Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: remove CopterLED from main code

Browse Source
This commit is contained in:
Randy Mackay 2013-11-28 12:59:05 +09:00
parent 1f0fb3f06b
commit 59cea4b88c
11 changed files with 2 additions and 392 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/APM_Config.h
View File

@ -28,7 +28,6 @@
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
//#define AC_FENCE DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define COPTER_LEDS DISABLED // disable external navigation leds to save 1k of flash
//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
// features below are disabled by default

9
ArduCopter/ArduCopter.pde
View File

@ -485,15 +485,6 @@ float tuning_value;
// used to limit the rate that the pid controller output is logged so that it doesn't negatively affect performance
static uint8_t pid_log_counter;
////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// Blinking indicates GPS status
static uint8_t copter_leds_GPS_blink;
// Blinking indicates battery status
static uint8_t copter_leds_motor_blink;
// Navigation confirmation blinks
static int8_t copter_leds_nav_blink;
////////////////////////////////////////////////////////////////////////////////
// GPS variables

4
ArduCopter/Parameters.h
View File

@ -162,7 +162,7 @@ public:
k_param_sonar_type,
k_param_super_simple = 155,
k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
k_param_copter_leds_mode,
k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
k_param_ahrs, // AHRS group // 159
//
@ -308,8 +308,6 @@ public:
AP_Int8 optflow_enabled;
AP_Int8 super_simple;
AP_Int16 rtl_alt_final;
AP_Int8 copter_leds_mode; // Operating mode of LED
// lighting system
AP_Int8 rssi_pin;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions

7
ArduCopter/Parameters.pde
View File

@ -591,13 +591,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(acro_trainer, "ACRO_TRAINER", ACRO_TRAINER_LIMITED),
// @Param: LED_MODE
// @DisplayName: Copter LED Mode
// @Description: bitmap to control the copter led mode
// @Values: 0:Disabled,1:Enable,3:GPS On,4:Aux,9:Buzzer,17:Oscillate,33:Nav Blink,65:GPS Nav Blink
// @User: Standard
GSCALAR(copter_leds_mode, "LED_MODE", 9),
// PID controller
//---------------
// @Param: RATE_RLL_P

1
ArduCopter/commands_logic.pde
View File

@ -531,7 +531,6 @@ static bool verify_nav_wp()
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(PSTR("Reached Command #%i"),command_nav_index);
copter_leds_nav_blink = 15; // Cause the CopterLEDs to blink three times to indicate waypoint reached
return true;
}else{
return false;

35
ArduCopter/config.h
View File

@ -193,41 +193,6 @@
# define LED_OFF HIGH
#endif
////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
//
#ifndef COPTER_LEDS
#define COPTER_LEDS ENABLED
#endif
#define COPTER_LED_ON HIGH
#define COPTER_LED_OFF LOW
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
#define COPTER_LED_8 AN15 // Motor LED
#else
// not supported yet on this board
#undef COPTER_LEDS
#endif
//////////////////////////////////////////////////////////////////////////////
// Barometer
//

3
ArduCopter/control_modes.pde
View File

@ -242,9 +242,6 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
// log event
Log_Write_Event(DATA_SAVEWP_ADD_WP);
// Cause the CopterLEDs to blink twice to indicate saved waypoint
copter_leds_nav_blink = 10;
}
break;

3
ArduCopter/events.pde
View File

@ -164,9 +164,6 @@ static void failsafe_battery_event(void)
gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
#if COPTER_LEDS == ENABLED
piezo_on();
#endif // COPTER_LEDS
}
// failsafe_gps_check - check for gps failsafe

313
ArduCopter/leds.pde
View File

@ -7,316 +7,3 @@ static void update_notify()
notify.update();
}
/////////////////////////////////////////////////////////////////////////////////////////////
// Copter LEDS by Robert Lefebvre
// Based on the work of U4eake, Bill Sanford, Max Levine, and Oliver
// g.copter_leds_mode controls the copter leds function via bitmath
// Zeroeth bit turns motor leds on and off: 00000001
// First bit turns GPS function on and off: 00000010
// Second bit turns Aux function on and off: 00000100
// Third bit turns on Beeper (legacy Piezo) function: 00001000
// Fourth bit toggles between Fast Flash or Oscillate on Low Battery: 00010000 (0) does Fast Flash, (1) does Oscillate
// Fifth bit causes motor LEDs to Nav Blink: 00100000
// Sixth bit causes GPS LEDs to Nav Blink: 01000000
// This code is written in order to be backwards compatible with the old Motor_LEDS code
// I hope to include at least some of the Show_LEDS code in the future
// copter_leds_GPS_blink controls the blinking of the GPS LEDS
// copter_leds_motor_blink controls the blinking of the motor LEDS
// Piezo Code and beeps once on Startup to verify operation
// Piezo Enables Tone on reaching low battery or current alert
/////////////////////////////////////////////////////////////////////////////////////////////
#define COPTER_LEDS_BITMASK_ENABLED 0x01 // bit #0
#define COPTER_LEDS_BITMASK_GPS 0x02 // bit #1
#define COPTER_LEDS_BITMASK_AUX 0x04 // bit #2
#define COPTER_LEDS_BITMASK_BEEPER 0x08 // bit #3
#define COPTER_LEDS_BITMASK_BATT_OSCILLATE 0x10 // bit #4
#define COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK 0x20 // bit #5
#define COPTER_LEDS_BITMASK_GPS_NAV_BLINK 0x40 // bit #6
#if COPTER_LEDS == ENABLED
static void copter_leds_init(void)
{
pinMode(COPTER_LED_1, OUTPUT); //Motor LED
pinMode(COPTER_LED_2, OUTPUT); //Motor LED
pinMode(COPTER_LED_3, OUTPUT); //Motor LED
pinMode(COPTER_LED_4, OUTPUT); //Motor LED
pinMode(COPTER_LED_5, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_6, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
piezo_beep();
}
}
static void update_copter_leds(void)
{
if (g.copter_leds_mode == 0) {
copter_leds_reset(); //method of reintializing LED state
}
// motor leds control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_ENABLED) {
if (motors.armed()) {
if (failsafe.battery) {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BATT_OSCILLATE) {
copter_leds_oscillate(); //if motors are armed, but battery level is low, motor leds fast blink
} else {
copter_leds_fast_blink(); //if motors are armed, but battery level is low, motor leds oscillate
}
} else {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK) {
if (copter_leds_nav_blink > 0) {
copter_leds_slow_blink(); //if nav command was seen, blink LEDs.
} else {
copter_leds_on();
}
} else {
copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON
}
}
} else {
copter_leds_slow_blink(); //if motors are not armed, blink motor leds
}
}
// GPS led control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) {
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case GPS::NO_GPS:
copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off
break;
case GPS::NO_FIX:
copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow
break;
case GPS::GPS_OK_FIX_2D:
case GPS::GPS_OK_FIX_3D:
if(ap.home_is_set) {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) {
if (copter_leds_nav_blink >0) {
copter_leds_GPS_slow_blink(); //if nav command was seen, blink LEDs.
} else {
copter_leds_GPS_on();
}
} else {
copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set
}
} else {
copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast
}
break;
}
}
// AUX led control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX) {
if (ap.CH7_flag) {
copter_leds_aux_on(); //if sub-control of Ch7 is high, turn Aux LED on
} else {
copter_leds_aux_off(); //if sub-control of Ch7 is low, turn Aux LED off
}
}
}
static void copter_leds_reset(void) {
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
}
static void copter_leds_on(void) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
#endif
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
digitalWrite(COPTER_LED_5, COPTER_LED_ON);
digitalWrite(COPTER_LED_6, COPTER_LED_ON);
digitalWrite(COPTER_LED_7, COPTER_LED_ON);
digitalWrite(COPTER_LED_8, COPTER_LED_ON);
}
static void copter_leds_off(void) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
#endif
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
}
static void copter_leds_slow_blink(void) {
copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 6 ) { // when the counter reaches 5 (1/2 sec), then toggle the leds
copter_leds_off();
// if blinking is called by the Nav Blinker decrement the Nav Blink counter
if ((g.copter_leds_mode & COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK) && !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) && copter_leds_nav_blink >0 ) {
copter_leds_nav_blink--;
}
}else if (5 < copter_leds_motor_blink && copter_leds_motor_blink < 11) {
copter_leds_on();
}else{
copter_leds_motor_blink = 0; // start blink cycle again
}
}
static void copter_leds_fast_blink(void) {
copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
copter_leds_on();
}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
copter_leds_off();
}else{
copter_leds_motor_blink = 0; // start blink cycle again
}
}
static void copter_leds_oscillate(void) {
copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
#endif
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_ON);
digitalWrite(COPTER_LED_6, COPTER_LED_ON);
digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
#endif
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
digitalWrite(COPTER_LED_7, COPTER_LED_ON);
digitalWrite(COPTER_LED_8, COPTER_LED_ON);
}else{
copter_leds_motor_blink = 0; // start blink cycle again
}
}
static void copter_leds_GPS_on(void) {
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
static void copter_leds_GPS_off(void) {
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
static void copter_leds_GPS_slow_blink(void) {
copter_leds_GPS_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 6 ) { // when the counter reaches 5 (1/2 sec), then toggle the leds
copter_leds_GPS_off();
if ((g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) && copter_leds_nav_blink >0 ) { // if blinking is called by the Nav Blinker...
copter_leds_nav_blink--; // decrement the Nav Blink counter
}
}else if (5 < copter_leds_GPS_blink && copter_leds_GPS_blink < 11) {
copter_leds_GPS_on();
}
else copter_leds_GPS_blink = 0; // start blink cycle again
}
static void copter_leds_GPS_fast_blink(void) {
copter_leds_GPS_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
copter_leds_GPS_off();
}else if (2 < copter_leds_GPS_blink && copter_leds_GPS_blink < 5) {
copter_leds_GPS_on();
}
else copter_leds_GPS_blink = 0; // start blink cycle again
}
static void copter_leds_aux_off(void){
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
static void copter_leds_aux_on(void){
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
void piezo_on(){
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
digitalWrite(PIEZO_PIN,HIGH);
}
}
void piezo_off(){
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
digitalWrite(PIEZO_PIN,LOW);
}
}
void piezo_beep(){ // Note! This command should not be used in time sensitive loops
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
piezo_on();
delay(100);
piezo_off();
}
}
void piezo_beep_twice(){ // Note! This command should not be used in time sensitive loops
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
piezo_beep();
delay(50);
piezo_beep();
}
}
#endif //COPTER_LEDS

14
ArduCopter/motors.pde
View File

@ -146,10 +146,6 @@ static void init_arm_motors()
hal.uartD->set_blocking_writes(false);
}
#if COPTER_LEDS == ENABLED
piezo_beep_twice();
#endif
// Remember Orientation
// --------------------
init_simple_bearing();
@ -188,10 +184,6 @@ static void init_arm_motors()
// set hover throttle
motors.set_mid_throttle(g.throttle_mid);
#if COPTER_LEDS == ENABLED
piezo_beep_twice();
#endif
// Cancel arming if throttle is raised too high so that copter does not suddenly take off
read_radio();
if (g.rc_3.control_in > g.throttle_cruise && g.throttle_cruise > 100) {
@ -496,11 +488,7 @@ static void init_disarm_motors()
// we are not in the air
set_takeoff_complete(false);
#if COPTER_LEDS == ENABLED
piezo_beep();
#endif
// setup fast AHRS gains to get right attitude
ahrs.set_fast_gains(true);

4
ArduCopter/system.pde
View File

@ -122,10 +122,6 @@ static void init_ardupilot()
relay.init();
#if COPTER_LEDS == ENABLED
copter_leds_init();
#endif
// load parameters from EEPROM
load_parameters();