Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

preparing for addon features 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1235 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-12-23 14:05:59 +00:00
parent 9eb889d30d
commit 77822acbbf
3 changed files with 74 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
ArduCopterMega/APM_Config.h
View File

@ -1,13 +1,21 @@
// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
#define ARM_AT_STARTUP 0
//#define MAGOFFSET 30.50,15.00,47.00
//#define DECLINATION 14.2
// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
#define ARM_AT_STARTUP 0
//#define MAGOFFSET 30.50,15.00,47.00
//#define DECLINATION 14.2
// For future development, don't enable unless you know them
// These are all experimental and underwork, jp 23-12-10
//#define ENABLE_EXTRAS ENABLED
//#define ENABLE_EXTRAINIT ENABLED
//#define ENABLE_CAM ENABLED
//#define ENABLE_AM ENABLED
//#define ENABLE_xx ENABLED

53
ArduCopterMega/ArduCopterMega.pde
View File

@ -364,10 +364,49 @@ float load; // % MCU cycles used
byte FastLoopGate = 9;
// AC generic variables for future use
byte gled_status = HIGH;
long gled_timer;
int gled_speed = 200;
long cli_timer;
byte cli_status = LOW;
byte cli_step;
byte fled_status;
byte res1;
byte res2;
byte res3;
byte res4;
byte res5;
byte cam_mode;
byte cam1;
byte cam2;
byte cam3;
int ires1;
int ires2;
int ires3;
int ires4;
boolean SW_DIP1; // closest to SW2 slider switch
boolean SW_DIP2;
boolean SW_DIP3;
boolean SW_DIP4; // closest to header pins
// Basic Initialization
//---------------------
void setup() {
init_ardupilot();
#if ENABLE_EXTRAINIT
init_extras();
#endif
}
void loop()
@ -544,6 +583,18 @@ void medium_loop()
#if ENABLE_HIL
output_HIL();
#endif
#if ENABLE_CAM
camera_stabilization();
#endif
#if ENABLE_AM
flight_lights();
#endif
#if ENABLE_xx
do_something_usefull();
#endif
if (millis() - perf_mon_timer > 20000) {
@ -835,4 +886,4 @@ void read_AHRS(void)
roll_sensor = dcm.roll_sensor;
pitch_sensor = dcm.pitch_sensor;
yaw_sensor = dcm.yaw_sensor;
}
}

2
ArduCopterMega/control_modes.pde
View File

@ -99,4 +99,4 @@ void read_trim_switch()
trim_flag = false;
}
}
}
}