Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: fix to allow building HIL_MODE_SENSORS

This commit is contained in:
Randy Mackay 2013-03-18 13:40:43 +09:00
parent ac10e7ea26
commit 597a4b912a
7 changed files with 22 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/APM_Config.h
View File

@ -8,7 +8,7 @@
// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define HIL_MODE HIL_MODE_ATTITUDE
//#define HIL_MODE HIL_MODE_SENSORS
//#define DMP_ENABLED ENABLED
//#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes

23
ArduCopter/ArduCopter.pde
View File

@ -229,12 +229,6 @@ AP_Compass_HMC5843 compass;
#endif
#endif
#if OPTFLOW == ENABLED
AP_OpticalFlow_ADNS3080 optflow;
#else
AP_OpticalFlow optflow;
#endif
// real GPS selection
#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
AP_GPS_Auto g_gps_driver(&g_gps);
@ -292,19 +286,20 @@ AP_GPS_HIL g_gps_driver;
AP_Compass_HIL compass; // never used
AP_Baro_BMP085_HIL barometer;
#if OPTFLOW == ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
AP_OpticalFlow_ADNS3080 optflow;
#else
AP_OpticalFlow_ADNS3080 optflow;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
#endif // OPTFLOW == ENABLED
static int32_t gps_base_alt;
#else
#error Unrecognised HIL_MODE setting.
#endif // HIL MODE
////////////////////////////////////////////////////////////////////////////////
// Optical flow sensor
////////////////////////////////////////////////////////////////////////////////
#if OPTFLOW == ENABLED
AP_OpticalFlow_ADNS3080 optflow;
#else
AP_OpticalFlow optflow;
#endif
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////

2
ArduCopter/GCS_Mavlink.pde
View File

@ -1939,9 +1939,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
ins.set_accel_offsets(accels);
#if HIL_MODE == HIL_MODE_ATTITUDE
// set AHRS hil sensor
ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
packet.pitchspeed,packet.yawspeed);
#endif

3
ArduCopter/config.h
View File

@ -301,8 +301,7 @@
# endif
#else
# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
# undef SONAR_ENABLED
# define SONAR_ENABLED DISABLED
# define CONFIG_SONAR DISABLED
#endif
#ifndef CONFIG_SONAR

6
ArduCopter/defines.h
View File

@ -43,11 +43,7 @@
#define THROTTLE_LAND 8 // landing throttle controller
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
// sonar - for use with CONFIG_SONAR_SOURCE
#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2

4
ArduCopter/options.cmake
View File

@ -60,9 +60,9 @@ apm_option("PITOT_ENABLED" TYPE BOOL
DESCRIPTION "Enable pitot static system?"
DEFAULT OFF)
apm_option("SONAR_ENABLED" TYPE BOOL
apm_option("CONFIG_SONAR" TYPE BOOL
DESCRIPTION "Enable sonar?"
DEFAULT OFF)
DEFAULT ON)
apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED
DESCRIPTION "Airspeed ratio?"

12
ArduCopter/test.pde
View File

@ -24,7 +24,7 @@ static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
#if HIL_MODE != HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
#endif
@ -75,7 +75,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"relay", test_relay},
{"wp", test_wp},
// {"toy", test_toy},
#if HIL_MODE != HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
{"altitude", test_baro},
{"sonar", test_sonar},
#endif
@ -794,7 +794,7 @@ test_wp(uint8_t argc, const Menu::arg *argv)
* }
*/
#if HIL_MODE != HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
static int8_t
test_baro(uint8_t argc, const Menu::arg *argv)
{
@ -902,13 +902,14 @@ test_mag(uint8_t argc, const Menu::arg *argv)
* }
* }*/
#if HIL_MODE != HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
/*
* test the sonar
*/
static int8_t
test_sonar(uint8_t argc, const Menu::arg *argv)
{
#if CONFIG_SONAR == ENABLED
if(g.sonar_enabled == false) {
cliSerial->printf_P(PSTR("Sonar disabled\n"));
return (0);
@ -922,13 +923,12 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
delay(100);
cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar->read());
//cliSerial->printf_P(PSTR("Sonar, %d, %d\n"), sonar.read(), sonar.raw_value);
if(cliSerial->available() > 0) {
return (0);
}
}
#endif
return (0);
}
#endif