INT_MAX 20
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#endif
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#define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100
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*/
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//////////////////////////////////////////////////////////////////////////////
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// Servo Mapping
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//
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@ -96,19 +96,12 @@
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#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
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#define LEARNING 2
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
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#define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed
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// Fly By Wire B and Fly By Wire C require airspeed sensor
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#define AUTO 10
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#define RTL 11
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#define LOITER 12
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//#define TAKEOFF 13 // This is not used by APM. It appears here for consistency with ACM
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//#define LAND 14 // This is not used by APM. It appears here for consistency with ACM
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#define GUIDED 15
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#define INITIALISING 16 // in startup routines
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#define HEADALT 17 // Lock the current heading and altitude
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#define LAND 21 // Landing mode
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location requested
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@ -11,9 +11,6 @@ static void failsafe_short_on_event(int fstype)
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{
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case MANUAL:
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case LEARNING:
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case FLY_BY_WIRE_A: // middle position
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case FLY_BY_WIRE_B: // middle position
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set_mode(CIRCLE);
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break;
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case AUTO:
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|
|
@ -42,8 +39,6 @@ static void failsafe_long_on_event(int fstype)
|
|||
{
|
||||
case MANUAL:
|
||||
case LEARNING:
|
||||
case FLY_BY_WIRE_A: // middle position
|
||||
case FLY_BY_WIRE_B: // middle position
|
||||
case CIRCLE:
|
||||
set_mode(RTL);
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -227,8 +227,6 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
|
|||
mode != MANUAL &&
|
||||
mode != CIRCLE &&
|
||||
mode != LEARNING &&
|
||||
mode != FLY_BY_WIRE_A &&
|
||||
mode != FLY_BY_WIRE_B &&
|
||||
mode != AUTO &&
|
||||
mode != RTL &&
|
||||
mode != LOITER)
|
||||
|
|
|
|||
|
|
@ -376,8 +376,6 @@ static void set_mode(byte mode)
|
|||
case MANUAL:
|
||||
case LEARNING:
|
||||
case CIRCLE:
|
||||
case FLY_BY_WIRE_A:
|
||||
case FLY_BY_WIRE_B:
|
||||
break;
|
||||
|
||||
case AUTO:
|
||||
|
|
@ -389,14 +387,6 @@ static void set_mode(byte mode)
|
|||
do_RTL();
|
||||
break;
|
||||
|
||||
case LOITER:
|
||||
do_loiter_at_location();
|
||||
break;
|
||||
|
||||
case GUIDED:
|
||||
set_guided_WP();
|
||||
break;
|
||||
|
||||
default:
|
||||
do_RTL();
|
||||
break;
|
||||
|
|
|
|||
Loading…
Reference in New Issue