mirror of https://github.com/ArduPilot/ardupilot
Fixed GPS activation issue, Serial/Serial3 selection and new automatic mode switch feature
git-svn-id: https://arducopter.googlecode.com/svn/trunk@445 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc
parent
dff31e7dde
commit
837c183922
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@ -212,6 +212,8 @@ int Sonar_Counter=0;
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// AP_mode : 1=> Position hold 2=>Stabilization assist mode (normal mode)
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byte AP_mode = 2;
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byte FL_mode = 0; // Flight mode : 0 => Stable, 1 => Acro mode. Stable as default
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// Mode LED timers and variables, used to blink LED_Green
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byte gled_status = HIGH;
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@ -49,11 +49,13 @@
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/* User definable modules */
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// Comment out with // modules that you are not using
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#define IsGPS // Do we have a GPS connected
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#define IsGPS // Do we have a GPS connected
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//#define IsNEWMTEK// Do we have MTEK with new firmware
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#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
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#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
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//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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#define AUTOMODE // New experimental Automode to change between Stable <=> Acro. If pitch/roll stick move is more than 50% change mode
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//#define IsXBEE // Moves all serial communication to Telemetry port when activated.
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#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
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@ -73,6 +75,26 @@
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#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
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//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
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// Quick and easy hack to change FTDI Serial output to Telemetry port. Just activate #define IsXBEE some lines earlier
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#ifndef IsXBEE
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#define SerBau 115200
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#define SerPri Serial.print
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#define SerPriln Serial.println
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#define SerAva Serial.available
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#define SerRea Serial.read
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#define SerFlu Serial.flush
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#define SerBeg Serial.begin
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#define SerPor "FTDI"
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#else
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#define SerBau 115200
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#define SerPri Serial3.print
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#define SerPriln Serial3.println
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#define SerAva Serial3.available
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#define SerRea Serial3.read
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#define SerFlu Serial3.flush
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#define SerBeg Serial3.begin
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#define SerPor "Telemetry"
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#endif
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/* ****************************************************************************** */
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/* ****************************** Includes ************************************** */
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@ -349,16 +371,19 @@ void setup()
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DataFlash.StartWrite(1); // Start a write session on page 1
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//Serial.begin(57600);
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Serial.begin(115200);
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//Serial.println();
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//Serial.println("ArduCopter Quadcopter v1.0");
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SerBeg(SerBau); // Initialize SerialXX.port, IsXBEE define declares which port
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#ifndef CONFIGURATOR
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SerPri("ArduCopter Quadcopter v");
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SerPriln(VER)
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SerPri("Serial ready on port: "); // Printout greeting to selecter serial port
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SerPriln(SerPor); // Printout serial port name
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#endif
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// Check if we enable the DataFlash log Read Mode (switch)
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// If we press switch 1 at startup we read the Dataflash eeprom
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while (digitalRead(SW1_pin)==0)
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{
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Serial.println("Entering Log Read Mode...");
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SerPriln("Entering Log Read Mode...");
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Log_Read(1,2000);
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delay(30000);
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}
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@ -382,10 +407,10 @@ void setup()
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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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//SerPri(AN[y]);
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//SerPri(",");
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}
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//Serial.println();
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//SerPriln();
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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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@ -419,12 +444,12 @@ void setup()
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#ifndef CONFIGURATOR
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for(i=0;i<6;i++)
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{
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Serial.print("AN[]:");
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Serial.println(AN_OFFSET[i]);
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SerPri("AN[]:");
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SerPriln(AN_OFFSET[i]);
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}
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Serial.print("Yaw neutral value:");
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// Serial.println(Neutro_yaw);
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Serial.print(yaw_mid);
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SerPri("Yaw neutral value:");
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// SerPriln(Neutro_yaw);
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SerPri(yaw_mid);
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#endif
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delay(1000);
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@ -492,16 +517,16 @@ void loop(){
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log_yaw = ToDeg(yaw) * 10;
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#ifndef CONFIGURATOR
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Serial.print(log_roll);
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Serial.print(",");
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Serial.print(log_pitch);
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Serial.print(",");
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Serial.print(log_yaw);
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SerPri(log_roll);
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SerPri(",");
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SerPri(log_pitch);
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SerPri(",");
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SerPri(log_yaw);
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//for (int i = 0; i < 6; i++)
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//{
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// Serial.print(AN[i]);
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// Serial.print(",");
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// SerPri(AN[i]);
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// SerPri(",");
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//}
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#endif
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@ -524,6 +549,28 @@ void loop(){
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command_rx_roll = (ch_roll-roll_mid) / 12.0;
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command_rx_pitch = (ch_pitch-pitch_mid) / 12.0;
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#ifdef AUTOMODE
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// New Automatic Stable <=> Acro switch. If pitch/roll stick is more than 60% from center, change to Acro
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if(command_rx_roll >= 30 || command_rx_roll <= -30 ||
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command_rx_pitch >= 30 || command_rx_pitch <= -30 ) {
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FL_mode = 1;
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} else FL_mode = 0;
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#endif
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if(ch_aux2 > 1800) FL_mode = 1; // Force to Acro mode from radio
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/*
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// Debuging channels and fl_mode
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SerPri(command_rx_roll);
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comma();
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SerPri(command_rx_pitch);
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comma();
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SerPri(FL_mode, DEC);
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SerPriln();
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*/
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//aux_float = (ch_yaw-Neutro_yaw) / 180.0;
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if (abs(ch_yaw-yaw_mid)<12) // Take into account a bit of "dead zone" on yaw
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aux_float = 0.0;
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@ -540,11 +587,16 @@ void loop(){
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//K_aux = K_aux*0.8 + ((ch_aux-1500)/100.0 + 0.6)*0.2;
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K_aux = K_aux * 0.8 + ((ch_aux2-AUX_MID) / 300.0 + 1.7) * 0.2; // /300 + 1.0
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if (K_aux < 0) K_aux = 0;
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//Serial.print(",");
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//Serial.print(K_aux);
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//SerPri(",");
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//SerPri(K_aux);
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// We read the Quad Mode from Channel 5
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if (ch_aux < 1200)
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if (ch_aux > 1800) // We really need to switch it ON from radio to activate GPS hold
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{
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AP_mode = 1; // Position hold mode (GPS position control)
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digitalWrite(LED_Yellow,HIGH); // Yellow LED On
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@ -567,11 +619,11 @@ void loop(){
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target_longitude = GPS.Longitude;
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#ifndef CONFIGURATOR
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Serial.println();
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Serial.print("* Target:");
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Serial.print(target_longitude);
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Serial.print(",");
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Serial.println(target_lattitude);
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SerPriln();
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SerPri("* Target:");
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SerPri(target_longitude);
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SerPri(",");
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SerPriln(target_lattitude);
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#endif
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target_position=1;
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//target_sonar_altitude = sonar_value;
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@ -595,10 +647,10 @@ void loop(){
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GPS.NewData=0; // We Reset the flag...
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//Output GPS data
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//Serial.print(",");
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//Serial.print(GPS.Lattitude);
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//Serial.print(",");
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//Serial.print(GPS.Longitude);
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//SerPri(",");
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//SerPri(GPS.Lattitude);
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//SerPri(",");
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//SerPri(GPS.Longitude);
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// Write GPS data to DataFlash log
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Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
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@ -617,15 +669,20 @@ void loop(){
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}
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else
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{
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//Serial.print("NOFIX");
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//SerPri("NOFIX");
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command_gps_roll=0;
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command_gps_pitch=0;
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}
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}
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}
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// Control methodology selected using AUX2
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if (ch_aux2 < 1200) {
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// if (ch_aux2 < 1200) {
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if(FL_mode == 0) { // Changed for variable
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gled_speed = 1200;
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Attitude_control_v3();
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}
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@ -714,7 +771,7 @@ void loop(){
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APM_RC.Force_Out2_Out3();
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#ifndef CONFIGURATOR
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Serial.println(); // Line END
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SerPriln(); // Line END
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#endif
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}
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#ifdef CONFIGURATOR
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@ -27,23 +27,23 @@ void RadioCalibration() {
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long pitch_new = 0;
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long yaw_new = 0;
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Serial.flush();
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Serial.println("Entering Radio Calibration mode");
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Serial.println("Current channel MID values are:");
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Serial.print("ROLL: ");
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Serial.print(roll_mid);
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Serial.print(" PITCH: ");
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Serial.print(pitch_mid);
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Serial.print(" YAW: ");
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Serial.print(yaw_mid);
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Serial.println();
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Serial.println("Recalibrate Channel MID's [Y/N]?: ");
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SerFlu();
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SerPriln("Entering Radio Calibration mode");
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SerPriln("Current channel MID values are:");
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SerPri("ROLL: ");
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SerPri(roll_mid);
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SerPri(" PITCH: ");
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SerPri(pitch_mid);
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SerPri(" YAW: ");
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SerPri(yaw_mid);
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SerPriln();
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SerPriln("Recalibrate Channel MID's [Y/N]?: ");
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command_timer = millis();
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// Start counter loop and wait serial input. If not input for 5 seconds, return to normal mode
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while(millis() - command_timer < 5000) {
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if (Serial.available()) {
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queryType = Serial.read();
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if (SerAva()) {
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queryType = SerRea();
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if(queryType == 'y' || queryType == 'Y') {
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Cmd_ok = TRUE;
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break;
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@ -56,16 +56,16 @@ void RadioCalibration() {
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}
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if(Cmd_ok) {
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// We have a go. Let's do new calibration
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Serial.println("Starting calibration run in 5 seconds. Place all sticks to their middle including trims");
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SerPriln("Starting calibration run in 5 seconds. Place all sticks to their middle including trims");
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for(counter = 5; counter >= 0; counter --) {
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command_timer = millis();
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while(millis() - command_timer < 1000) {
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}
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Serial.println(counter);
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SerPriln(counter);
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}
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// Do actual calibration now
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Serial.println("Measuring average channel values");
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Serial.println("ROLL, PITCH, YAW");
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SerPriln("Measuring average channel values");
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SerPriln("ROLL, PITCH, YAW");
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counter = 0; // Reset counter for just in case.
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command_timer = millis();
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@ -80,42 +80,42 @@ void RadioCalibration() {
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ch_aux = APM_RC.InputCh(4);
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ch_aux2 = APM_RC.InputCh(5);
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Serial.print(ch_roll);
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SerPri(ch_roll);
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comma();
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Serial.print(ch_pitch);
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SerPri(ch_pitch);
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comma();
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Serial.print(ch_yaw);
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Serial.println();
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SerPri(ch_yaw);
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SerPriln();
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roll_new += ch_roll;
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pitch_new += ch_pitch;
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yaw_new += ch_yaw;
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counter++;
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}
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}
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Serial.print("New samples received: ");
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Serial.println(counter);
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SerPri("New samples received: ");
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SerPriln(counter);
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roll_new = roll_new / counter;
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pitch_new = pitch_new / counter;
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yaw_new = yaw_new / counter;
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Serial.print("New values as: ");
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Serial.print("ROLL: ");
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Serial.print(roll_new);
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Serial.print(" PITCH: ");
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Serial.print(pitch_new);
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Serial.print(" YAW: ");
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Serial.print(yaw_new);
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Serial.println();
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Serial.println("Accept & Save values [Y/N]?: ");
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SerPri("New values as: ");
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SerPri("ROLL: ");
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SerPri(roll_new);
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SerPri(" PITCH: ");
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SerPri(pitch_new);
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SerPri(" YAW: ");
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SerPri(yaw_new);
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SerPriln();
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SerPriln("Accept & Save values [Y/N]?: ");
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Cmd_ok = FALSE;
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while(millis() - command_timer < 5000) {
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if (Serial.available()) {
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queryType = Serial.read();
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if (SerAva()) {
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queryType = SerRea();
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if(queryType == 'y' || queryType == 'Y') {
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Cmd_ok = TRUE;
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roll_mid = roll_new;
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pitch_mid = pitch_new;
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yaw_mid = yaw_new;
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Serial.println("Values accepted, remember to save them to EEPROM with 'W' command");
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SerPriln("Values accepted, remember to save them to EEPROM with 'W' command");
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break;
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}
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else {
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@ -127,12 +127,12 @@ void RadioCalibration() {
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}
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if(queryType == 'n' || queryType == 'N') Cmd_ok = TRUE;
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if(Cmd_ok)
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Serial.println("Returning normal mode...");
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else Serial.println("Command timeout, returning normal mode....");
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SerPriln("Returning normal mode...");
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else SerPriln("Command timeout, returning normal mode....");
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}
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void comma() {
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Serial.print(',');
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SerPri(',');
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}
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#if BATTERY_EVENT == 1
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@ -91,21 +91,21 @@ void Log_Write_Radio(int ch1, int ch2, int ch3,int ch4, int ch5, int ch6)
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// Read a Sensor raw data packet
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void Log_Read_Sensor()
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{
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Serial.print("SENSOR:");
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Serial.print(DataFlash.ReadInt()); // GX
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // GY
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // GZ
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // ACCX
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // ACCY
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // ACCZ
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // AUX
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Serial.println();
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SerPri("SENSOR:");
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SerPri(DataFlash.ReadInt()); // GX
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SerPri(",");
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SerPri(DataFlash.ReadInt()); // GY
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SerPri(",");
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SerPri(DataFlash.ReadInt()); // GZ
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SerPri(",");
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SerPri(DataFlash.ReadInt()); // ACCX
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SerPri(",");
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SerPri(DataFlash.ReadInt()); // ACCY
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SerPri(",");
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SerPri(DataFlash.ReadInt()); // ACCZ
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SerPri(",");
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SerPri(DataFlash.ReadInt()); // AUX
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SerPriln();
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}
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// Read an attitude packet
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@ -118,29 +118,29 @@ void Log_Read_Attitude()
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log_roll = DataFlash.ReadInt();
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log_pitch = DataFlash.ReadInt();
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log_yaw = DataFlash.ReadInt();
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Serial.print("ATT:");
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Serial.print(log_roll);
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Serial.print(",");
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Serial.print(log_pitch);
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Serial.print(",");
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Serial.print(log_yaw);
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Serial.println();
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SerPri("ATT:");
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SerPri(log_roll);
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SerPri(",");
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SerPri(log_pitch);
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SerPri(",");
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SerPri(log_yaw);
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SerPriln();
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}
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// Read a Sensor raw data packet
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void Log_Read_PID()
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{
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Serial.print("PID:");
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Serial.print((int)DataFlash.ReadByte()); // NUM_PID
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // P
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // I
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // D
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Serial.print(",");
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Serial.print(DataFlash.ReadInt()); // output
|
||||
Serial.println();
|
||||
SerPri("PID:");
|
||||
SerPri((int)DataFlash.ReadByte()); // NUM_PID
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt()); // P
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt()); // I
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt()); // D
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt()); // output
|
||||
SerPriln();
|
||||
}
|
||||
|
||||
// Read a GPS packet
|
||||
|
|
@ -164,42 +164,42 @@ void Log_Read_GPS()
|
|||
log_Ground_Speed = DataFlash.ReadLong();
|
||||
log_Ground_Course = DataFlash.ReadLong();
|
||||
|
||||
Serial.print("GPS:");
|
||||
Serial.print(log_Time);
|
||||
Serial.print(",");
|
||||
Serial.print((int)log_Fix);
|
||||
Serial.print(",");
|
||||
Serial.print((int)log_NumSats);
|
||||
Serial.print(",");
|
||||
Serial.print(log_Lattitude);
|
||||
Serial.print(",");
|
||||
Serial.print(log_Longitude);
|
||||
Serial.print(",");
|
||||
Serial.print(log_Altitude);
|
||||
Serial.print(",");
|
||||
Serial.print(log_Ground_Speed);
|
||||
Serial.print(",");
|
||||
Serial.print(log_Ground_Course);
|
||||
Serial.println();
|
||||
SerPri("GPS:");
|
||||
SerPri(log_Time);
|
||||
SerPri(",");
|
||||
SerPri((int)log_Fix);
|
||||
SerPri(",");
|
||||
SerPri((int)log_NumSats);
|
||||
SerPri(",");
|
||||
SerPri(log_Lattitude);
|
||||
SerPri(",");
|
||||
SerPri(log_Longitude);
|
||||
SerPri(",");
|
||||
SerPri(log_Altitude);
|
||||
SerPri(",");
|
||||
SerPri(log_Ground_Speed);
|
||||
SerPri(",");
|
||||
SerPri(log_Ground_Course);
|
||||
SerPriln();
|
||||
|
||||
}
|
||||
|
||||
// Read an Radio packet
|
||||
void Log_Read_Radio()
|
||||
{
|
||||
Serial.print("RADIO:");
|
||||
Serial.print(DataFlash.ReadInt());
|
||||
Serial.print(",");
|
||||
Serial.print(DataFlash.ReadInt());
|
||||
Serial.print(",");
|
||||
Serial.print(DataFlash.ReadInt());
|
||||
Serial.print(",");
|
||||
Serial.print(DataFlash.ReadInt());
|
||||
Serial.print(",");
|
||||
Serial.print(DataFlash.ReadInt());
|
||||
Serial.print(",");
|
||||
Serial.print(DataFlash.ReadInt());
|
||||
Serial.println();
|
||||
SerPri("RADIO:");
|
||||
SerPri(DataFlash.ReadInt());
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt());
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt());
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt());
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt());
|
||||
SerPri(",");
|
||||
SerPri(DataFlash.ReadInt());
|
||||
SerPriln();
|
||||
}
|
||||
|
||||
// Read the DataFlash log memory : Packet Parser
|
||||
|
|
@ -247,8 +247,8 @@ void Log_Read(int start_page, int end_page)
|
|||
log_step++;
|
||||
break;
|
||||
default:
|
||||
Serial.print("Error Reading Packet: ");
|
||||
Serial.print(packet_count);
|
||||
SerPri("Error Reading Packet: ");
|
||||
SerPri(packet_count);
|
||||
log_step=0; // Restart, we have a problem...
|
||||
}
|
||||
break;
|
||||
|
|
@ -256,12 +256,12 @@ void Log_Read(int start_page, int end_page)
|
|||
if(data==END_BYTE)
|
||||
packet_count++;
|
||||
else
|
||||
Serial.println("Error Reading END_BYTE");
|
||||
SerPriln("Error Reading END_BYTE");
|
||||
log_step=0; // Restart sequence: new packet...
|
||||
}
|
||||
}
|
||||
Serial.print("Number of packets read: ");
|
||||
Serial.println(packet_count);
|
||||
SerPri("Number of packets read: ");
|
||||
SerPriln(packet_count);
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -20,8 +20,8 @@
|
|||
|
||||
void readSerialCommand() {
|
||||
// Check for serial message
|
||||
if (Serial.available()) {
|
||||
queryType = Serial.read();
|
||||
if (SerAva()) {
|
||||
queryType = SerRea();
|
||||
switch (queryType) {
|
||||
case 'A': // Stable PID
|
||||
KP_QUAD_ROLL = readFloatSerial();
|
||||
|
|
@ -114,114 +114,114 @@ void sendSerialTelemetry() {
|
|||
float aux_float[3]; // used for sensor calibration
|
||||
switch (queryType) {
|
||||
case '=': // Reserved debug command to view any variable from Serial Monitor
|
||||
/* Serial.print("throttle =");
|
||||
Serial.println(ch_throttle);
|
||||
Serial.print("control roll =");
|
||||
Serial.println(control_roll-CHANN_CENTER);
|
||||
Serial.print("control pitch =");
|
||||
Serial.println(control_pitch-CHANN_CENTER);
|
||||
Serial.print("control yaw =");
|
||||
Serial.println(control_yaw-CHANN_CENTER);
|
||||
Serial.print("front left yaw =");
|
||||
Serial.println(frontMotor);
|
||||
Serial.print("front right yaw =");
|
||||
Serial.println(rightMotor);
|
||||
Serial.print("rear left yaw =");
|
||||
Serial.println(leftMotor);
|
||||
Serial.print("rear right motor =");
|
||||
Serial.println(backMotor);
|
||||
Serial.println();
|
||||
/* SerPri("throttle =");
|
||||
SerPriln(ch_throttle);
|
||||
SerPri("control roll =");
|
||||
SerPriln(control_roll-CHANN_CENTER);
|
||||
SerPri("control pitch =");
|
||||
SerPriln(control_pitch-CHANN_CENTER);
|
||||
SerPri("control yaw =");
|
||||
SerPriln(control_yaw-CHANN_CENTER);
|
||||
SerPri("front left yaw =");
|
||||
SerPriln(frontMotor);
|
||||
SerPri("front right yaw =");
|
||||
SerPriln(rightMotor);
|
||||
SerPri("rear left yaw =");
|
||||
SerPriln(leftMotor);
|
||||
SerPri("rear right motor =");
|
||||
SerPriln(backMotor);
|
||||
SerPriln();
|
||||
|
||||
Serial.print("current roll rate =");
|
||||
Serial.println(read_adc(0));
|
||||
Serial.print("current pitch rate =");
|
||||
Serial.println(read_adc(1));
|
||||
Serial.print("current yaw rate =");
|
||||
Serial.println(read_adc(2));
|
||||
Serial.print("command rx yaw =");
|
||||
Serial.println(command_rx_yaw);
|
||||
Serial.println();
|
||||
SerPri("current roll rate =");
|
||||
SerPriln(read_adc(0));
|
||||
SerPri("current pitch rate =");
|
||||
SerPriln(read_adc(1));
|
||||
SerPri("current yaw rate =");
|
||||
SerPriln(read_adc(2));
|
||||
SerPri("command rx yaw =");
|
||||
SerPriln(command_rx_yaw);
|
||||
SerPriln();
|
||||
queryType = 'X';*/
|
||||
Serial.print(APM_RC.InputCh(0));
|
||||
SerPri(APM_RC.InputCh(0));
|
||||
comma();
|
||||
Serial.print(ch_roll_slope);
|
||||
SerPri(ch_roll_slope);
|
||||
comma();
|
||||
Serial.print(ch_roll_offset);
|
||||
SerPri(ch_roll_offset);
|
||||
comma();
|
||||
Serial.println(ch_roll);
|
||||
SerPriln(ch_roll);
|
||||
break;
|
||||
case 'B': // Send roll, pitch and yaw PID values
|
||||
Serial.print(KP_QUAD_ROLL, 3);
|
||||
SerPri(KP_QUAD_ROLL, 3);
|
||||
comma();
|
||||
Serial.print(KI_QUAD_ROLL, 3);
|
||||
SerPri(KI_QUAD_ROLL, 3);
|
||||
comma();
|
||||
Serial.print(STABLE_MODE_KP_RATE_ROLL, 3);
|
||||
SerPri(STABLE_MODE_KP_RATE_ROLL, 3);
|
||||
comma();
|
||||
Serial.print(KP_QUAD_PITCH, 3);
|
||||
SerPri(KP_QUAD_PITCH, 3);
|
||||
comma();
|
||||
Serial.print(KI_QUAD_PITCH, 3);
|
||||
SerPri(KI_QUAD_PITCH, 3);
|
||||
comma();
|
||||
Serial.print(STABLE_MODE_KP_RATE_PITCH, 3);
|
||||
SerPri(STABLE_MODE_KP_RATE_PITCH, 3);
|
||||
comma();
|
||||
Serial.print(KP_QUAD_YAW, 3);
|
||||
SerPri(KP_QUAD_YAW, 3);
|
||||
comma();
|
||||
Serial.print(KI_QUAD_YAW, 3);
|
||||
SerPri(KI_QUAD_YAW, 3);
|
||||
comma();
|
||||
Serial.print(STABLE_MODE_KP_RATE_YAW, 3);
|
||||
SerPri(STABLE_MODE_KP_RATE_YAW, 3);
|
||||
comma();
|
||||
Serial.print(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
|
||||
SerPri(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
|
||||
comma();
|
||||
Serial.println(MAGNETOMETER, 3);
|
||||
SerPriln(MAGNETOMETER, 3);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case 'D': // Send GPS PID
|
||||
Serial.print(KP_GPS_ROLL, 3);
|
||||
SerPri(KP_GPS_ROLL, 3);
|
||||
comma();
|
||||
Serial.print(KI_GPS_ROLL, 3);
|
||||
SerPri(KI_GPS_ROLL, 3);
|
||||
comma();
|
||||
Serial.print(KD_GPS_ROLL, 3);
|
||||
SerPri(KD_GPS_ROLL, 3);
|
||||
comma();
|
||||
Serial.print(KP_GPS_PITCH, 3);
|
||||
SerPri(KP_GPS_PITCH, 3);
|
||||
comma();
|
||||
Serial.print(KI_GPS_PITCH, 3);
|
||||
SerPri(KI_GPS_PITCH, 3);
|
||||
comma();
|
||||
Serial.print(KD_GPS_PITCH, 3);
|
||||
SerPri(KD_GPS_PITCH, 3);
|
||||
comma();
|
||||
Serial.print(GPS_MAX_ANGLE, 3);
|
||||
SerPri(GPS_MAX_ANGLE, 3);
|
||||
comma();
|
||||
Serial.println(GEOG_CORRECTION_FACTOR, 3);
|
||||
SerPriln(GEOG_CORRECTION_FACTOR, 3);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case 'F': // Send altitude PID
|
||||
Serial.print(KP_ALTITUDE, 3);
|
||||
SerPri(KP_ALTITUDE, 3);
|
||||
comma();
|
||||
Serial.print(KI_ALTITUDE, 3);
|
||||
SerPri(KI_ALTITUDE, 3);
|
||||
comma();
|
||||
Serial.println(KD_ALTITUDE, 3);
|
||||
SerPriln(KD_ALTITUDE, 3);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case 'H': // Send drift correction PID
|
||||
Serial.print(Kp_ROLLPITCH, 4);
|
||||
SerPri(Kp_ROLLPITCH, 4);
|
||||
comma();
|
||||
Serial.print(Ki_ROLLPITCH, 7);
|
||||
SerPri(Ki_ROLLPITCH, 7);
|
||||
comma();
|
||||
Serial.print(Kp_YAW, 4);
|
||||
SerPri(Kp_YAW, 4);
|
||||
comma();
|
||||
Serial.println(Ki_YAW, 6);
|
||||
SerPriln(Ki_YAW, 6);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case 'J': // Send sensor offset
|
||||
Serial.print(gyro_offset_roll);
|
||||
SerPri(gyro_offset_roll);
|
||||
comma();
|
||||
Serial.print(gyro_offset_pitch);
|
||||
SerPri(gyro_offset_pitch);
|
||||
comma();
|
||||
Serial.print(gyro_offset_yaw);
|
||||
SerPri(gyro_offset_yaw);
|
||||
comma();
|
||||
Serial.print(acc_offset_x);
|
||||
SerPri(acc_offset_x);
|
||||
comma();
|
||||
Serial.print(acc_offset_y);
|
||||
SerPri(acc_offset_y);
|
||||
comma();
|
||||
Serial.println(acc_offset_z);
|
||||
SerPriln(acc_offset_z);
|
||||
AN_OFFSET[3] = acc_offset_x;
|
||||
AN_OFFSET[4] = acc_offset_y;
|
||||
AN_OFFSET[5] = acc_offset_z;
|
||||
|
|
@ -235,136 +235,136 @@ void sendSerialTelemetry() {
|
|||
queryType = 'X';
|
||||
break;
|
||||
case 'P': // Send rate control PID
|
||||
Serial.print(Kp_RateRoll, 3);
|
||||
SerPri(Kp_RateRoll, 3);
|
||||
comma();
|
||||
Serial.print(Ki_RateRoll, 3);
|
||||
SerPri(Ki_RateRoll, 3);
|
||||
comma();
|
||||
Serial.print(Kd_RateRoll, 3);
|
||||
SerPri(Kd_RateRoll, 3);
|
||||
comma();
|
||||
Serial.print(Kp_RatePitch, 3);
|
||||
SerPri(Kp_RatePitch, 3);
|
||||
comma();
|
||||
Serial.print(Ki_RatePitch, 3);
|
||||
SerPri(Ki_RatePitch, 3);
|
||||
comma();
|
||||
Serial.print(Kd_RatePitch, 3);
|
||||
SerPri(Kd_RatePitch, 3);
|
||||
comma();
|
||||
Serial.print(Kp_RateYaw, 3);
|
||||
SerPri(Kp_RateYaw, 3);
|
||||
comma();
|
||||
Serial.print(Ki_RateYaw, 3);
|
||||
SerPri(Ki_RateYaw, 3);
|
||||
comma();
|
||||
Serial.print(Kd_RateYaw, 3);
|
||||
SerPri(Kd_RateYaw, 3);
|
||||
comma();
|
||||
Serial.println(xmitFactor, 3);
|
||||
SerPriln(xmitFactor, 3);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case 'Q': // Send sensor data
|
||||
Serial.print(read_adc(0));
|
||||
SerPri(read_adc(0));
|
||||
comma();
|
||||
Serial.print(read_adc(1));
|
||||
SerPri(read_adc(1));
|
||||
comma();
|
||||
Serial.print(read_adc(2));
|
||||
SerPri(read_adc(2));
|
||||
comma();
|
||||
Serial.print(read_adc(4));
|
||||
SerPri(read_adc(4));
|
||||
comma();
|
||||
Serial.print(read_adc(3));
|
||||
SerPri(read_adc(3));
|
||||
comma();
|
||||
Serial.print(read_adc(5));
|
||||
SerPri(read_adc(5));
|
||||
comma();
|
||||
Serial.print(err_roll);
|
||||
SerPri(err_roll);
|
||||
comma();
|
||||
Serial.print(err_pitch);
|
||||
SerPri(err_pitch);
|
||||
comma();
|
||||
Serial.print(degrees(roll));
|
||||
SerPri(degrees(roll));
|
||||
comma();
|
||||
Serial.print(degrees(pitch));
|
||||
SerPri(degrees(pitch));
|
||||
comma();
|
||||
Serial.println(degrees(yaw));
|
||||
SerPriln(degrees(yaw));
|
||||
break;
|
||||
case 'R': // Send raw sensor data
|
||||
break;
|
||||
case 'S': // Send all flight data
|
||||
Serial.print(timer-timer_old);
|
||||
SerPri(timer-timer_old);
|
||||
comma();
|
||||
Serial.print(read_adc(0));
|
||||
SerPri(read_adc(0));
|
||||
comma();
|
||||
Serial.print(read_adc(1));
|
||||
SerPri(read_adc(1));
|
||||
comma();
|
||||
Serial.print(read_adc(2));
|
||||
SerPri(read_adc(2));
|
||||
comma();
|
||||
Serial.print(ch_throttle);
|
||||
SerPri(ch_throttle);
|
||||
comma();
|
||||
Serial.print(control_roll);
|
||||
SerPri(control_roll);
|
||||
comma();
|
||||
Serial.print(control_pitch);
|
||||
SerPri(control_pitch);
|
||||
comma();
|
||||
Serial.print(control_yaw);
|
||||
SerPri(control_yaw);
|
||||
comma();
|
||||
Serial.print(frontMotor); // Front Motor
|
||||
SerPri(frontMotor); // Front Motor
|
||||
comma();
|
||||
Serial.print(backMotor); // Back Motor
|
||||
SerPri(backMotor); // Back Motor
|
||||
comma();
|
||||
Serial.print(rightMotor); // Right Motor
|
||||
SerPri(rightMotor); // Right Motor
|
||||
comma();
|
||||
Serial.print(leftMotor); // Left Motor
|
||||
SerPri(leftMotor); // Left Motor
|
||||
comma();
|
||||
Serial.print(read_adc(4));
|
||||
SerPri(read_adc(4));
|
||||
comma();
|
||||
Serial.print(read_adc(3));
|
||||
SerPri(read_adc(3));
|
||||
comma();
|
||||
Serial.println(read_adc(5));
|
||||
SerPriln(read_adc(5));
|
||||
break;
|
||||
case 'T': // Spare
|
||||
break;
|
||||
case 'U': // Send receiver values
|
||||
Serial.print(ch_roll); // Aileron
|
||||
SerPri(ch_roll); // Aileron
|
||||
comma();
|
||||
Serial.print(ch_pitch); // Elevator
|
||||
SerPri(ch_pitch); // Elevator
|
||||
comma();
|
||||
Serial.print(ch_yaw); // Yaw
|
||||
SerPri(ch_yaw); // Yaw
|
||||
comma();
|
||||
Serial.print(ch_throttle); // Throttle
|
||||
SerPri(ch_throttle); // Throttle
|
||||
comma();
|
||||
Serial.print(ch_aux); // AUX1 (Mode)
|
||||
SerPri(ch_aux); // AUX1 (Mode)
|
||||
comma();
|
||||
Serial.print(ch_aux2); // AUX2
|
||||
SerPri(ch_aux2); // AUX2
|
||||
comma();
|
||||
Serial.print(roll_mid); // Roll MID value
|
||||
SerPri(roll_mid); // Roll MID value
|
||||
comma();
|
||||
Serial.print(pitch_mid); // Pitch MID value
|
||||
SerPri(pitch_mid); // Pitch MID value
|
||||
comma();
|
||||
Serial.println(yaw_mid); // Yaw MID Value
|
||||
SerPriln(yaw_mid); // Yaw MID Value
|
||||
break;
|
||||
case 'V': // Spare
|
||||
break;
|
||||
case 'X': // Stop sending messages
|
||||
break;
|
||||
case '!': // Send flight software version
|
||||
Serial.println(VER);
|
||||
SerPriln(VER);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case '2': // Send transmitter calibration values
|
||||
Serial.print(ch_roll_slope);
|
||||
SerPri(ch_roll_slope);
|
||||
comma();
|
||||
Serial.print(ch_roll_offset);
|
||||
SerPri(ch_roll_offset);
|
||||
comma();
|
||||
Serial.print(ch_pitch_slope);
|
||||
SerPri(ch_pitch_slope);
|
||||
comma();
|
||||
Serial.print(ch_pitch_offset);
|
||||
SerPri(ch_pitch_offset);
|
||||
comma();
|
||||
Serial.print(ch_yaw_slope);
|
||||
SerPri(ch_yaw_slope);
|
||||
comma();
|
||||
Serial.print(ch_yaw_offset);
|
||||
SerPri(ch_yaw_offset);
|
||||
comma();
|
||||
Serial.print(ch_throttle_slope);
|
||||
SerPri(ch_throttle_slope);
|
||||
comma();
|
||||
Serial.print(ch_throttle_offset);
|
||||
SerPri(ch_throttle_offset);
|
||||
comma();
|
||||
Serial.print(ch_aux_slope);
|
||||
SerPri(ch_aux_slope);
|
||||
comma();
|
||||
Serial.print(ch_aux_offset);
|
||||
SerPri(ch_aux_offset);
|
||||
comma();
|
||||
Serial.print(ch_aux2_slope);
|
||||
SerPri(ch_aux2_slope);
|
||||
comma();
|
||||
Serial.println(ch_aux2_offset);
|
||||
SerPriln(ch_aux2_offset);
|
||||
queryType = 'X';
|
||||
break;
|
||||
case '.': // Modify GPS settings
|
||||
|
|
@ -380,12 +380,12 @@ float readFloatSerial() {
|
|||
char data[128] = "";
|
||||
|
||||
do {
|
||||
if (Serial.available() == 0) {
|
||||
if (SerAva() == 0) {
|
||||
delay(10);
|
||||
timeout++;
|
||||
}
|
||||
else {
|
||||
data[index] = Serial.read();
|
||||
data[index] = SerRea();
|
||||
timeout = 0;
|
||||
index++;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue