mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-10 18:03:56 -04:00
Sub: Set frame configuration with parameter instead of make target
Now only one firmware is required for ArduSub
This commit is contained in:
Jacob Walser
Andrew Tridgell
parent
7c849f1e52
commit
6b3610ea70
@ -5,15 +5,6 @@
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// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
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// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
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//#define FRAME_CONFIG VECTORED_FRAME
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/* options:
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* BLUEROV_FRAME
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* VECTORED_FRAME
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* VECTORED6DOF_FRAME
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* SIMPLEROV_FRAME
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* VECTORED90_FRAME
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*/
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// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
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//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
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//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
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@ -1075,7 +1075,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
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send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
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#endif
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send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
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handle_param_request_list(msg);
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break;
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}
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@ -1602,8 +1601,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
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#endif
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send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
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// send system ID if we can
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char sysid[40];
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if (hal.util->get_system_id(sysid)) {
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@ -699,8 +699,7 @@ const struct LogStructure Sub::log_structure[] = {
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void Sub::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
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{
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cliSerial->printf("\n" FIRMWARE_STRING
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"\nFree RAM: %u\n"
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"\nFrame: " FRAME_CONFIG_STRING "\n",
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"\nFree RAM: %u\n",
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(unsigned) hal.util->available_memory());
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cliSerial->println(HAL_BOARD_NAME);
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@ -714,7 +713,6 @@ void Sub::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
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void Sub::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by DataFlash
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DataFlash.Log_Write_Message("Frame: " FRAME_CONFIG_STRING);
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DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
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}
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@ -515,6 +515,14 @@ const AP_Param::Info Sub::var_info[] = {
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// @Range: 1000 2000
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GSCALAR(cam_tilt_center, "CAM_CENTER", 1500),
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// @Param: FRAME_CONFIG
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// @DisplayName: Frame configuration
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// @Description: Set this parameter according to your vehicle/motor configuration
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// @User: Standard
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// @RebootRequired: True
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// @Values: 0:BlueROV1, 1:SimpleROV, 2:BlueROV2/Vectored, 3:Vectored6DOF, 4:Vectored90
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GSCALAR(frame_configuration, "FRAME_CONFIG", AS_MOTORS_VECTORED_FRAME),
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// @Group: BTN0_
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// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
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GGROUP(jbtn_0, "BTN0_", JSButton),
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@ -840,17 +848,10 @@ const AP_Param::Info Sub::var_info[] = {
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GOBJECT(rally, "RALLY_", AP_Rally),
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#endif
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//#if (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME || FRAME_CONFIG == SIMPLEROV || FRAME_CONFIG == VECTORED90_FRAME)
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// @Group: MOT_
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// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
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GOBJECT(motors, "MOT_", AP_Motors6DOF),
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//#else
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// // @Group: MOT_
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// // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
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// GOBJECT(motors, "MOT_", AP_MotorsMulticopter),
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//#endif
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#if RCMAP_ENABLED == ENABLED
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// @Group: RCMAP_
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// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
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@ -206,6 +206,7 @@ public:
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k_param_rc_feel_rp,
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k_param_throttle_gain,
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k_param_cam_tilt_center,
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k_param_frame_configuration,
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// Acro Mode parameters
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k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
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@ -399,6 +400,7 @@ public:
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#endif
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AP_Float surface_depth;
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AP_Int8 frame_configuration;
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// Note: keep initializers here in the same order as they are declared
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// above.
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@ -299,23 +299,7 @@ private:
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uint8_t compass : 1; // true if compass is healthy
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} sensor_health;
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// Motor Output
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#if FRAME_CONFIG == BLUEROV_FRAME
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#define MOTOR_CLASS AP_MotorsBlueROV6DOF
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#elif FRAME_CONFIG == VECTORED_FRAME
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#define MOTOR_CLASS AP_MotorsVectoredROV
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#elif FRAME_CONFIG == VECTORED6DOF_FRAME
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#define MOTOR_CLASS AP_MotorsVectored6DOF
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#elif FRAME_CONFIG == SIMPLEROV_FRAME
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#define MOTOR_CLASS AP_MotorsSimpleROV
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#elif FRAME_CONFIG == VECTORED90_FRAME
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#define MOTOR_CLASS AP_MotorsVectored90
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#else
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#error Unrecognised frame type
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#endif
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MOTOR_CLASS motors;
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AP_Motors6DOF motors;
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// GPS variables
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// Sometimes we need to remove the scaling for distance calcs
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@ -54,27 +54,6 @@
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# define MAIN_LOOP_SECONDS 0.0025f
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# define MAIN_LOOP_MICROS 2500
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG VECTORED6DOF_FRAME
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#endif
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#if FRAME_CONFIG == BLUEROV_FRAME
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# define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
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#elif FRAME_CONFIG == VECTORED_FRAME
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# define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
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#elif FRAME_CONFIG == VECTORED6DOF_FRAME
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# define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
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#elif FRAME_CONFIG == SIMPLEROV_FRAME
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# define FRAME_CONFIG_STRING "ROV_SIMPLEROV_FRAME"
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#elif FRAME_CONFIG == VECTORED90_FRAME
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# define FRAME_CONFIG_STRING "ROV_VECTORED90_FRAME"
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#else
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# define FRAME_CONFIG_STRING "UNKNOWN"
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#endif
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#ifndef SURFACE_DEPTH_DEFAULT
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# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
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#endif
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@ -86,23 +86,6 @@ enum aux_sw_func {
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AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
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};
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// Frame types
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#define UNDEFINED_FRAME 0
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#define QUAD_FRAME 1
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#define TRI_FRAME 2
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#define HEXA_FRAME 3
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#define Y6_FRAME 4
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#define OCTA_FRAME 5
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#define HELI_FRAME 6
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#define OCTA_QUAD_FRAME 7
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#define SINGLE_FRAME 8
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#define COAX_FRAME 9
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#define BLUEROV_FRAME 10
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#define VECTORED_FRAME 11
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#define VECTORED6DOF_FRAME 12
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#define SIMPLEROV_FRAME 13
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#define VECTORED90_FRAME 14
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_SENSORS 1
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