mirror of https://github.com/ArduPilot/ardupilot
purple: switch ArduCopter to new sensor objects
this uses the new sensor abstractions for the purple/APM1 hardware choice
This commit is contained in:
Pat Hickey
parent
4869ac3385
commit
660174e610
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@ -49,16 +49,23 @@ And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
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// Libraries
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <Wire.h> // Arduino I2C lib
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#include <SPI.h> // Arduino SPI lib
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_AnalogSource.h>
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_IMU.h> // ArduPilot Mega IMU Library
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#include <AP_PeriodicProcess.h> // Parent header of Timer and TimerAperiodic
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// (only included for makefile libpath to work)
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#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
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#include <AP_TimerAperiodicProcess.h> // TimerAperiodicProcess is the scheduler for ADC reads.
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#include <AP_DCM.h> // ArduPilot Mega DCM Library
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#include <APM_PI.h> // PI library
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#include <RC_Channel.h> // RC Channel Library
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@ -89,6 +96,8 @@ FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port
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Arduino_Mega_ISR_Registry isr_registry;
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////////////////////////////////////////////////////////////////////////////////
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// Parameters
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////////////////////////////////////////////////////////////////////////////////
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@ -102,6 +111,24 @@ static Parameters g;
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// prototypes
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static void update_events(void);
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////////////////////////////////////////////////////////////////////////////////
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// RC Hardware
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
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APM_RC_Purple APM_RC;
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#else
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APM_RC_APM1 APM_RC;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
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DataFlash_Purple DataFlash;
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#else
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DataFlash_APM1 DataFlash;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Sensors
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@ -125,7 +152,10 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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#if CONFIG_ADC == ENABLED
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AP_ADC_ADS7844 adc;
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#endif
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APM_BMP085_Class barometer;
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AP_Compass_HMC5843 compass(Parameters::k_param_compass);
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@ -183,7 +213,14 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_SENSORS
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// Normal
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AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration);
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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AP_TimerProcess timer_scheduler;
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#else
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AP_InertialSensor_Oilpan ins(&adc);
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AP_TimerAperiodicProcess timer_scheduler;
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#endif
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AP_IMU_INS imu(&ins, Parameters::k_param_IMU_calibration);
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#else
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// hil imu
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AP_IMU_Shim imu;
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@ -203,12 +240,21 @@ GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
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////////////////////////////////////////////////////////////////////////////////
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//
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ModeFilter sonar_mode_filter;
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#if CONFIG_SONAR == ENABLED
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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AP_AnalogSource_ADC sonar_analog_source( &adc,
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CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
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#endif
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#if SONAR_TYPE == MAX_SONAR_XL
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AP_RangeFinder_MaxsonarXL sonar(&adc, &sonar_mode_filter);//(SONAR_PORT, &adc);
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AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
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#else
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#error Unrecognised SONAR_TYPE setting.
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#endif
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#endif
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// agmatthews USERHOOKS
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////////////////////////////////////////////////////////////////////////////////
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@ -768,9 +814,12 @@ static void fifty_hz_loop()
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// Read Sonar
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// ----------
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# if CONFIG_SONAR == ENABLED
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if(g.sonar_enabled){
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sonar_alt = sonar.read();
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}
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#endif
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// agmatthews - USERHOOKS
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#ifdef USERHOOK_50HZLOOP
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USERHOOK_50HZLOOP
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