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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 <AP_GPS.h> // ArduPilot GPS library
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library #include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library #include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library #include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
@ -94,6 +95,8 @@
#include <AP_Limits.h> #include <AP_Limits.h>
#include <memcheck.h> #include <memcheck.h>
// AP_HAL to Arduino compatibility layer
#include "compat.h"
// Configuration // Configuration
#include "defines.h" #include "defines.h"
#include "config.h" #include "config.h"
@ -413,11 +416,11 @@ static uint8_t receiver_rssi;
#endif #endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments #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 #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 #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 #endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -836,7 +839,7 @@ AP_Relay relay;
// a pin for reading the receiver RSSI voltage. The scaling by 0.25 // 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 // 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 #if CLI_ENABLED == ENABLED
static int8_t setup_show (uint8_t argc, const Menu::arg *argv); 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 == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC #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); &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
sonar_analog_source = hal.analogin->channel( sonar_analog_source = hal.analogin->channel(
@ -891,10 +894,12 @@ void setup() {
#else #else
#warning "Invalid CONFIG_SONAR_SOURCE" #warning "Invalid CONFIG_SONAR_SOURCE"
#endif #endif
sonar = new AP_RangeFinder_MaxsonarXL(&sonar_analog_source, sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
&sonar_mode_filter); &sonar_mode_filter);
#endif #endif
rssi_analog_source = hal.analogin->channel(g.rssi_pin, 0.25);
memcheck_init(); memcheck_init();
init_ardupilot(); init_ardupilot();
} }

4
ArduCopter/sensors.pde
View File

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