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Plane: removed HIL_MODE_ATTITUDE 

we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
This commit is contained in:
Andrew Tridgell 2013-04-12 17:44:40 +10:00
parent 76e20150e9
commit 575f346e85
6 changed files with 7 additions and 42 deletions
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2
ArduPlane/APM_Config.h
View File

@ -17,9 +17,7 @@
* // HIL_MODE SELECTION
* //
* // Mavlink supports
* // 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
* // 2. HIL_MODE_SENSORS: full sensor simulation
* //#define HIL_MODE HIL_MODE_ATTITUDE
*
*/

19
ArduPlane/ArduPlane.pde
View File

@ -213,11 +213,7 @@ AP_InertialSensor_Oilpan ins( &adc );
#error Unrecognised CONFIG_INS_TYPE setting.
#endif // CONFIG_INS_TYPE
#if HIL_MODE == HIL_MODE_ATTITUDE
AP_AHRS_HIL ahrs(&ins, g_gps);
#else
AP_AHRS_DCM ahrs(&ins, g_gps);
#endif
static AP_L1_Control L1_controller(&ahrs);
@ -740,7 +736,7 @@ static void fast_loop()
// ------------------------------------
check_short_failsafe();
#if HIL_MODE == HIL_MODE_SENSORS
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
#endif
@ -802,14 +798,12 @@ static void medium_loop()
update_GPS();
calc_gndspeed_undershoot();
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
compass.null_offsets();
} else {
ahrs.set_compass(NULL);
}
#endif
break;
@ -835,11 +829,9 @@ static void medium_loop()
// Read Airspeed
// -------------
#if HIL_MODE != HIL_MODE_ATTITUDE
if (airspeed.enabled()) {
read_airspeed();
}
#endif
read_receiver_rssi();
@ -908,12 +900,11 @@ static void slow_loop()
slow_loopCounter++;
check_long_failsafe();
superslow_loopCounter++;
if(superslow_loopCounter >=200) { // 200 = Execute every minute
#if HIL_MODE != HIL_MODE_ATTITUDE
if(superslow_loopCounter >=200) {
// 200 = Execute every minute
if(g.compass_enabled) {
compass.save_offsets();
}
#endif
superslow_loopCounter = 0;
}
@ -1249,9 +1240,6 @@ static void update_navigation()
static void update_alt()
{
#if HIL_MODE == HIL_MODE_ATTITUDE
current_loc.alt = g_gps->altitude;
#else
// this function is in place to potentially add a sonar sensor in the future
//altitude_sensor = BARO;
@ -1261,7 +1249,6 @@ static void update_alt()
} else if (g_gps->status() >= GPS::GPS_OK_FIX_3D) {
current_loc.alt = g_gps->altitude; // alt_MSL centimeters (meters * 100)
}
#endif
geofence_check(true);

9
ArduPlane/GCS_Mavlink.pde
View File

@ -1911,15 +1911,6 @@ mission_failed:
y *= 95446.0;
barometer.setHIL(Temp, y);
#if HIL_MODE == HIL_MODE_ATTITUDE
// set AHRS hil sensor. We don't do this in sensors mode, as
// in that case the attitude is computed via DCM
ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
packet.pitchspeed,packet.yawspeed);
#endif
break;
}
#endif // HIL_MODE

4
ArduPlane/defines.h
View File

@ -54,7 +54,9 @@
#define CH_RUDDER CH_4
#define CH_YAW CH_4
// HIL enumerations
// HIL enumerations. Note that HIL_MODE_ATTITUDE and HIL_MODE_SENSORS
// are now the same thing, and are sensors based. The old define is
// kept to allow old APM_Config.h headers to keep working
#define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1
#define HIL_MODE_SENSORS 2

8
ArduPlane/system.pde
View File

@ -153,8 +153,6 @@ static void init_ardupilot()
}
#endif
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED
adc.Init(); // APM ADC library initialization
#endif
@ -170,7 +168,6 @@ static void init_ardupilot()
ahrs.set_compass(&compass);
}
}
#endif
// give AHRS the airspeed sensor
ahrs.set_airspeed(&airspeed);
@ -226,7 +223,6 @@ static void init_ardupilot()
// Get necessary data from EEPROM
//----------------
//read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE
ahrs.init();
ahrs.set_fly_forward(true);
@ -234,8 +230,6 @@ static void init_ardupilot()
ins_sample_rate,
flash_leds);
#endif
// This delay is important for the APM_RC library to work.
// We need some time for the comm between the 328 and 1280 to be established.
int old_pulse = 0;
@ -474,7 +468,6 @@ static void startup_INS_ground(bool force_accel_level)
#endif
ahrs.reset();
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground
//-----------------------------
init_barometer();
@ -487,7 +480,6 @@ static void startup_INS_ground(bool force_accel_level)
gcs_send_text_P(SEVERITY_LOW,PSTR("NO airspeed"));
}
#endif
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate INS ready
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);

7
ArduPlane/test.pde
View File

@ -56,11 +56,10 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
{"airspeed", test_airspeed},
{"airpressure", test_pressure},
{"compass", test_mag},
#elif HIL_MODE == HIL_MODE_SENSORS
#else
{"gps", test_gps},
{"ins", test_ins},
{"compass", test_mag},
#elif HIL_MODE == HIL_MODE_ATTITUDE
#endif
{"logging", test_logging},
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
@ -413,8 +412,6 @@ test_shell(uint8_t argc, const Menu::arg *argv)
//-------------------------------------------------------------------------------------------
// tests in this section are for real sensors or sensors that have been simulated
#if HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
#if CONFIG_ADC == ENABLED
static int8_t
test_adc(uint8_t argc, const Menu::arg *argv)
@ -602,8 +599,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
return (0);
}
#endif // HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
//-------------------------------------------------------------------------------------------
// real sensors that have not been simulated yet go here