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ArduCopter: more fixes

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Pat Hickey 2012-12-12 16:16:32 -08:00 committed by Andrew Tridgell
parent 4b84e99f85
commit 70f4739522
2 changed files with 13 additions and 8 deletions
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17
ArduCopter/ArduCopter.pde
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@ -70,6 +70,7 @@
#include <AP_GPS.h> // ArduPilot GPS library
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h>
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
@ -94,6 +95,8 @@
#include <AP_Limits.h>
#include <memcheck.h>
// AP_HAL to Arduino compatibility layer
#include "compat.h"
// Configuration
#include "defines.h"
#include "config.h"
@ -413,11 +416,11 @@ static uint8_t receiver_rssi;
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
MOTOR_CLASS motors(CONFIG_HAL_BOARD, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
MOTOR_CLASS motors(CONFIG_HAL_BOARD, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
#else
MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
MOTOR_CLASS motors(CONFIG_HAL_BOARD, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
@ -836,7 +839,7 @@ AP_Relay relay;
// a pin for reading the receiver RSSI voltage. The scaling by 0.25
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
AP_AnalogSource_Arduino RSSI_pin(-1, 0.25);
AP_HAL::AnalogSource* rssi_analog_source;
#if CLI_ENABLED == ENABLED
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
@ -883,7 +886,7 @@ void setup() {
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar_analog_source = new AP_AnalogSource_ADC(
sonar_analog_source = new AP_ADC_AnalogSource(
&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
sonar_analog_source = hal.analogin->channel(
@ -891,10 +894,12 @@ void setup() {
#else
#warning "Invalid CONFIG_SONAR_SOURCE"
#endif
sonar = new AP_RangeFinder_MaxsonarXL(&sonar_analog_source,
sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
&sonar_mode_filter);
#endif
rssi_analog_source = hal.analogin->channel(g.rssi_pin, 0.25);
memcheck_init();
init_ardupilot();
}

4
ArduCopter/sensors.pde
View File

@ -110,7 +110,7 @@ static void read_battery(void)
// RC_CHANNELS_SCALED message
void read_receiver_rssi(void)
{
RSSI_pin.set_pin(g.rssi_pin);
float ret = RSSI_pin.read();
rssi_analog_source->set_pin(g.rssi_pin);
float ret = rssi_analog_source->read();
receiver_rssi = constrain(ret, 0, 255);
}