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APO fixes.

This commit is contained in:
James Goppert 2011-11-29 13:59:44 -05:00
parent 1833f69961
commit 93550f4659
11 changed files with 42 additions and 42 deletions
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4
ArduBoat/BoatGeneric.h
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@ -10,7 +10,7 @@
#define BOATGENERIC_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_BOAT;
static const MAV_TYPE vehicle = UGV_SURFACE_SHIP;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
@ -31,7 +31,7 @@ static const uint8_t heartBeatTimeout = 3;
static const uint32_t debugBaud = 57600;
static const uint32_t telemBaud = 57600;
static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 57600;
static const uint32_t hilBaud = 115200;
// optional sensors
static const bool gpsEnabled = false;

8
ArduRover/CarStampede.h
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@ -10,9 +10,9 @@
#define CARSTAMPEDE_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_CAR;
//static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const MAV_TYPE vehicle = UGV_GROUND_ROVER;
static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
//static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
@ -32,7 +32,7 @@ static const uint8_t heartBeatTimeout = 3;
static const uint32_t debugBaud = 57600;
static const uint32_t telemBaud = 57600;
static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 57600;
static const uint32_t hilBaud = 115200;
// optional sensors
static const bool gpsEnabled = false;

4
ArduRover/TankGeneric.h
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@ -11,7 +11,7 @@
#define TANKGENERIC_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_TANK;
static const MAV_TYPE vehicle = UGV_GROUND_ROVER;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
@ -32,7 +32,7 @@ static const uint8_t heartBeatTimeout = 3;
static const uint32_t debugBaud = 57600;
static const uint32_t telemBaud = 57600;
static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 57600;
static const uint32_t hilBaud = 115200;
// optional sensors
static const bool gpsEnabled = false;

4
apo/PlaneEasystar.h
View File

@ -9,7 +9,7 @@
#define PLANEEASYSTAR_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_PLANE;
static const MAV_TYPE vehicle = MAV_TYPE_FIXED_WING;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
@ -30,7 +30,7 @@ static const uint8_t heartBeatTimeout = 3;
static const uint32_t debugBaud = 57600;
static const uint32_t telemBaud = 57600;
static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 57600;
static const uint32_t hilBaud = 115200;
// optional sensors
static const bool gpsEnabled = false;

2
apo/QuadArducopter.h
View File

@ -9,7 +9,7 @@
#define QUADARDUCOPTER_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const MAV_TYPE vehicle = MAV_QUADROTOR;
static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 0;

9
libraries/APO/APO_DefaultSetup.h
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@ -30,8 +30,7 @@ void setup() {
Serial.begin(debugBaud, 128, 128); // debug
// hardware abstraction layer
hal = new AP_HardwareAbstractionLayer(
halMode, board, vehicle, heartBeatTimeout);
hal = new AP_HardwareAbstractionLayer(halMode, board, vehicle);
// debug serial
hal->debug = &Serial;
@ -150,12 +149,12 @@ void setup() {
if (board==BOARD_ARDUPILOTMEGA_2)
{
Serial2.begin(telemBaud, 128, 128); // gcs
hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal, heartBeatTimeout);
}
else
{
Serial3.begin(telemBaud, 128, 128); // gcs
hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal, heartBeatTimeout);
}
/*
@ -166,7 +165,7 @@ void setup() {
Serial1.begin(hilBaud, 128, 128);
delay(1000);
Serial1.println("starting hil");
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal, heartBeatTimeout);
}
/*

2
libraries/APO/AP_Autopilot.h
View File

@ -16,8 +16,10 @@
* ArduPilotOne does not use any global
* variables.
*/
namespace apo {
// enumerations
// forward declarations
class AP_Navigator;
class AP_Guide;

14
libraries/APO/AP_CommLink.cpp
View File

@ -25,14 +25,16 @@ uint8_t MavlinkComm::_nChannels = 0;
uint8_t MavlinkComm::_paramNameLengthMax = 13;
AP_CommLink::AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal) :
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
const uint16_t heartBeatTimeout) :
_link(link), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal) {
_controller(controller), _hal(hal), _heartBeatTimeout(heartBeatTimeout), _lastHeartBeat(0) {
}
MavlinkComm::MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal) :
AP_CommLink(link, nav, guide, controller, hal),
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
const uint16_t heartBeatTimeout) :
AP_CommLink(link, nav, guide, controller, hal,heartBeatTimeout),
// options
_useRelativeAlt(true),
@ -83,7 +85,7 @@ void MavlinkComm::sendMessage(uint8_t id, uint32_t param) {
switch (id) {
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_msg_heartbeat_send(_channel, mavlink_system.type,
mavlink_msg_heartbeat_send(_channel, _hal->getVehicle(),
MAV_AUTOPILOT_ARDUPILOTMEGA);
break;
}
@ -311,7 +313,7 @@ void MavlinkComm::_handleMessage(mavlink_message_t * msg) {
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(msg, &packet);
_hal->lastHeartBeat = micros();
_lastHeartBeat = micros();
break;
}

14
libraries/APO/AP_CommLink.h
View File

@ -46,7 +46,7 @@ class AP_CommLink {
public:
AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal);
AP_Controller * controller, AP_HardwareAbstractionLayer * hal, const uint16_t heartBeatTimeout);
virtual void send() = 0;
virtual void receive() = 0;
virtual void sendMessage(uint8_t id, uint32_t param = 0) = 0;
@ -56,18 +56,28 @@ public:
virtual void sendParameters() = 0;
virtual void requestCmds() = 0;
/// check if heartbeat is lost
bool heartBeatLost() {
if (_heartBeatTimeout == 0)
return false;
else
return ((micros() - _lastHeartBeat) / 1e6) > _heartBeatTimeout;
}
protected:
FastSerial * _link;
AP_Navigator * _navigator;
AP_Guide * _guide;
AP_Controller * _controller;
AP_HardwareAbstractionLayer * _hal;
uint16_t _heartBeatTimeout; /// vehicle heartbeat timeout, s
uint32_t _lastHeartBeat; /// time of last heartbeat, s
};
class MavlinkComm: public AP_CommLink {
public:
MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal);
AP_Controller * controller, AP_HardwareAbstractionLayer * hal, uint16_t heartBeatTimeout);
virtual void send();
void sendMessage(uint8_t id, uint32_t param = 0);

2
libraries/APO/AP_Controller.cpp
View File

@ -65,7 +65,7 @@ void AP_Controller::update(const float dt) {
// handle emergencies
//
// check for heartbeat from gcs, if not found go to failsafe
if (_hal->heartBeatLost()) {
if (_hal->gcs->heartBeatLost()) {
setMode(MAV_MODE_FAILSAFE);
_hal->gcs->sendText(SEVERITY_HIGH, PSTR("configure gcs to send heartbeat"));

21
libraries/APO/AP_HardwareAbstractionLayer.h
View File

@ -36,9 +36,6 @@ enum halMode_t {
enum board_t {
BOARD_ARDUPILOTMEGA_1280, BOARD_ARDUPILOTMEGA_2560, BOARD_ARDUPILOTMEGA_2
};
enum vehicle_t {
VEHICLE_CAR, VEHICLE_QUAD, VEHICLE_PLANE, VEHICLE_BOAT, VEHICLE_TANK
};
class AP_HardwareAbstractionLayer {
@ -47,12 +44,10 @@ public:
// default ctors on pointers called on pointers here, this
// allows NULL to be used as a boolean for if the device was
// initialized
AP_HardwareAbstractionLayer(halMode_t mode, board_t board,
vehicle_t vehicle, uint8_t heartBeatTimeout) :
AP_HardwareAbstractionLayer(halMode_t mode, board_t board, MAV_TYPE vehicle) :
adc(), gps(), baro(), compass(), rangeFinders(), imu(), batteryMonitor(),
radio(), rc(), gcs(),
hil(), debug(), load(), lastHeartBeat(),
_heartBeatTimeout(heartBeatTimeout), _mode(mode),
hil(), debug(), load(), _mode(mode),
_board(board), _vehicle(vehicle) {
/*
@ -132,7 +127,6 @@ public:
* data
*/
uint8_t load;
uint32_t lastHeartBeat;
/**
* settings
@ -151,23 +145,16 @@ public:
board_t getBoard() {
return _board;
}
vehicle_t getVehicle() {
MAV_TYPE getVehicle() {
return _vehicle;
}
bool heartBeatLost() {
if (_heartBeatTimeout == 0)
return false;
else
return ((micros() - lastHeartBeat) / 1e6) > _heartBeatTimeout;
}
private:
// enumerations
uint8_t _heartBeatTimeout;
halMode_t _mode;
board_t _board;
vehicle_t _vehicle;
MAV_TYPE _vehicle;
};
} // namespace apo