mirror of https://github.com/ArduPilot/ardupilot
CalibrateSensors update. Some cleanups...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@655 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234
parent
7667214987
commit
6baf85d880
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@ -56,10 +56,8 @@ TODO:
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/* AM PIN Definitions - END */
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/*************************************************************/
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// Radio related definitions
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#define CH_ROLL 0
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#define CH_PITCH 1
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#define CH_THROTTLE 2
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@ -82,6 +80,28 @@ TODO:
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#define CHANN_CENTER 1500 // Channel center, legacy
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#define MIN_THROTTLE 1040 // Throttle pulse width at minimun...
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/*************************************************************/
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// General definitions
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//Modes
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#define STABLE_MODE 0
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#define ACRO_MODE 1
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//Axis
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#define ROLL 0
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#define PITCH 1
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#define YAW 2
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#define XAXIS 0
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#define YAXIS 1
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#define ZAXIS 2
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#define GYROZ 0
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#define GYROX 1
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#define GYROY 2
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#define ACCELX 3
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#define ACCELY 4
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#define ACCELZ 5
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#define LASTSENSOR 6
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// Following variables stored in EEPROM
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float KP_QUAD_ROLL;
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float KI_QUAD_ROLL;
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@ -56,11 +56,10 @@ TODO:
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#define SLIDE_SWITCH_PIN 40
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#define PUSHBUTTON_PIN 41
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#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
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#define A_LED_PIN 37
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#define B_LED_PIN 36
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#define C_LED_PIN 35
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#define EE_LAST_LOG_PAGE 0xE00
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#define EE_LAST_LOG_NUM 0xE02
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#define EE_LOG_1_START 0xE04
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@ -90,68 +89,7 @@ TODO:
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#define SerAv Serial.available
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#endif
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/****************************************************/
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/*Logging Stuff - These should be 1 (on) or 0 (off)*/
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/****************************************************/
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#define LOG_ATTITUDE 1 // Logs basic attitude info
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#define LOG_GPS 1 // Logs GPS info
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#define LOG_PM 1 // Logs IMU performance monitoring info£
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#define LOG_CTUN 0 // Logs control loop tuning info
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#define LOG_NTUN 0 // Logs navigation loop tuning info
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#define LOG_MODE 1 // Logs mode changes
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#define LOG_RAW 0 // Logs raw accel/gyro data
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#define LOG_SEN 1 // Logs sensor data
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// GCS Message ID's
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#define MSG_ACKNOWLEDGE 0x00
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#define MSG_HEARTBEAT 0x01
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#define MSG_ATTITUDE 0x02
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#define MSG_LOCATION 0x03
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#define MSG_PRESSURE 0x04
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#define MSG_STATUS_TEXT 0x05
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#define MSG_PERF_REPORT 0x06
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#define MSG_COMMAND 0x22
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#define MSG_VALUE 0x32
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#define MSG_PID 0x42
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#define MSG_TRIMS 0x50
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#define MSG_MINS 0x51
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#define MSG_MAXS 0x52
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#define MSG_IMU_OUT 0x53
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#define SEVERITY_LOW 1
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#define SEVERITY_MEDIUM 2
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#define SEVERITY_HIGH 3
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#define SEVERITY_CRITICAL 4
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// Debug options - set only one of these options to 1 at a time, set the others to 0
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#define DEBUG_SUBSYSTEM 0 // 0 = no debug
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// 1 = Debug the Radio input
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// 2 = Debug the Servo output
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// 3 = Debug the Sensor input
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// 4 = Debug the GPS input
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// 5 = Debug the GPS input - RAW HEX OUTPUT
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// 6 = Debug the IMU
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// 7 = Debug the Control Switch
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// 8 = Debug the Servo DIP switches
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// 9 = Debug the Relay out
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// 10 = Debug the Magnetometer
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// 11 = Debug the ABS pressure sensor
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// 12 = Debug the stored waypoints
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// 13 = Debug the Throttle
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// 14 = Debug the Radio Min Max
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// 15 = Debug the EEPROM - Hex Dump
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#define DEBUG_LEVEL SEVERITY_LOW
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// SEVERITY_LOW
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// SEVERITY_MEDIUM
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// SEVERITY_HIGH
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// SEVERITY_CRITICAL
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// IMU definitions
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// Sensor: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ
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uint8_t sensors[6] = {1, 2, 0, 4, 5, 6}; // For ArduPilot Mega Sensor Shield Hardware
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@ -162,7 +100,6 @@ int SENSOR_SIGN[]={
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/* APM Hardware definitions, END */
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/* General definitions */
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#define TRUE 1
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#define FALSE 0
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#define ON 1
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@ -388,4 +325,64 @@ int mainLoop_count = 0;
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unsigned long elapsedTime = 0; // for doing custom events
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//unsigned int GPS_timer = 0;
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/****************************************************/
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/*Logging Stuff - These should be 1 (on) or 0 (off)*/
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/****************************************************/
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#define LOG_ATTITUDE 1 // Logs basic attitude info
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#define LOG_GPS 1 // Logs GPS info
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#define LOG_PM 1 // Logs IMU performance monitoring info£
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#define LOG_CTUN 0 // Logs control loop tuning info
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#define LOG_NTUN 0 // Logs navigation loop tuning info
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#define LOG_MODE 1 // Logs mode changes
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#define LOG_RAW 0 // Logs raw accel/gyro data
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#define LOG_SEN 1 // Logs sensor data
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// GCS Message ID's
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#define MSG_ACKNOWLEDGE 0x00
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#define MSG_HEARTBEAT 0x01
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#define MSG_ATTITUDE 0x02
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#define MSG_LOCATION 0x03
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#define MSG_PRESSURE 0x04
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#define MSG_STATUS_TEXT 0x05
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#define MSG_PERF_REPORT 0x06
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#define MSG_COMMAND 0x22
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#define MSG_VALUE 0x32
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#define MSG_PID 0x42
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#define MSG_TRIMS 0x50
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#define MSG_MINS 0x51
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#define MSG_MAXS 0x52
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#define MSG_IMU_OUT 0x53
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#define SEVERITY_LOW 1
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#define SEVERITY_MEDIUM 2
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#define SEVERITY_HIGH 3
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#define SEVERITY_CRITICAL 4
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// Debug options - set only one of these options to 1 at a time, set the others to 0
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#define DEBUG_SUBSYSTEM 0 // 0 = no debug
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// 1 = Debug the Radio input
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// 2 = Debug the Servo output
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// 3 = Debug the Sensor input
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// 4 = Debug the GPS input
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// 5 = Debug the GPS input - RAW HEX OUTPUT
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// 6 = Debug the IMU
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// 7 = Debug the Control Switch
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// 8 = Debug the Servo DIP switches
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// 9 = Debug the Relay out
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// 10 = Debug the Magnetometer
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// 11 = Debug the ABS pressure sensor
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// 12 = Debug the stored waypoints
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// 13 = Debug the Throttle
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// 14 = Debug the Radio Min Max
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// 15 = Debug the EEPROM - Hex Dump
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#define DEBUG_LEVEL SEVERITY_LOW
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// SEVERITY_LOW
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// SEVERITY_MEDIUM
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// SEVERITY_HIGH
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// SEVERITY_CRITICAL
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@ -92,28 +92,7 @@
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/* ************************************************************ */
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/* ************* MAIN PROGRAM - DECLARATIONS ****************** */
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/* ************************************************************ */
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#define ROLL 0
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#define PITCH 1
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#define YAW 2
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#define XAXIS 0
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#define YAXIS 1
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#define ZAXIS 2
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#define GYROZ 0
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#define GYROX 1
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#define GYROY 2
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#define ACCELX 3
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#define ACCELY 4
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#define ACCELZ 5
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#define LASTSENSOR 6
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int rawADC[6];
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int zeroADC[6];
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int dataADC[6];
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byte channel;
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int sensorSign[6] = {1, 1, 1, 1, 1, 1}; // GYROZ, GYROX, GYROY, ACCELX, ACCELY, ACCELZ
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#define STABLE 0
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#define ACRO 1
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byte flightMode;
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unsigned long currentTime, previousTime, deltaTime;
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@ -128,7 +107,7 @@ unsigned long motorLoop = 0;
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/* ************************************************************ */
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void setup() {
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APM_Init(); // APM Hardware initialization
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APM_Init(); // APM Hardware initialization (in System.pde)
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previousTime = millis();
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motorArmed = 0;
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@ -190,10 +169,11 @@ void loop()
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Euler_angles();
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// Read radio values (if new data is available)
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read_radio();
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if (APM_RC.GetState() == 1) // New radio frame?
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read_radio();
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// Attitude control
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if(flightMode == STABLE) { // STABLE Mode
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if(flightMode == STABLE_MODE) { // STABLE Mode
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gled_speed = 1200;
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if (AP_mode == 0) // Normal mode
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Attitude_control_v3(command_rx_roll,command_rx_pitch,command_rx_yaw);
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@ -207,7 +187,7 @@ void loop()
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command_rx_yaw = ToDeg(yaw);
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}
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// Send output commands to motors...
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// Send output commands to motor ESCs...
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motor_output();
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// Performance optimization: Magnetometer sensor and pressure sensor are slowly to read (I2C)
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@ -224,8 +204,9 @@ void loop()
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#endif
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#ifdef UseBMP
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#endif
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// Slow loop (10Hz)
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if((millis()-tlmTimer)>=100) {
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if((currentTime-tlmTimer)>=100) {
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//#if BATTERY_EVENT == 1
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// read_battery(); // Battery monitor
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//#endif
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@ -233,7 +214,7 @@ void loop()
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readSerialCommand();
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sendSerialTelemetry();
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#endif
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tlmTimer = millis();
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tlmTimer = currentTime;
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}
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}
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}
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@ -38,8 +38,6 @@ TODO:
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void read_radio()
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{
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if (APM_RC.GetState() == 1) // New radio frame?
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{
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// Commands from radio Rx
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// We apply the Radio calibration parameters (from configurator) except for throttle
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ch_roll = channel_filter(APM_RC.InputCh(CH_ROLL) * ch_roll_slope + ch_roll_offset, ch_roll);
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@ -51,12 +49,12 @@ void read_radio()
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// Flight mode
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if(ch_aux2 > 1800)
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flightMode = 1; // Force to Acro mode from radio
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flightMode = ACRO_MODE; // Force to Acro mode from radio
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else
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flightMode = 0; // Stable mode (default)
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flightMode = STABLE_MODE; // Stable mode (default)
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// Autopilot mode (only works on Stable mode)
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if (flightMode == 0)
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if (flightMode == STABLE_MODE)
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{
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if(ch_aux > 1800)
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AP_mode = 1; // Automatic mode : GPS position hold mode + altitude hold
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@ -88,7 +86,6 @@ void read_radio()
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// Write Radio data to DataFlash log
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Log_Write_Radio(ch_roll,ch_pitch,ch_throttle,ch_yaw,int(K_aux*100),(int)AP_mode);
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} // END new radio data
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}
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@ -44,43 +44,40 @@ int read_adc(int select)
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return (AN[select]-AN_OFFSET[select]);
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}
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int readADC(byte channel) {
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if (sensorSign[channel] < 0)
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return (zeroADC[channel] - APM_ADC.Ch(channel));
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else
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return (APM_ADC.Ch(channel) - zeroADC[channel]);
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}
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void calibrateSensors(void) {
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int i;
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int j = 0;
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byte gyro;
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float aux_float[3];
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Read_adc_raw(); // Read sensors data
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delay(5);
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// Offset values for accels and gyros...
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AN_OFFSET[3] = acc_offset_x; // Accel offset values are taken from external calibration (In Configurator)
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AN_OFFSET[4] = acc_offset_y;
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AN_OFFSET[5] = acc_offset_z;
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aux_float[0] = gyro_offset_roll;
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aux_float[1] = gyro_offset_pitch;
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aux_float[2] = gyro_offset_yaw;
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// Take the gyro offset values
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for(int i=0;i<300;i++) {
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for (channel = GYROZ; channel < LASTSENSOR; channel++) {
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rawADC[channel] = APM_ADC.Ch(channel);
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zeroADC[channel] = (zeroADC[channel] * 0.8) + (rawADC[channel] * 0.2);
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//Log_Write_Sensor(rawADC[GYROZ], rawADC[GYROX], rawADC[GYROY], rawADC[ACCELX], rawADC[ACCELY], rawADC[ACCELZ], receiverData[THROTTLE]);
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}
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for(i=0;i<600;i++)
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{
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Read_adc_raw(); // Read sensors
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for(gyro=GYROZ; gyro<=GYROY; gyro++)
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aux_float[gyro]=aux_float[gyro]*0.8 + AN[gyro]*0.2; // Filtering
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Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],0);
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delay(5);
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RunningLights(j); // (in Functions.pde)
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// Runnings lights effect to let user know that we are taking mesurements
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if(j == 0) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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}
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else if (j == 1) {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, LOW);
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}
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else {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, HIGH);
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}
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if((i % 5) == 0) j++;
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if(j >= 3) j = 0;
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}
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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// Switch off all ABC lights
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LightsOff();
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for(gyro=GYROZ; gyro<=GYROY; gyro++)
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AN_OFFSET[gyro]=aux_float[gyro]; // Update sensor OFFSETs from values read
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}
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@ -35,9 +35,6 @@ TODO:
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// General Initialization for all APM electronics
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void APM_Init() {
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int i, j; // Temporary variables used to count things
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float aux_float[3];
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pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
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pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
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@ -94,44 +91,8 @@ void APM_Init() {
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Log_Read(1,1000);
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delay(30000);
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}
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Read_adc_raw();
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delay(10);
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// Offset values for accels and gyros...
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AN_OFFSET[3] = acc_offset_x;
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AN_OFFSET[4] = acc_offset_y;
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AN_OFFSET[5] = acc_offset_z;
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aux_float[0] = gyro_offset_roll;
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aux_float[1] = gyro_offset_pitch;
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aux_float[2] = gyro_offset_yaw;
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j = 0;
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// Take the gyro offset values
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for(i=0;i<300;i++)
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{
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Read_adc_raw();
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for(int y=0; y<=2; y++) // Read initial ADC values for gyro offset.
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{
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aux_float[y]=aux_float[y]*0.8 + AN[y]*0.2;
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//Serial.print(AN[y]);
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//Serial.print(",");
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}
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//Serial.println();
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Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],ch_throttle);
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delay(10);
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RunningLights(j);
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// Runnings lights effect to let user know that we are taking mesurements
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if((i % 5) == 0) j++;
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if(j >= 3) j = 0;
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}
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// Switch off all ABC lights
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LightsOff();
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for(int y=0; y<=2; y++)
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AN_OFFSET[y]=aux_float[y];
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calibrateSensors(); // Calibrate neutral values of gyros (in Sensors.pde)
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// Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
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#ifndef CONFIGURATOR
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