From 23c0bb9814b2f9d39a0215be4bf9bcacb6e3d165 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 13:09:04 -0700 Subject: [PATCH 1/8] Updates to guided mode from Michael O. removed or commented unused static vars --- ArduCopter/ArduCopter.pde | 17 +++-- ArduCopter/control_modes.pde | 2 + ArduCopter/heli.pde | 49 ++++++++----- ArduCopter/navigation.pde | 19 +++-- ArduCopter/radio.pde | 8 --- ArduCopter/read_commands.pde | 112 ----------------------------- ArduCopter/system.pde | 11 +-- ArduCopter/test.pde | 2 +- libraries/Desktop/Desktop.mk | 18 ++--- libraries/Desktop/Makefile.desktop | 5 +- 10 files changed, 72 insertions(+), 171 deletions(-) delete mode 100644 ArduCopter/read_commands.pde diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index a1e3857942..9f447f9170 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1,6 +1,6 @@ /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- -#define THISFIRMWARE "ArduCopter V2.0.48 Beta" +#define THISFIRMWARE "ArduCopter V2.0.49 Beta" /* ArduCopter Version 2.0 Beta Authors: Jason Short @@ -425,13 +425,13 @@ static int event_repeat; // how many times to fire : 0 = forever, 1 = do static int event_value; // per command value, such as PWM for servos static int event_undo_value; // the value used to undo commands //static byte repeat_forever; -static byte undo_event; // counter for timing the undo +//static byte undo_event; // counter for timing the undo // delay command // -------------- static long condition_value; // used in condition commands (eg delay, change alt, etc.) static long condition_start; -static int condition_rate; +//static int condition_rate; // land command // ------------ @@ -445,12 +445,10 @@ static struct Location prev_WP; // last waypoint static struct Location current_loc; // current location static struct Location next_WP; // next waypoint static struct Location target_WP; // where do we want to you towards? -static struct Location simple_WP; // static struct Location next_command; // command preloaded static struct Location guided_WP; // guided mode waypoint static long target_altitude; // used for static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location -static boolean new_location; // flag to tell us if location has been updated // IMU variables // ------------- @@ -1047,9 +1045,14 @@ static void update_navigation() case GUIDED: wp_control = WP_MODE; // check if we are close to point > loiter - verify_nav_wp(); + wp_verify_byte = 0; + verify_nav_wp(); - update_auto_yaw(); + if (wp_control == WP_MODE) { + update_auto_yaw(); + } else { + set_mode(LOITER); + } update_nav_wp(); break; diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde index ba03570201..d7d11ffa54 100644 --- a/ArduCopter/control_modes.pde +++ b/ArduCopter/control_modes.pde @@ -42,7 +42,9 @@ static void reset_control_switch() read_control_switch(); } +#if CH7_OPTION == CH7_SET_HOVER static boolean trim_flag; +#endif // read at 10 hz // set this to your trainer switch diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde index fea259b164..873212e119 100644 --- a/ArduCopter/heli.pde +++ b/ArduCopter/heli.pde @@ -20,30 +20,30 @@ static void heli_init_swash() int i; int tilt_max[CH_3+1]; int total_tilt_max = 0; - + // swash servo initialisation g.heli_servo_1.set_range(0,1000); g.heli_servo_2.set_range(0,1000); g.heli_servo_3.set_range(0,1000); g.heli_servo_4.set_angle(4500); - + // pitch factors heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos)); heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos)); heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos)); - + // roll factors heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90)); heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90)); heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90)); - + // collective min / max total_tilt_max = 0; for( i=CH_1; i<=CH_3; i++ ) { tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100; total_tilt_max = max(total_tilt_max,tilt_max[i]); } - + // servo min/max values - or should I use set_range? g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1]; g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1]; @@ -51,11 +51,11 @@ static void heli_init_swash() g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2]; g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3]; g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3]; - + // reset the servo averaging for( i=0; i<=3; i++ ) heli_servo_out[i] = 0; - + // double check heli_servo_averaging is reasonable if( g.heli_servo_averaging < 0 || g.heli_servo_averaging < 0 > 5 ) { g.heli_servo_averaging = 0; @@ -87,36 +87,36 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500); if( g.heli_servo_1.get_reverse() ) g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out; - + g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500); if( g.heli_servo_2.get_reverse() ) g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out; - + g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500); if( g.heli_servo_3.get_reverse() ) g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out; - + if( g.heli_servo_4.get_reverse() ) g.heli_servo_4.servo_out = -yaw_out; // should probably just use rc_4 directly like we do for a tricopter else g.heli_servo_4.servo_out = yaw_out; - + // use servo_out to calculate pwm_out and radio_out g.heli_servo_1.calc_pwm(); g.heli_servo_2.calc_pwm(); g.heli_servo_3.calc_pwm(); - g.heli_servo_4.calc_pwm(); - + g.heli_servo_4.calc_pwm(); + // add the servo values to the averaging heli_servo_out[0] += g.heli_servo_1.servo_out; heli_servo_out[1] += g.heli_servo_2.servo_out; heli_servo_out[2] += g.heli_servo_3.servo_out; heli_servo_out[3] += g.heli_servo_4.radio_out; heli_servo_out_count++; - + // is it time to move the servos? if( heli_servo_out_count >= g.heli_servo_averaging ) { - + // average the values if necessary if( g.heli_servo_averaging >= 2 ) { heli_servo_out[0] /= g.heli_servo_averaging; @@ -124,22 +124,24 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o heli_servo_out[2] /= g.heli_servo_averaging; heli_servo_out[3] /= g.heli_servo_averaging; } - + // actually move the servos APM_RC.OutputCh(CH_1, heli_servo_out[0]); APM_RC.OutputCh(CH_2, heli_servo_out[1]); APM_RC.OutputCh(CH_3, heli_servo_out[2]); APM_RC.OutputCh(CH_4, heli_servo_out[3]); - + // output gyro value if( g.heli_ext_gyro_enabled ) { APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain); } - // InstantPWM - force message to the servos + #if INSTANT_PWM == 1 + // InstantPWM APM_RC.Force_Out0_Out1(); APM_RC.Force_Out2_Out3(); - + #endif + // reset the averaging heli_servo_out_count = 0; heli_servo_out[0] = 0; @@ -149,6 +151,15 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o } } +static void init_motors_out() +{ + #if INSTANT_PWM == 0 + ICR5 = 5000; // 400 hz output CH 1, 2, 9 + ICR1 = 5000; // 400 hz output CH 3, 4, 10 + ICR3 = 40000; // 50 hz output CH 7, 8, 11 + #endif +} + // these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better static void output_motors_armed() { diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 144b498243..b38be7d787 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -95,9 +95,16 @@ static void calc_loiter(int x_error, int y_error) // nav_roll, nav_pitch static void calc_loiter_pitch_roll() { + + float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0); + float _cos_yaw_x = cos(temp); + float _sin_yaw_y = sin(temp); + + Serial.printf("ys %ld, cyx %1.4f, _cyx %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x); + // rotate the vector - nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x; - nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y; + nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x; + nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y; // flip pitch because forward is negative nav_pitch = -nav_pitch; @@ -232,7 +239,7 @@ static void reset_crosstrack() crosstrack_bearing = get_bearing(¤t_loc, &next_WP); // Used for track following } */ -static long get_altitude_above_home(void) +/*static long get_altitude_above_home(void) { // This is the altitude above the home location // The GPS gives us altitude at Sea Level @@ -240,7 +247,7 @@ static long get_altitude_above_home(void) // ------------------------------------------------------------- return current_loc.alt - home.alt; } - +*/ // distance is returned in meters static long get_distance(struct Location *loc1, struct Location *loc2) { @@ -252,12 +259,12 @@ static long get_distance(struct Location *loc1, struct Location *loc2) float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown; return sqrt(sq(dlat) + sq(dlong)) * .01113195; } - +/* static long get_alt_distance(struct Location *loc1, struct Location *loc2) { return abs(loc1->alt - loc2->alt); } - +*/ static long get_bearing(struct Location *loc1, struct Location *loc2) { long off_x = loc2->lng - loc1->lng; diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde index 34f5f7ddc5..faca5889c5 100644 --- a/ArduCopter/radio.pde +++ b/ArduCopter/radio.pde @@ -184,11 +184,3 @@ static void trim_radio() g.rc_4.save_eeprom(); } -static void trim_yaw() -{ - for (byte i = 0; i < 30; i++){ - read_radio(); - } - g.rc_4.trim(); // yaw -} - diff --git a/ArduCopter/read_commands.pde b/ArduCopter/read_commands.pde deleted file mode 100644 index baad2778a2..0000000000 --- a/ArduCopter/read_commands.pde +++ /dev/null @@ -1,112 +0,0 @@ -/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- -#if 0 - -#define INPUT_BUF_LEN 40 -char input_buffer[INPUT_BUF_LEN]; - -static void readCommands(void) -{ - static byte header[2]; - const byte read_GS_header[] = {0x21, 0x21}; //!! Used to verify the payload msg header - - if(Serial.available()){ - //Serial.println("Serial.available"); - byte bufferPointer; - - header[0] = Serial.read(); - header[1] = Serial.read(); - - if((header[0] == read_GS_header[0]) && (header[1] == read_GS_header[1])){ - - // Block until we read full command - // -------------------------------- - delay(20); - byte incoming_val = 0; - - // Ground Station communication - // ---------------------------- - while(Serial.available() > 0) - { - incoming_val = Serial.read(); - - if (incoming_val != 13 && incoming_val != 10 ) { - input_buffer[bufferPointer++] = incoming_val; - } - - if(bufferPointer >= INPUT_BUF_LEN){ - Serial.println("Big buffer overrun"); - bufferPointer = 0; - input_buffer[0] = 1; - Serial.flush(); - memset(input_buffer,0,sizeof(input_buffer)); - return; - } - } - parseCommand(input_buffer); - - // clear buffer of old data - // ------------------------ - memset(input_buffer,0,sizeof(input_buffer)); - - }else{ - Serial.flush(); - } - } -} - -// Commands can be sent as !!a:100|b:200|c:1 -// ----------------------------------------- -static void parseCommand(char *buffer) -{ - Serial.println("got cmd "); - Serial.println(buffer); - char *token, *saveptr1, *saveptr2; - - for (int j = 1;; j++, buffer = NULL) { - token = strtok_r(buffer, "|", &saveptr1); - if (token == NULL) break; - - char * cmd = strtok_r(token, ":", &saveptr2); - long value = strtol(strtok_r (NULL,":", &saveptr2), NULL,0); - - ///* - Serial.print("cmd "); - Serial.print(cmd[0]); - Serial.print("\tval "); - Serial.println(value); - Serial.println(""); - //*/ - ///* - switch(cmd[0]){ - case 'P': - g.pi_stabilize_roll.kP((float)value / 1000); - g.pi_stabilize_pitch.kP((float)value / 1000); - g.pi_stabilize_pitch.save_gains(); - break; - - case 'I': - g.pi_stabilize_roll.kI((float)value / 1000); - g.pi_stabilize_pitch.kI((float)value / 1000); - g.pi_stabilize_pitch.save_gains(); - break; - - case 'D': - //g.pi_stabilize_roll.kD((float)value / 1000); - //g.pi_stabilize_pitch.kD((float)value / 1000); - break; - - case 'X': - g.pi_stabilize_roll.imax(value * 100); - g.pi_stabilize_pitch.imax(value * 100); - g.pi_stabilize_pitch.save_gains(); - break; - - case 'R': - //g.stabilize_dampener.set_and_save((float)value / 1000); - break; - } - //*/ - } -} - -#endif diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index 460b3302b2..c6f7e397d5 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -83,7 +83,6 @@ static void init_ardupilot() // report_version(); - // setup IO pins pinMode(C_LED_PIN, OUTPUT); // GPS status LED pinMode(A_LED_PIN, OUTPUT); // GPS status LED @@ -143,6 +142,7 @@ static void init_ardupilot() } }else{ + // Load all auto-loaded EEPROM variables AP_Var::load_all(); } @@ -157,7 +157,6 @@ static void init_ardupilot() // Serial3.begin(map_baudrate(g.serial3_baud,SERIAL3_BAUD), 128, 128); - #ifdef RADIO_OVERRIDE_DEFAULTS { int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS; @@ -216,11 +215,7 @@ static void init_ardupilot() // if (check_startup_for_CLI()) { digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED - Serial.printf_P(PSTR("\n" - "Entering interactive setup mode...\n" - "\n" - "Type 'help' to list commands, 'exit' to leave a submenu.\n" - "Visit the 'setup' menu for first-time configuration.\n\n")); + Serial.printf_P(PSTR("\nCLI:\n\n")); for (;;) { //Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n")); main_menu.run(); @@ -544,6 +539,6 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud) case 111: return 111100; case 115: return 115200; } - Serial.println_P(PSTR("Invalid SERIAL3_BAUD")); + //Serial.println_P(PSTR("Invalid SERIAL3_BAUD")); return default_baud; } diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 7b2884a9f7..7e8fed1d60 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -29,7 +29,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); #ifdef OPTFLOW_ENABLED static int8_t test_optflow(uint8_t argc, const Menu::arg *argv); #endif -static int8_t test_xbee(uint8_t argc, const Menu::arg *argv); +//static int8_t test_xbee(uint8_t argc, const Menu::arg *argv); static int8_t test_eedump(uint8_t argc, const Menu::arg *argv); static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv); //static int8_t test_mission(uint8_t argc, const Menu::arg *argv); diff --git a/libraries/Desktop/Desktop.mk b/libraries/Desktop/Desktop.mk index e04a8e86f4..63ac2a7284 100644 --- a/libraries/Desktop/Desktop.mk +++ b/libraries/Desktop/Desktop.mk @@ -1,7 +1,7 @@ # # Copyright (c) 2010 Andrew Tridgell. All rights reserved. # based on Arduino.mk, Copyright (c) 2010 Michael Smith -# +# # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions # are met: @@ -10,7 +10,7 @@ # 2. Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. -# +# # THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -109,7 +109,7 @@ DEPFLAGS = -MD -MT $@ # XXX warning options TBD CXXOPTS = -fno-exceptions -D__AVR_ATmega2560__ -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1 COPTS = -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1 -ASOPTS = -assembler-with-cpp +ASOPTS = -assembler-with-cpp CXXFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(CXXOPTS) CFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(COPTS) @@ -171,12 +171,12 @@ else endif # these are library objects we don't want in the desktop build (maybe we'll add them later) -NODESKTOP := FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp +NODESKTOP := FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp RC_Channel/RC_Channel_aux.cpp # # Find sketchbook libraries referenced by the sketch. # -# Include paths for sketch libraries +# Include paths for sketch libraries # SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS))) SKETCHLIBNAMES := $(notdir $(SKETCHLIBS)) @@ -196,10 +196,10 @@ ARDUINOLIBSRCDIRS := $(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS)) ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS)))) ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS)))) ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS)) -ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES) +ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES) # Library object files -LIBOBJS := $(SKETCHLIBOBJS) +LIBOBJS := $(SKETCHLIBOBJS) ################################################################################ # Built products @@ -212,7 +212,7 @@ SKETCHELF = $(BUILDROOT)/$(SKETCH).elf SKETCHMAP = $(BUILDROOT)/$(SKETCH).map # The core library -CORELIB = +CORELIB = # All of the objects that may be built ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS) @@ -338,7 +338,7 @@ $(CORELIB): $(CORELIBOBJS) # This process strives to be as faithful to the Arduino implementation as # possible. Conceptually, the process is as follows: # -# * All of the .pde files are concatenated, starting with the file named +# * All of the .pde files are concatenated, starting with the file named # for the sketch and followed by the others in alphabetical order. # * An insertion point is created in the concatenated file at # the first statement that isn't a preprocessor directive or comment. diff --git a/libraries/Desktop/Makefile.desktop b/libraries/Desktop/Makefile.desktop index e8b390726b..8c82eb3fb9 100644 --- a/libraries/Desktop/Makefile.desktop +++ b/libraries/Desktop/Makefile.desktop @@ -3,7 +3,7 @@ DESKTOP=$(PWD)/../libraries/Desktop include ../libraries/Desktop/Desktop.mk default: - make -f $(DESKTOP)/Makefile.desktop + make -f $(DESKTOP)/Makefile.desktop nologging: make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DLOGGING_ENABLED=DISABLED" @@ -19,3 +19,6 @@ hilnocli: heli: make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME" + +helihil: + make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED" \ No newline at end of file From c3b93d70df644be82a7dbc7d07e0dc08874f7ddc Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 15:29:33 -0700 Subject: [PATCH 2/8] Added Andrew's user hooks. --- ArduCopter/APM_Config.h | 19 +++++++++++++++++++ ArduCopter/ArduCopter.pde | 31 +++++++++++++++++++++++++++++++ ArduCopter/UserCode.pde | 15 +++++++++++++++ ArduCopter/UserVariables.h | 13 +++++++++++++ ArduCopter/navigation.pde | 11 ++--------- 5 files changed, 80 insertions(+), 9 deletions(-) create mode 100644 ArduCopter/UserCode.pde create mode 100644 ArduCopter/UserVariables.h diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 34c6017c03..328afef9b3 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -52,3 +52,22 @@ //#define RATE_ROLL_I 0.18 //#define RATE_PITCH_I 0.18 + + + + +// agmatthews USERHOOKS +// the choice of function names is up to the user and does not have to match these +// uncomment these hooks and ensure there is a matching function un your "UserCode.pde" file +//#define USERHOOK_FASTLOOP userhook_FastLoop(); +#define USERHOOK_50HZLOOP userhook_50Hz(); +//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); +//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); +//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); +#define USERHOOK_INIT userhook_init(); + +// the choice of includeed variables file (*.h) is up to the user and does not have to match this one +// Ensure the defined file exists and is in the arducopter directory +#define USERHOOK_VARIABLES "UserVariables.h" + + diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 9f447f9170..fb017f079d 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -210,6 +210,14 @@ ModeFilter sonar_mode_filter; #error Unrecognised SONAR_TYPE setting. #endif +// agmatthews USERHOOKS +//////////////////////////////////////////////////////////////////////////////// +// User variables +//////////////////////////////////////////////////////////////////////////////// +#ifdef USERHOOK_VARIABLES +#include USERHOOK_VARIABLES +#endif + //////////////////////////////////////////////////////////////////////////////// // Global variables //////////////////////////////////////////////////////////////////////////////// @@ -565,6 +573,12 @@ static void fast_loop() //if(motor_armed) //Log_Write_Attitude(); + +// agmatthews - USERHOOKS +#ifdef USERHOOK_FASTLOOP + USERHOOK_FASTLOOP +#endif + } static void medium_loop() @@ -719,6 +733,10 @@ static void medium_loop() medium_loopCounter = 0; break; } +// agmatthews - USERHOOKS +#ifdef USERHOOK_MEDIUMLOOP + USERHOOK_MEDIUMLOOP +#endif } @@ -735,6 +753,10 @@ static void fifty_hz_loop() if(g.sonar_enabled){ sonar_alt = sonar.read(); } + // agmatthews - USERHOOKS + #ifdef USERHOOK_50HZLOOP + USERHOOK_50HZLOOP + #endif #if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME // HIL for a copter needs very fast update of the servo values @@ -831,6 +853,11 @@ static void slow_loop() break; } + // agmatthews - USERHOOKS + #ifdef USERHOOK_SLOWLOOP + USERHOOK_SLOWLOOP + #endif + } // 1Hz loop @@ -840,6 +867,10 @@ static void super_slow_loop() Log_Write_Current(); gcs_send_message(MSG_HEARTBEAT); + // agmatthews - USERHOOKS + #ifdef USERHOOK_SUPERSLOWLOOP + USERHOOK_SUPERSLOWLOOP + #endif } static void update_GPS(void) diff --git a/ArduCopter/UserCode.pde b/ArduCopter/UserCode.pde new file mode 100644 index 0000000000..88c72429e9 --- /dev/null +++ b/ArduCopter/UserCode.pde @@ -0,0 +1,15 @@ +// agmatthews USERHOOKS + +void userhook_init() +{ + // put your initialisation code here + + +} + +void userhook_50Hz() +{ + // put your 50Hz code here + + +} diff --git a/ArduCopter/UserVariables.h b/ArduCopter/UserVariables.h new file mode 100644 index 0000000000..8c38cba984 --- /dev/null +++ b/ArduCopter/UserVariables.h @@ -0,0 +1,13 @@ +// agmatthews USERHOOKS +// user defined variables + +// example variables used in Wii camera testing - replace with your own variables +#if WII_CAMERA == 1 +WiiCamera ircam; +int WiiRange=0; +int WiiRotation=0; +int WiiDisplacementX=0; +int WiiDisplacementY=0; +#endif + + diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index b38be7d787..0863cbe784 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -95,16 +95,9 @@ static void calc_loiter(int x_error, int y_error) // nav_roll, nav_pitch static void calc_loiter_pitch_roll() { - - float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0); - float _cos_yaw_x = cos(temp); - float _sin_yaw_y = sin(temp); - - Serial.printf("ys %ld, cyx %1.4f, _cyx %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x); - // rotate the vector - nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x; - nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y; + nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x; + nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y; // flip pitch because forward is negative nav_pitch = -nav_pitch; From 3c51ce6a5f79378edebbe75fc06a71b259633216 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 15:35:18 -0700 Subject: [PATCH 3/8] Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s --- ArduCopter/config.h | 2 +- ArduCopter/navigation.pde | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 34daa5dff4..505a70aa2d 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -451,7 +451,7 @@ #endif #ifndef WAYPOINT_SPEED_MAX -# define WAYPOINT_SPEED_MAX 300 // for 6m/s error = 13mph +# define WAYPOINT_SPEED_MAX 400 // for 6m/s error = 13mph #endif diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 0863cbe784..fa903bad11 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -115,7 +115,12 @@ static void calc_nav_rate(int max_speed) // limit the ramp up of the speed if(waypoint_speed_gov < max_speed){ - waypoint_speed_gov += 10; + + waypoint_speed_gov += (int)(150.0 * dTnav); // increase at 1.5/ms + + // go at least 1m/s + max_speed = max(100, waypoint_speed_gov); + // limit with governer max_speed = min(max_speed, waypoint_speed_gov); } From a84d0cb406c90509b2fc3151127e4cc1e546d8c5 Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Sun, 16 Oct 2011 06:58:03 +0800 Subject: [PATCH 4/8] ac quick redo fix --- ArduCopter/navigation.pde | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 0863cbe784..fb16c1b771 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -95,9 +95,16 @@ static void calc_loiter(int x_error, int y_error) // nav_roll, nav_pitch static void calc_loiter_pitch_roll() { + + float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0); + float _cos_yaw_x = cos(temp); + float _sin_yaw_y = sin(temp); + +// Serial.printf("ys %ld, cyx %1.4f, _cyx %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x); + // rotate the vector - nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x; - nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y; + nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x; + nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y; // flip pitch because forward is negative nav_pitch = -nav_pitch; From 9fd89a9f4d341997629b046ddfba0c0d158e2f97 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 16:34:57 -0700 Subject: [PATCH 5/8] Added gains to adjust travel of camera. --- ArduCopter/Camera.pde | 11 +++++++---- ArduCopter/Parameters.h | 15 ++++++++++++--- ArduCopter/config.h | 12 ++++++++++-- ArduCopter/control_modes.pde | 17 +++++++++-------- ArduCopter/setup.pde | 6 +++--- 5 files changed, 41 insertions(+), 20 deletions(-) diff --git a/ArduCopter/Camera.pde b/ArduCopter/Camera.pde index e204d747fb..3a359d617b 100644 --- a/ArduCopter/Camera.pde +++ b/ArduCopter/Camera.pde @@ -20,8 +20,11 @@ camera_stabilization() // allow control mixing g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor); + + g.rc_camera_pitch.servo_out = (float)g.rc_camera_pitch.servo_out * g.camera_pitch_gain; + // limit - g.rc_camera_pitch.servo_out = constrain(g.rc_camera_pitch.servo_out, -4500, 4500); + //g.rc_camera_pitch.servo_out = constrain(g.rc_camera_pitch.servo_out, -4500, 4500); // dont allow control mixing /* @@ -38,10 +41,10 @@ camera_stabilization() */ // dont allow control mixing + g.rc_camera_roll.servo_out = (float)g.rc_camera_roll.servo_out * g.camera_roll_gain; + // limit - g.rc_camera_roll.servo_out = constrain(-dcm.roll_sensor, -4500, 4500); - - + //g.rc_camera_roll.servo_out = constrain(-dcm.roll_sensor, -4500, 4500); // Output // ------ diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 8b1ce7fff3..85ee0bda43 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -17,7 +17,7 @@ public: // The increment will prevent old parameters from being used incorrectly // by newer code. // - static const uint16_t k_format_version = 110; + static const uint16_t k_format_version = 111; // The parameter software_type is set up solely for ground station use // and identifies the software type (eg ArduPilotMega versus ArduCopterMega) @@ -128,6 +128,8 @@ public: k_param_throttle_cruise, k_param_esc_calibrate, k_param_radio_tuning, + k_param_camera_pitch_gain, + k_param_camera_roll_gain, // // 210: flight modes @@ -262,6 +264,8 @@ public: RC_Channel rc_8; RC_Channel rc_camera_pitch; RC_Channel rc_camera_roll; + AP_Float camera_pitch_gain; + AP_Float camera_roll_gain; // PI/D controllers APM_PI pi_rate_roll; @@ -364,8 +368,13 @@ public: rc_6 (k_param_rc_6, PSTR("RC6_")), rc_7 (k_param_rc_7, PSTR("RC7_")), rc_8 (k_param_rc_8, PSTR("RC8_")), - rc_camera_pitch (k_param_rc_9, PSTR("RC_CP_")), - rc_camera_roll (k_param_rc_10, PSTR("RC_CR_")), + rc_camera_pitch (k_param_rc_9, PSTR("CAM_P_")), + rc_camera_roll (k_param_rc_10, PSTR("CAM_R_")), + + // variable default key name + //------------------------------------------------------------------------------------------------------------------- + camera_pitch_gain (CAM_PITCH_GAIN, k_param_frame_orientation, PSTR("CAM_P_G")), + camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")), // PI controller group key name initial P initial I initial imax //-------------------------------------------------------------------------------------------------------------------------------------------------------------------- diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 505a70aa2d..692644cf5f 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -179,6 +179,16 @@ #endif +////////////////////////////////////////////////////////////////////////////// +// CAMERA GAINS +#ifndef CAM_ROLL_GAIN +# define CAM_ROLL_GAIN 1.0 +#endif +#ifndef CAM_PITCH_GAIN +# define CAM_PITCH_GAIN 1.0 +#endif + + ////////////////////////////////////////////////////////////////////////////// // OPTICAL_FLOW #if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included @@ -458,8 +468,6 @@ ////////////////////////////////////////////////////////////////////////////// // Throttle control gains // - - #ifndef THROTTLE_CRUISE # define THROTTLE_CRUISE 350 // #endif diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde index d7d11ffa54..852178c43f 100644 --- a/ArduCopter/control_modes.pde +++ b/ArduCopter/control_modes.pde @@ -50,17 +50,16 @@ static boolean trim_flag; // set this to your trainer switch static void read_trim_switch() { -#if CH7_OPTION == CH7_FLIP + #if CH7_OPTION == CH7_FLIP if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){ do_flip = true; } -#elif CH7_OPTION == CH7_SIMPLE_MODE - + #elif CH7_OPTION == CH7_SIMPLE_MODE do_simple = (g.rc_7.control_in > 800); //Serial.println(g.rc_7.control_in, DEC); -#elif CH7_OPTION == CH7_RTL + #elif CH7_OPTION == CH7_RTL static bool ch7_rtl_flag = false; if (ch7_rtl_flag == false && g.rc_7.control_in > 800){ @@ -75,7 +74,7 @@ static void read_trim_switch() } } -#elif CH7_OPTION == CH7_SET_HOVER + #elif CH7_OPTION == CH7_SET_HOVER // switch is engaged if (g.rc_7.control_in > 800){ trim_flag = true; @@ -92,17 +91,19 @@ static void read_trim_switch() trim_flag = false; } } -#elif CH7_OPTION == CH7_ADC_FILTER + + #elif CH7_OPTION == CH7_ADC_FILTER if (g.rc_7.control_in > 800){ adc.filter_result = true; }else{ adc.filter_result = false; } -#elif CH7_OPTION == CH7_AUTO_TRIM + + #elif CH7_OPTION == CH7_AUTO_TRIM if (g.rc_7.control_in > 800){ auto_level_counter = 10; } -#endif + #endif } diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde index c425ba7f08..db5c615eb1 100644 --- a/ArduCopter/setup.pde +++ b/ArduCopter/setup.pde @@ -132,7 +132,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv) return(-1); AP_Var::erase_all(); - Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM")); + Serial.printf_P(PSTR("\nReboot APM")); delay(1000); //default_gains(); @@ -936,7 +936,7 @@ void report_optflow() static void report_heli() { int servo_rate; - + Serial.printf_P(PSTR("Heli\n")); print_divider(); @@ -950,7 +950,7 @@ static void report_heli() Serial.printf_P(PSTR("roll max: \t%d\n"), (int)g.heli_roll_max); Serial.printf_P(PSTR("pitch max: \t%d\n"), (int)g.heli_pitch_max); Serial.printf_P(PSTR("coll min:\t%d\t mid:%d\t max:%d\n"),(int)g.heli_coll_min, (int)g.heli_coll_mid, (int)g.heli_coll_max); - + // calculate and print servo rate if( g.heli_servo_averaging <= 1 ) { servo_rate = 250; From 82bbc68198dc2cd8f539d44dc14f65ed08e324f5 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 18:34:23 -0700 Subject: [PATCH 6/8] typoo in params for camera roll gain. fixed. --- ArduCopter/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 85ee0bda43..e24a43ed47 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -373,7 +373,7 @@ public: // variable default key name //------------------------------------------------------------------------------------------------------------------- - camera_pitch_gain (CAM_PITCH_GAIN, k_param_frame_orientation, PSTR("CAM_P_G")), + camera_pitch_gain (CAM_PITCH_GAIN, k_param_camera_pitch_gain, PSTR("CAM_P_G")), camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")), // PI controller group key name initial P initial I initial imax From 4ad9f2db7cda1bb1dd0690371b2047cabe5bca2d Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Sun, 16 Oct 2011 10:27:52 +0800 Subject: [PATCH 7/8] firmware build --- .../Firmware/AC2-HELHIL-1280.build.log | 190 +++++ .../Firmware/AC2-HELHIL-1280.size.txt | 674 ++++++++++++++++++ .../Firmware/AC2-HELHIL-2560.build.log | 190 +++++ .../Firmware/AC2-HELHIL-2560.size.txt | 674 ++++++++++++++++++ .../Firmware/AC2-Heli-1280.build.log | 115 +-- .../Firmware/AC2-Heli-1280.size.txt | 271 +++---- .../Firmware/AC2-Heli-2560.build.log | 115 +-- .../Firmware/AC2-Heli-2560.size.txt | 271 +++---- .../Firmware/firmware2.xml | 19 +- Tools/ArdupilotMegaPlanner/Firmware/git.log | 27 +- 10 files changed, 2126 insertions(+), 420 deletions(-) create mode 100644 Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log create mode 100644 Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt create mode 100644 Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.build.log create mode 100644 Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.size.txt diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log new file mode 100644 index 0000000000..8c61efe92c --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log @@ -0,0 +1,190 @@ +%% ArduCopter.cpp +%% ArduCopter.o +In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77: +/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()': +/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)': +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch +/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()': +/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning +/root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)': +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function +autogenerated: At global scope: +autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined +autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined +autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined +autogenerated:105: warning: 'void Log_Write_Raw()' declared 'static' but never defined +autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined +autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined +autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined +autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used +autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used +autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used +autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined +autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined +autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined +autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used +autogenerated:246: warning: 'void ReadSCP1000()' declared 'static' but never defined +autogenerated:247: warning: 'void init_barometer()' declared 'static' but never defined +autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined +autogenerated:249: warning: 'long int read_barometer()' declared 'static' but never defined +autogenerated:250: warning: 'void read_airspeed()' declared 'static' but never defined +autogenerated:251: warning: 'void zero_airspeed()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used +autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined +autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:362: warning: 'abs_pressure' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:363: warning: 'ground_pressure' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:364: warning: 'ground_temperature' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:369: warning: 'baro_alt' defined but not used +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used +/root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined +%% libraries/APM_BMP085/APM_BMP085.o +%% libraries/APM_BMP085/APM_BMP085_hil.o +%% libraries/APM_PI/APM_PI.o +%% libraries/APM_RC/APM_RC.o +%% libraries/AP_ADC/AP_ADC_ADS7844.o +%% libraries/AP_ADC/AP_ADC.o +%% libraries/AP_ADC/AP_ADC_HIL.o +%% libraries/AP_Common/AP_Common.o +%% libraries/AP_Common/AP_Loop.o +%% libraries/AP_Common/AP_MetaClass.o +%% libraries/AP_Common/AP_Var.o +%% libraries/AP_Common/AP_Var_menufuncs.o +%% libraries/AP_Common/c++.o +%% libraries/AP_Common/menu.o +%% libraries/AP_Compass/AP_Compass_HIL.o +%% libraries/AP_Compass/AP_Compass_HMC5843.o +%% libraries/AP_Compass/Compass.o +%% libraries/AP_DCM/AP_DCM.o +%% libraries/AP_DCM/AP_DCM_HIL.o +%% libraries/AP_GPS/AP_GPS_406.o +%% libraries/AP_GPS/AP_GPS_Auto.o +%% libraries/AP_GPS/AP_GPS_HIL.o +%% libraries/AP_GPS/AP_GPS_IMU.o +%% libraries/AP_GPS/AP_GPS_MTK16.o +%% libraries/AP_GPS/AP_GPS_MTK.o +%% libraries/AP_GPS/AP_GPS_NMEA.o +%% libraries/AP_GPS/AP_GPS_SIRF.o +%% libraries/AP_GPS/AP_GPS_UBLOX.o +%% libraries/AP_GPS/GPS.o +%% libraries/AP_IMU/AP_IMU_Oilpan.o +%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o +In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +%% libraries/AP_OpticalFlow/AP_OpticalFlow.o +%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o +%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o +%% libraries/AP_RangeFinder/RangeFinder.o +%% libraries/AP_Relay/AP_Relay.o +%% libraries/DataFlash/DataFlash.o +In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +%% libraries/FastSerial/BetterStream.o +%% libraries/FastSerial/FastSerial.o +%% libraries/FastSerial/vprintf.o +%% libraries/GCS_MAVLink/GCS_MAVLink.o +%% libraries/ModeFilter/ModeFilter.o +%% libraries/RC_Channel/RC_Channel_aux.o +%% libraries/RC_Channel/RC_Channel.o +%% libraries/memcheck/memcheck.o +%% libraries/FastSerial/ftoa_engine.o +%% libraries/FastSerial/ultoa_invert.o +%% libraries/SPI/SPI.o +In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +%% libraries/Wire/Wire.o +%% libraries/Wire/utility/twi.o +cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C +%% arduino/HardwareSerial.o +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +%% arduino/main.o +%% arduino/Print.o +%% arduino/Tone.o +/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area +%% arduino/WMath.o +%% arduino/WString.o +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +%% arduino/core.a +%% ArduCopter.elf +%% ArduCopter.eep +%% ArduCopter.hex diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt new file mode 100644 index 0000000000..f438ab94b8 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt @@ -0,0 +1,674 @@ +00000001 b wp_control +00000001 b GPS_enabled +00000001 b home_is_set +00000001 b motor_armed +00000001 b motor_light +00000001 b control_mode +00000001 b gps_watchdog +00000001 b simple_timer +00000001 d yaw_tracking +00000001 b 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the previous definition +In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77: +/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()': +/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)': +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch +/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()': +/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning +/root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)': +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function +autogenerated: At global scope: +autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined +autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined +autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined +autogenerated:105: warning: 'void Log_Write_Raw()' declared 'static' but never defined +autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined +autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined +autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined +autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used +autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used +autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used +autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined +autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined +autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined +autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used +autogenerated:246: warning: 'void ReadSCP1000()' declared 'static' but never defined +autogenerated:247: warning: 'void init_barometer()' declared 'static' but never defined +autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined +autogenerated:249: warning: 'long int read_barometer()' declared 'static' but never defined +autogenerated:250: warning: 'void read_airspeed()' declared 'static' but never defined +autogenerated:251: warning: 'void zero_airspeed()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used +autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined +autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:362: warning: 'abs_pressure' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:363: warning: 'ground_pressure' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:364: warning: 'ground_temperature' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:369: warning: 'baro_alt' defined but not used +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used +/root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined +%% libraries/APM_BMP085/APM_BMP085.o +%% libraries/APM_BMP085/APM_BMP085_hil.o +%% libraries/APM_PI/APM_PI.o +%% libraries/APM_RC/APM_RC.o +%% libraries/AP_ADC/AP_ADC_ADS7844.o +%% libraries/AP_ADC/AP_ADC.o +%% libraries/AP_ADC/AP_ADC_HIL.o +%% libraries/AP_Common/AP_Common.o +%% libraries/AP_Common/AP_Loop.o +%% libraries/AP_Common/AP_MetaClass.o +%% libraries/AP_Common/AP_Var.o +%% libraries/AP_Common/AP_Var_menufuncs.o +%% libraries/AP_Common/c++.o +%% libraries/AP_Common/menu.o +%% libraries/AP_Compass/AP_Compass_HIL.o +%% libraries/AP_Compass/AP_Compass_HMC5843.o +%% libraries/AP_Compass/Compass.o +%% libraries/AP_DCM/AP_DCM.o +%% libraries/AP_DCM/AP_DCM_HIL.o +%% libraries/AP_GPS/AP_GPS_406.o +%% libraries/AP_GPS/AP_GPS_Auto.o +%% libraries/AP_GPS/AP_GPS_HIL.o +%% libraries/AP_GPS/AP_GPS_IMU.o +%% libraries/AP_GPS/AP_GPS_MTK16.o +%% libraries/AP_GPS/AP_GPS_MTK.o +%% libraries/AP_GPS/AP_GPS_NMEA.o +%% libraries/AP_GPS/AP_GPS_SIRF.o +%% libraries/AP_GPS/AP_GPS_UBLOX.o +%% libraries/AP_GPS/GPS.o +%% libraries/AP_IMU/AP_IMU_Oilpan.o +%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o +In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +%% libraries/AP_OpticalFlow/AP_OpticalFlow.o +%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o +%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o +%% libraries/AP_RangeFinder/RangeFinder.o +%% libraries/AP_Relay/AP_Relay.o +%% libraries/DataFlash/DataFlash.o +In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +%% libraries/FastSerial/BetterStream.o +%% libraries/FastSerial/FastSerial.o +%% libraries/FastSerial/vprintf.o +%% libraries/GCS_MAVLink/GCS_MAVLink.o +%% libraries/ModeFilter/ModeFilter.o +%% libraries/RC_Channel/RC_Channel_aux.o +%% libraries/RC_Channel/RC_Channel.o +%% libraries/memcheck/memcheck.o +%% libraries/FastSerial/ftoa_engine.o +%% libraries/FastSerial/ultoa_invert.o +%% libraries/SPI/SPI.o +In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12: +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +%% libraries/Wire/Wire.o +%% libraries/Wire/utility/twi.o +cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C +%% arduino/HardwareSerial.o +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +%% arduino/main.o +%% arduino/Print.o +%% arduino/Tone.o +/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area +%% arduino/WMath.o +%% arduino/WString.o +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast +/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30, + from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25: +/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to ." +In file included from 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included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77: +/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()': +/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion +/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()': +/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning /root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)': -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_tail' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'min_tail' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_coll' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'min_coll' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_pitch' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_roll' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:444: warning: 'temp' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function autogenerated: At global scope: -autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined -autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined -autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined -autogenerated:88: warning: 'void send_message(byte, long int)' declared 'static' but never defined -autogenerated:82: warning: 'void send_message(byte, const char*)' declared 'static' but never defined -autogenerated:91: warning: 'void print_current_waypoints()' declared 'static' but never defined -autogenerated:94: warning: 'void print_attitude()' declared 'static' but never defined -autogenerated:90: warning: 'void print_control_mode()' declared 'static' but never defined -autogenerated:92: warning: 'void print_position()' declared 'static' but never defined -autogenerated:96: warning: 'void print_waypoint(Location*, byte)' declared 'static' but never defined -autogenerated:97: warning: 'void print_waypoints()' declared 'static' but never defined -autogenerated:70: warning: 'long int convert_to_dec(float)' declared 'static' but never defined -autogenerated:139: warning: 'void Log_Write_Optflow()' declared 'static' but never defined -autogenerated:150: warning: 'void decrement_WP_index()' declared 'static' but never defined -/root/apm/ardupilot-mega/ArduCopter/commands.pde:149: warning: 'Location get_LOITER_home_wp()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:301: warning: 'void do_loiter_turns()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:427: warning: 'bool verify_loiter_unlim()' defined but not used +autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined +autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined +autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined +autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used -autogenerated:235: warning: 'void debug_motors()' declared 'static' but never defined -autogenerated:250: warning: 'void calc_altitude_smoothing_error()' declared 'static' but never defined -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:159: warning: 'int get_loiter_angle()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:217: warning: 'void reset_crosstrack()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:222: warning: 'long int get_altitude_above_home()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:243: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used -/root/apm/ardupilot-mega/ArduCopter/radio.pde:131: warning: 'void throttle_failsafe(uint16_t)' defined but not used -/root/apm/ardupilot-mega/ArduCopter/radio.pde:188: warning: 'void trim_yaw()' defined but not used -autogenerated:268: warning: 'void readCommands()' declared 'static' but never defined -autogenerated:269: warning: 'void parseCommand(char*)' declared 'static' but never defined +autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used +autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined +autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined +autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined +autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used -autogenerated:272: warning: 'long int read_baro_filtered()' declared 'static' but never defined +autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/system.pde:465: warning: 'void set_failsafe(boolean)' defined but not used -autogenerated:311: warning: 'void init_optflow()' declared 'static' but never defined -autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never defined -/root/apm/ardupilot-mega/ArduCopter/test.pde:991: warning: 'void print_motor_out()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:283: warning: 'heli_servo_min' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:283: warning: 'heli_servo_max' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:284: warning: 'heli_servo_out' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:443: warning: 'undo_event' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:449: warning: 'condition_rate' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:463: warning: 'simple_WP' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:468: warning: 'optflow_offset' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:469: warning: 'new_location' defined but not used -/root/apm/ardupilot-mega/ArduCopter/heli.pde:6: warning: 'rollPitch_impact_on_collective' defined but not used +/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used +autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined +autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used %% libraries/APM_BMP085/APM_BMP085.o +%% libraries/APM_BMP085/APM_BMP085_hil.o %% libraries/APM_PI/APM_PI.o %% libraries/APM_RC/APM_RC.o %% libraries/AP_ADC/AP_ADC_ADS7844.o @@ -88,38 +73,13 @@ autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never de %% libraries/AP_IMU/AP_IMU_Oilpan.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28: -/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined -/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:20:1: warning: this is the location of the previous definition -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_led_always_on(bool)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:221: warning: suggest parentheses around arithmetic in operand of | -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'bool AP_OpticalFlow_ADNS3080::get_frame_rate_auto()': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:257: warning: suggest parentheses around comparison in operand of & -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:361: warning: suggest parentheses around arithmetic in operand of | -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'int AP_OpticalFlow_ADNS3080::print_pixel_data(Stream*)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:441: warning: suggest parentheses around comparison in operand of & -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: control reaches end of non-void function -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: control reaches end of non-void function -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'virtual bool AP_OpticalFlow_ADNS3080::init(bool)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:80: warning: control reaches end of non-void function +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition %% libraries/AP_OpticalFlow/AP_OpticalFlow.o -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual void AP_OpticalFlow::get_position(float, float, float, float)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:88: warning: unused variable 'i' -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: control reaches end of non-void function -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: control reaches end of non-void function %% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o %% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o %% libraries/AP_RangeFinder/RangeFinder.o +%% libraries/AP_Relay/AP_Relay.o %% libraries/DataFlash/DataFlash.o In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35: /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined @@ -129,6 +89,7 @@ In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp %% libraries/FastSerial/vprintf.o %% libraries/GCS_MAVLink/GCS_MAVLink.o %% libraries/ModeFilter/ModeFilter.o +%% libraries/RC_Channel/RC_Channel_aux.o %% libraries/RC_Channel/RC_Channel.o %% libraries/memcheck/memcheck.o %% libraries/FastSerial/ftoa_engine.o diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt index 3a95d45ae1..452bb7716e 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt @@ -4,19 +4,19 @@ 00000001 b motor_armed 00000001 b motor_light 00000001 b control_mode +00000001 b gps_watchdog 00000001 b simple_timer 00000001 d yaw_tracking 00000001 b land_complete 00000001 b throttle_mode 00000001 b command_may_ID 00000001 b wp_verify_byte -00000001 b xtrack_enabled 00000001 d altitude_sensor 00000001 b command_must_ID 00000001 b command_yaw_dir +00000001 b new_radio_frame 00000001 b roll_pitch_mode 00000001 b counter_one_herz -00000001 b delta_ms_fiftyhz 00000001 b did_ground_start 00000001 b in_mavlink_delay 00000001 b invalid_throttle @@ -27,48 +27,51 @@ 00000001 b command_may_index 00000001 b oldSwitchPosition 00000001 b command_must_index -00000001 b delta_ms_fast_loop 00000001 d ground_start_count 00000001 b medium_loopCounter 00000001 b command_yaw_relative -00000001 b delta_ms_medium_loop +00000001 d jump 00000001 b event_id 00000001 b led_mode 00000001 b yaw_mode 00000001 b GPS_light -00000001 b alt_timer -00000001 b loop_step +00000001 b do_simple 00000001 b trim_flag 00000001 b dancing_light()::step -00000001 b update_motor_leds()::blink -00000001 b radio_input_switch()::bouncer 00000001 b read_control_switch()::switch_debouncer 00000001 d GCS_MAVLINK::handleMessage(__mavlink_message*)::mav_nav -00000001 B mavdelay -00000002 T mavlink_acknowledge(mavlink_channel_t, unsigned char, unsigned char, unsigned char) +00000001 B relay +00000002 T userhook_50Hz() +00000002 T userhook_init() 00000002 b climb_rate +00000002 b loiter_sum 00000002 b event_delay 00000002 b event_value 00000002 b event_repeat +00000002 b loiter_total 00000002 b nav_throttle +00000002 b x_rate_error +00000002 b y_rate_error 00000002 b altitude_rate 00000002 b gps_fix_count 00000002 b velocity_land -00000002 b mainLoop_count +00000002 b x_actual_speed +00000002 b y_actual_speed +00000002 b loiter_time_max 00000002 b command_yaw_time 00000002 b event_undo_value 00000002 b command_yaw_speed 00000002 b auto_level_counter 00000002 b ground_temperature +00000002 b waypoint_speed_gov 00000002 b heli_manual_override +00000002 b heli_servo_out_count 00000002 b superslow_loopCounter 00000002 r comma 00000002 b g_gps -00000002 b G_Dt_max 00000002 b airspeed 00000002 b baro_alt 00000002 b sonar_alt -00000002 T GCS_MAVLINK::acknowledge(unsigned char, unsigned char, unsigned char) 00000002 b arm_motors()::arming_counter 00000002 r setup_frame(unsigned char, Menu::arg const*)::__c 00000002 r setup_frame(unsigned char, Menu::arg const*)::__c @@ -77,11 +80,6 @@ 00000002 r test_wp(unsigned char, Menu::arg const*)::__c 00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c 00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c -00000002 B adc -00000002 B x_actual_speed -00000002 B x_rate_error -00000002 B y_actual_speed -00000002 B y_rate_error 00000003 r setup_gyro(unsigned char, Menu::arg const*)::__c 00000003 r select_logs(unsigned char, Menu::arg const*)::__c 00000003 r setup_sonar(unsigned char, Menu::arg const*)::__c @@ -94,16 +92,15 @@ 00000004 d cos_pitch_x 00000004 b event_timer 00000004 b loiter_time -00000004 b nav_bearing 00000004 d scaleLongUp 00000004 b sin_pitch_y 00000004 b wp_distance 00000004 b abs_pressure -00000004 b circle_angle 00000004 b current_amps 00000004 b old_altitude 00000004 b original_alt -00000004 b bearing_error +00000004 b simple_cos_x +00000004 b simple_sin_y 00000004 b current_total 00000004 b nav_loopTimer 00000004 d scaleLongDown @@ -117,24 +114,21 @@ 00000004 b condition_start 00000004 b condition_value 00000004 b ground_pressure -00000004 b loiter_time_max 00000004 b target_altitude 00000004 d battery_voltage1 00000004 d battery_voltage2 00000004 d battery_voltage3 00000004 d battery_voltage4 -00000004 b medium_loopTimer 00000004 b wp_totalDistance 00000004 b command_yaw_delta 00000004 b command_yaw_start 00000004 b fiftyhz_loopTimer -00000004 b crosstrack_bearing -00000004 b fast_loopTimeStamp +00000004 b old_target_bearing 00000004 b throttle_integrator -00000004 b saved_target_bearing 00000004 r __menu_name__log_menu 00000004 b command_yaw_start_time 00000004 b initial_simple_bearing +00000004 b original_target_bearing 00000004 d G_Dt 00000004 b dTnav 00000004 b nav_lat @@ -155,9 +149,8 @@ 00000004 r select_logs(unsigned char, Menu::arg const*)::__c 00000004 r select_logs(unsigned char, Menu::arg const*)::__c 00000004 r setup_sonar(unsigned char, Menu::arg const*)::__c +00000004 r print_switch(unsigned char, unsigned char, bool)::__c 00000004 b mavlink_delay(unsigned long)::last_1hz -00000004 b mavlink_delay(unsigned long)::last_3hz -00000004 b mavlink_delay(unsigned long)::last_10hz 00000004 b mavlink_delay(unsigned long)::last_50hz 00000004 r print_enabled(unsigned char)::__c 00000004 r setup_compass(unsigned char, Menu::arg const*)::__c @@ -175,6 +168,7 @@ 00000005 r select_logs(unsigned char, Menu::arg const*)::__c 00000005 r select_logs(unsigned char, Menu::arg const*)::__c 00000005 r Log_Read_Raw()::__c +00000005 r print_switch(unsigned char, unsigned char, bool)::__c 00000005 r Log_Read_Mode()::__c 00000005 r report_tuning()::__c 00000005 r print_log_menu()::__c @@ -223,6 +217,8 @@ 00000007 r test_wp(unsigned char, Menu::arg const*)::__c 00000007 V Parameters::Parameters()::__c 00000007 V Parameters::Parameters()::__c +00000007 V Parameters::Parameters()::__c +00000007 V Parameters::Parameters()::__c 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c @@ -230,6 +226,7 @@ 00000008 r __menu_name__planner_menu 00000008 r select_logs(unsigned char, Menu::arg const*)::__c 00000008 r report_tuning()::__c +00000008 r init_ardupilot()::__c 00000008 r print_log_menu()::__c 00000008 r report_batt_monitor()::__c 00000008 r report_batt_monitor()::__c @@ -239,9 +236,11 @@ 00000008 V Parameters::Parameters()::__c 00000008 V Parameters::Parameters()::__c 00000008 V Parameters::Parameters()::__c +00000008 V Parameters::Parameters()::__c +00000008 V Parameters::Parameters()::__c 00000008 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000009 r report_gyro()::__c -00000009 r print_switch(unsigned char, unsigned char)::__c +00000009 r print_switch(unsigned char, unsigned char, bool)::__c 00000009 r print_log_menu()::__c 00000009 r print_log_menu()::__c 00000009 r report_compass()::__c @@ -269,17 +268,19 @@ 00000009 V Parameters::Parameters()::__c 00000009 V Parameters::Parameters()::__c 00000009 V Parameters::Parameters()::__c +00000009 V Parameters::Parameters()::__c +00000009 V Parameters::Parameters()::__c 00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c +0000000a T piezo_on() +0000000a T piezo_off() 0000000a r test_relay(unsigned char, Menu::arg const*)::__c 0000000a r start_new_log()::__c 0000000a r print_log_menu()::__c 0000000a r Log_Read_Startup()::__c 0000000a r test_wp(unsigned char, Menu::arg const*)::__c -0000000a r test_mag(unsigned char, Menu::arg const*)::__c -0000000a V Parameters::Parameters()::__c 0000000a V Parameters::Parameters()::__c 0000000a V Parameters::Parameters()::__c 0000000a V Parameters::Parameters()::__c @@ -295,15 +296,16 @@ 0000000c b heli_pitchFactor 0000000c b omega 0000000c t test_mode(unsigned char, Menu::arg const*) -0000000c T GCS_MAVLINK::send_text(unsigned char, char const*) +0000000c T GCS_MAVLINK::send_text(gcs_severity, char const*) 0000000c V vtable for IMU +0000000c r print_switch(unsigned char, unsigned char, bool)::__c 0000000c r report_frame()::__c +0000000c r setup_factory(unsigned char, Menu::arg const*)::__c 0000000c r test_baro(unsigned char, Menu::arg const*)::__c 0000000c V Parameters::Parameters()::__c 0000000c V Parameters::Parameters()::__c 0000000c V Parameters::Parameters()::__c 0000000c V Parameters::Parameters()::__c -0000000d r verify_RTL()::__c 0000000d r select_logs(unsigned char, Menu::arg const*)::__c 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Menu::arg const*)::__c 00000011 r setup_heli(unsigned char, Menu::arg const*)::__c 00000011 r zero_eeprom()::__c 00000011 r update_commands()::__c -00000011 r Log_Read_Attitude()::__c 00000012 B Serial 00000012 B Serial1 00000012 B Serial3 +00000012 t gcs_update() 00000012 r flight_mode_strings 00000012 W AP_Float16::~AP_Float16() 00000012 W AP_VarA::~AP_VarA() @@ -397,6 +401,8 @@ 00000012 r GCS_MAVLINK::handleMessage(__mavlink_message*)::__c 00000013 r setup_heli(unsigned char, Menu::arg const*)::__c 00000013 r setup_heli(unsigned char, Menu::arg const*)::__c +00000013 r setup_heli(unsigned char, Menu::arg const*)::__c +00000013 r report_heli()::__c 00000013 r report_heli()::__c 00000013 r report_heli()::__c 00000013 r report_heli()::__c @@ -410,23 +416,21 @@ 00000014 r setup_heli(unsigned char, Menu::arg const*)::__c 00000014 r setup_sonar(unsigned char, Menu::arg const*)::__c 00000014 r test_tri(unsigned char, Menu::arg const*)::__c -00000015 r map_baudrate(signed char, unsigned 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a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.build.log @@ -1,63 +1,48 @@ %% ArduCopter.cpp %% ArduCopter.o -In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53: +In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55: /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition +In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77: +/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()': +/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion +/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()': +/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning /root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)': -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_tail' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'min_tail' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_coll' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'min_coll' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_pitch' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:446: warning: 'max_roll' may be used uninitialized in this function -/root/apm/ardupilot-mega/ArduCopter/setup.pde:444: warning: 'temp' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_coll' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function +/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function autogenerated: At global scope: -autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined -autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined -autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined -autogenerated:88: warning: 'void send_message(byte, long int)' declared 'static' but never defined -autogenerated:82: warning: 'void send_message(byte, const char*)' declared 'static' but never defined -autogenerated:91: warning: 'void print_current_waypoints()' declared 'static' but never defined -autogenerated:94: warning: 'void print_attitude()' declared 'static' but never defined -autogenerated:90: warning: 'void print_control_mode()' declared 'static' but never defined -autogenerated:92: warning: 'void print_position()' declared 'static' but never defined -autogenerated:96: warning: 'void print_waypoint(Location*, byte)' declared 'static' but never defined -autogenerated:97: warning: 'void print_waypoints()' declared 'static' but never defined -autogenerated:70: warning: 'long int convert_to_dec(float)' declared 'static' but never defined -autogenerated:139: warning: 'void Log_Write_Optflow()' declared 'static' but never defined -autogenerated:150: warning: 'void decrement_WP_index()' declared 'static' but never defined -/root/apm/ardupilot-mega/ArduCopter/commands.pde:149: warning: 'Location get_LOITER_home_wp()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:301: warning: 'void do_loiter_turns()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:427: warning: 'bool verify_loiter_unlim()' defined but not used +autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined +autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined +autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined +autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used -autogenerated:235: warning: 'void debug_motors()' declared 'static' but never defined -autogenerated:250: warning: 'void calc_altitude_smoothing_error()' declared 'static' but never defined -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:159: warning: 'int get_loiter_angle()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:217: warning: 'void reset_crosstrack()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:222: warning: 'long int get_altitude_above_home()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/navigation.pde:243: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used -/root/apm/ardupilot-mega/ArduCopter/radio.pde:131: warning: 'void throttle_failsafe(uint16_t)' defined but not used -/root/apm/ardupilot-mega/ArduCopter/radio.pde:188: warning: 'void trim_yaw()' defined but not used -autogenerated:268: warning: 'void readCommands()' declared 'static' but never defined -autogenerated:269: warning: 'void parseCommand(char*)' declared 'static' but never defined +autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used +autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined +autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined +autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined +autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used -autogenerated:272: warning: 'long int read_baro_filtered()' declared 'static' but never defined +autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/system.pde:465: warning: 'void set_failsafe(boolean)' defined but not used -autogenerated:311: warning: 'void init_optflow()' declared 'static' but never defined -autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never defined -/root/apm/ardupilot-mega/ArduCopter/test.pde:991: warning: 'void print_motor_out()' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:283: warning: 'heli_servo_min' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:283: warning: 'heli_servo_max' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:284: warning: 'heli_servo_out' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:443: warning: 'undo_event' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:449: warning: 'condition_rate' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:463: warning: 'simple_WP' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:468: warning: 'optflow_offset' defined but not used -/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:469: warning: 'new_location' defined but not used -/root/apm/ardupilot-mega/ArduCopter/heli.pde:6: warning: 'rollPitch_impact_on_collective' defined but not used +/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used +autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined +autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined +/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used +/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used %% libraries/APM_BMP085/APM_BMP085.o +%% libraries/APM_BMP085/APM_BMP085_hil.o %% libraries/APM_PI/APM_PI.o %% libraries/APM_RC/APM_RC.o %% libraries/AP_ADC/AP_ADC_ADS7844.o @@ -88,38 +73,13 @@ autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never de %% libraries/AP_IMU/AP_IMU_Oilpan.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28: -/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined -/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:20:1: warning: this is the location of the previous definition -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_led_always_on(bool)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:221: warning: suggest parentheses around arithmetic in operand of | -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'bool AP_OpticalFlow_ADNS3080::get_frame_rate_auto()': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:257: warning: suggest parentheses around comparison in operand of & -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:361: warning: suggest parentheses around arithmetic in operand of | -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'int AP_OpticalFlow_ADNS3080::print_pixel_data(Stream*)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:441: warning: suggest parentheses around comparison in operand of & -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: control reaches end of non-void function -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: control reaches end of non-void function -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'virtual bool AP_OpticalFlow_ADNS3080::init(bool)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:80: warning: control reaches end of non-void function +/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined +/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition %% libraries/AP_OpticalFlow/AP_OpticalFlow.o -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: no return statement in function returning non-void -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual void AP_OpticalFlow::get_position(float, float, float, float)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:88: warning: unused variable 'i' -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: control reaches end of non-void function -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()': -/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: control reaches end of non-void function %% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o %% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o %% libraries/AP_RangeFinder/RangeFinder.o +%% libraries/AP_Relay/AP_Relay.o %% libraries/DataFlash/DataFlash.o In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35: /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined @@ -129,6 +89,7 @@ In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp %% libraries/FastSerial/vprintf.o %% libraries/GCS_MAVLink/GCS_MAVLink.o %% libraries/ModeFilter/ModeFilter.o +%% libraries/RC_Channel/RC_Channel_aux.o %% libraries/RC_Channel/RC_Channel.o %% libraries/memcheck/memcheck.o %% libraries/FastSerial/ftoa_engine.o diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt index ae07941c39..6610371c36 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt @@ -4,19 +4,19 @@ 00000001 b motor_armed 00000001 b motor_light 00000001 b control_mode +00000001 b gps_watchdog 00000001 b simple_timer 00000001 d yaw_tracking 00000001 b land_complete 00000001 b throttle_mode 00000001 b command_may_ID 00000001 b wp_verify_byte -00000001 b xtrack_enabled 00000001 d altitude_sensor 00000001 b command_must_ID 00000001 b command_yaw_dir +00000001 b new_radio_frame 00000001 b roll_pitch_mode 00000001 b counter_one_herz -00000001 b delta_ms_fiftyhz 00000001 b did_ground_start 00000001 b in_mavlink_delay 00000001 b invalid_throttle @@ -27,48 +27,51 @@ 00000001 b command_may_index 00000001 b oldSwitchPosition 00000001 b command_must_index -00000001 b delta_ms_fast_loop 00000001 d ground_start_count 00000001 b medium_loopCounter 00000001 b command_yaw_relative -00000001 b delta_ms_medium_loop +00000001 d jump 00000001 b event_id 00000001 b led_mode 00000001 b yaw_mode 00000001 b GPS_light -00000001 b alt_timer -00000001 b loop_step +00000001 b do_simple 00000001 b trim_flag 00000001 b dancing_light()::step -00000001 b update_motor_leds()::blink -00000001 b radio_input_switch()::bouncer 00000001 b read_control_switch()::switch_debouncer 00000001 d GCS_MAVLINK::handleMessage(__mavlink_message*)::mav_nav -00000001 B mavdelay -00000002 T mavlink_acknowledge(mavlink_channel_t, unsigned char, unsigned char, unsigned char) +00000001 B relay +00000002 T userhook_50Hz() +00000002 T userhook_init() 00000002 b climb_rate +00000002 b loiter_sum 00000002 b event_delay 00000002 b event_value 00000002 b event_repeat +00000002 b loiter_total 00000002 b nav_throttle +00000002 b x_rate_error +00000002 b y_rate_error 00000002 b altitude_rate 00000002 b gps_fix_count 00000002 b velocity_land -00000002 b mainLoop_count +00000002 b x_actual_speed +00000002 b y_actual_speed +00000002 b loiter_time_max 00000002 b command_yaw_time 00000002 b event_undo_value 00000002 b command_yaw_speed 00000002 b auto_level_counter 00000002 b ground_temperature +00000002 b waypoint_speed_gov 00000002 b heli_manual_override +00000002 b heli_servo_out_count 00000002 b superslow_loopCounter 00000002 r comma 00000002 b g_gps -00000002 b G_Dt_max 00000002 b airspeed 00000002 b baro_alt 00000002 b sonar_alt -00000002 T GCS_MAVLINK::acknowledge(unsigned char, unsigned char, unsigned char) 00000002 b arm_motors()::arming_counter 00000002 r setup_frame(unsigned char, Menu::arg const*)::__c 00000002 r setup_frame(unsigned char, Menu::arg const*)::__c @@ -77,11 +80,6 @@ 00000002 r test_wp(unsigned char, Menu::arg const*)::__c 00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c 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b mavlink_delay(unsigned long)::last_10hz 00000004 b mavlink_delay(unsigned long)::last_50hz 00000004 r print_enabled(unsigned char)::__c 00000004 r setup_compass(unsigned char, Menu::arg const*)::__c @@ -175,6 +168,7 @@ 00000005 r select_logs(unsigned char, Menu::arg const*)::__c 00000005 r select_logs(unsigned char, Menu::arg const*)::__c 00000005 r Log_Read_Raw()::__c +00000005 r print_switch(unsigned char, unsigned char, bool)::__c 00000005 r Log_Read_Mode()::__c 00000005 r report_tuning()::__c 00000005 r print_log_menu()::__c @@ -223,6 +217,8 @@ 00000007 r test_wp(unsigned char, Menu::arg const*)::__c 00000007 V Parameters::Parameters()::__c 00000007 V Parameters::Parameters()::__c +00000007 V Parameters::Parameters()::__c +00000007 V Parameters::Parameters()::__c 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c @@ -230,6 +226,7 @@ 00000008 r 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vtable for IMU +0000000c r print_switch(unsigned char, unsigned char, bool)::__c 0000000c r report_frame()::__c +0000000c r setup_factory(unsigned char, Menu::arg const*)::__c 0000000c r test_baro(unsigned char, Menu::arg const*)::__c 0000000c V Parameters::Parameters()::__c 0000000c V Parameters::Parameters()::__c 0000000c V Parameters::Parameters()::__c 0000000c V Parameters::Parameters()::__c -0000000d r verify_RTL()::__c 0000000d r select_logs(unsigned char, Menu::arg const*)::__c 0000000d r test_tuning(unsigned char, Menu::arg const*)::__c 0000000d r test_battery(unsigned char, Menu::arg const*)::__c @@ -319,6 +321,7 @@ 0000000d B sonar_mode_filter 0000000e t global destructors keyed to Serial 0000000e t global constructors keyed to Serial +0000000e t send_statustext(mavlink_channel_t) 0000000e V vtable for AP_Float16 0000000e V vtable for AP_VarA 0000000e V vtable for AP_VarS > @@ -365,22 +368,23 @@ 0000000f r report_batt_monitor()::__c 0000000f r test_imu(unsigned char, Menu::arg const*)::__c 0000000f V AP_IMU_Oilpan::AP_IMU_Oilpan(AP_ADC*, unsigned int)::__c +00000010 b heli_servo_out 00000010 r planner_menu_commands 00000010 b motor_out +00000010 T GCS_MAVLINK::send_message(ap_message) 00000010 W AP_VarT::cast_to_float() const 00000010 r test_sonar(unsigned char, Menu::arg const*)::__c 00000010 r report_gyro()::__c 00000010 r report_heli()::__c 00000010 r report_compass()::__c -00000010 t mavlink_get_channel_status 00000011 r erase_logs(unsigned char, Menu::arg const*)::__c 00000011 r setup_heli(unsigned char, Menu::arg const*)::__c 00000011 r zero_eeprom()::__c 00000011 r update_commands()::__c -00000011 r Log_Read_Attitude()::__c 00000012 B Serial 00000012 B Serial1 00000012 B Serial3 +00000012 t gcs_update() 00000012 r flight_mode_strings 00000012 W AP_Float16::~AP_Float16() 00000012 W AP_VarA::~AP_VarA() @@ -397,6 +401,8 @@ 00000012 r GCS_MAVLINK::handleMessage(__mavlink_message*)::__c 00000013 r setup_heli(unsigned char, Menu::arg const*)::__c 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t setup_accel(unsigned char, Menu::arg const*) +00000018 r __menu_name__main_menu 00000018 W AP_VarT::serialize(void*, unsigned int) const -00000018 b mavlink_get_channel_status::m_mavlink_status 00000019 r setup_gyro(unsigned char, Menu::arg const*)::__c -00000019 r GCS_MAVLINK::update()::__c 0000001a r print_log_menu()::__c +0000001a r Log_Read_Nav_Tuning()::__c 0000001b r setup_heli(unsigned char, Menu::arg const*)::__c 0000001b r report_heli()::__c 0000001c W AP_VarA::unserialize(void*, unsigned int) @@ -436,19 +440,21 @@ 0000001c W AP_VarA::serialize(void*, unsigned int) const 0000001c W AP_VarS >::serialize(void*, unsigned int) const 0000001c W AP_VarS >::serialize(void*, unsigned int) const +0000001d r Log_Read_Attitude()::__c 0000001e r report_heli()::__c 0000001e r Log_Read_Optflow()::__c -0000001e r Log_Read_Nav_Tuning()::__c -0000001f r test_mag(unsigned char, Menu::arg const*)::__c +00000020 t gcs_send_message(ap_message) 00000020 r test_current(unsigned char, Menu::arg const*)::__c 00000020 t byte_swap_4 00000021 r setup_heli(unsigned char, Menu::arg const*)::__c 00000021 r print_log_menu()::__c 00000021 r report_compass()::__c 00000021 r Log_Read_Current()::__c +00000021 r Log_Read_Performance()::__c 00000022 t clear_leds() 00000022 t print_blanks(int) 00000022 t reset_hold_I() +00000022 t startup_ground() 00000022 W AP_Float16::~AP_Float16() 00000022 W AP_VarA::~AP_VarA() 00000022 W AP_VarS >::~AP_VarS() @@ -459,16 +465,13 @@ 00000023 r setup_heli(unsigned char, Menu::arg const*)::__c 00000023 r setup_mode(unsigned char, Menu::arg const*)::__c 00000023 r print_gyro_offsets()::__c -00000024 t startup_ground() 00000024 r setup_heli(unsigned char, Menu::arg const*)::__c 00000024 r init_ardupilot()::__c 00000024 r print_accel_offsets()::__c -00000025 r setup_factory(unsigned char, Menu::arg const*)::__c 00000026 t print_done() -00000026 b mavlink_queue 00000026 t print_hit_enter() 00000026 t Log_Read_Startup() -00000027 r test_xbee(unsigned char, Menu::arg const*)::__c +00000026 r Log_Read_Control_Tuning()::__c 00000028 t test_battery(unsigned char, Menu::arg const*) 00000028 t main_menu_help(unsigned char, Menu::arg const*) 00000028 t help_log(unsigned char, Menu::arg const*) @@ -479,90 +482,94 @@ 00000029 r setup_mode(unsigned char, Menu::arg const*)::__c 00000029 r test_gps(unsigned char, Menu::arg const*)::__c 0000002a t setup_declination(unsigned char, Menu::arg const*) -0000002a r Log_Read_Control_Tuning()::__c 0000002b r planner_mode(unsigned char, Menu::arg const*)::__c 0000002e t setup_motors(unsigned char, Menu::arg const*) 0000002e t print_divider() -0000002e t send_rate(unsigned int, unsigned int) +0000002e t gcs_send_text_P(gcs_severity, prog_char_t const*) +0000002e t gcs_data_stream_send(unsigned int, unsigned int) 0000002e W AP_Var_group::AP_Var_group(unsigned int, prog_char_t const*, unsigned char) -0000002e r Log_Read_Performance()::__c 0000002f r test_radio(unsigned char, Menu::arg const*)::__c +0000002f r init_ardupilot()::__c 00000030 t planner_mode(unsigned char, Menu::arg const*) -00000032 T GCS_MAVLINK::init(BetterStream*) +00000030 t send_heartbeat(mavlink_channel_t) +00000031 r setup_heli(unsigned char, Menu::arg const*)::__c +00000032 T GCS_MAVLINK::init(FastSerial*) 00000032 W APM_PI::~APM_PI() 00000032 r setup_heli(unsigned char, Menu::arg const*)::__c +00000032 r Log_Read_GPS()::__c +00000033 b pending_status 00000034 t heli_get_servo(int) 00000034 W AP_Float16::serialize(void*, unsigned int) const 00000034 t _mav_put_int8_t_array +00000034 t mavlink_msg_statustext_send 00000035 r test_radio_pwm(unsigned char, Menu::arg const*)::__c 00000036 t report_radio() -00000036 r Log_Read_GPS()::__c 00000037 r print_wp(Location*, unsigned char)::__c 00000038 t init_throttle_cruise() +00000038 t send_current_waypoint(mavlink_channel_t) 00000038 r setup_radio(unsigned char, Menu::arg const*)::__c 00000038 r setup_factory(unsigned char, Menu::arg const*)::__c 0000003a t report_gps() 0000003a t report_imu() 0000003c W RC_Channel::~RC_Channel() 0000003d B g_gps_driver -0000003e t verify_RTL() -0000003e T GCS_MAVLINK::send_text(unsigned char, prog_char_t const*) +0000003e T GCS_MAVLINK::send_text(gcs_severity, prog_char_t const*) 0000003e W AP_VarT::AP_VarT(signed char, unsigned int, prog_char_t const*, unsigned char) +00000040 t read_AHRS() 00000040 W AP_Float16::unserialize(void*, unsigned int) +00000040 B adc 00000040 t byte_swap_8 -00000040 t crc_accumulate 00000042 T output_min() 00000042 t report_sonar() 00000042 r setup_heli(unsigned char, Menu::arg const*)::__c 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) +00000048 t change_command(unsigned char) +00000048 t update_motor_leds() +00000049 r setup_flightmodes(unsigned char, Menu::arg const*)::__c +0000004a t send_meminfo(mavlink_channel_t) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) 0000004c t setup_show(unsigned char, Menu::arg const*) 0000004c t update_auto_yaw() -0000004c B imu -0000004e T mavlink_send_text(mavlink_channel_t, unsigned char, char const*) +00000050 b mavlink_queue 00000050 t report_version() 00000050 r log_menu_commands 00000050 r main_menu_commands -00000050 t read_AHRS() 00000050 T GCS_MAVLINK::_find_parameter(unsigned int) -00000052 t change_command(unsigned char) +00000050 B imu 00000054 t print_enabled(unsigned char) -00000054 t update_motor_leds() -00000054 t report_flight_modes() 00000055 r main_menu_help(unsigned char, Menu::arg const*)::__c -00000055 r setup_flightmodes(unsigned char, Menu::arg const*)::__c 00000056 t readSwitch() 00000056 t dancing_light() +00000056 T GCS_MAVLINK::queued_waypoint_send() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t Log_Write_Attitude() 0000005a t report_frame() -0000005a t read_control_switch() +0000005a W AP_VarT::AP_VarT(float, unsigned int, prog_char_t const*, unsigned char) 0000005c t get_num_logs() 0000005c t setup_esc(unsigned char, Menu::arg const*) 0000005e t update_GPS_light() -0000005e t radio_input_switch() 0000005e T GCS_MAVLINK::_count_parameters() 0000005f r setup_heli(unsigned char, Menu::arg const*)::__c -00000060 t print_switch(unsigned char, unsigned char) -00000060 t _mavlink_send_uart -00000060 B barometer -00000064 t test_xbee(unsigned char, Menu::arg const*) +00000064 B barometer 00000064 t mavlink_msg_param_value_send 00000068 t zero_eeprom() 00000068 t find_last_log_page(int) +0000006a T mavlink_send_text(mavlink_channel_t, gcs_severity, char const*) 0000006a t read_num_from_serial() 0000006a W GCS_MAVLINK::~GCS_MAVLINK() 0000006c t setup_sonar(unsigned char, Menu::arg const*) 00000074 t output_motors_armed() 00000078 t setup_batt_monitor(unsigned char, Menu::arg const*) +00000078 t do_RTL() 0000007a t setup_factory(unsigned char, Menu::arg const*) +0000007a t read_control_switch() +0000007a t report_flight_modes() 0000007a t test_baro(unsigned char, Menu::arg const*) +0000007c t send_gps_status(mavlink_channel_t) 0000007e t test_rawgps(unsigned char, Menu::arg const*) 00000080 T __vector_25 00000080 T __vector_36 00000080 T __vector_54 -00000082 t do_RTL() -00000086 t Log_Read_Attitude() +00000082 t Log_Write_Attitude() 00000088 t Log_Read_Raw() 0000008c t setup_frame(unsigned char, Menu::arg const*) 0000008c t print_gyro_offsets() @@ -571,100 +578,112 @@ 00000090 t report_gyro() 00000090 t report_tuning() 00000092 t test_tuning(unsigned char, Menu::arg const*) -00000095 r init_ardupilot()::__c -00000096 t map_baudrate(signed char, unsigned long) +00000092 T GCS_MAVLINK::queued_param_send() 00000096 t print_wp(Location*, unsigned char) +0000009a t planner_gcs(unsigned char, Menu::arg const*) 0000009a t init_compass() 0000009a t Log_Read_Motors() -0000009d B gcs -0000009d B hil +0000009b B gcs0 +0000009b B gcs3 0000009e t setup_mode(unsigned char, Menu::arg const*) 0000009e t Log_Read_Mode() 0000009e t Log_Write_Cmd(unsigned char, Location*) 000000a4 T __vector_26 000000a4 T __vector_37 000000a4 T __vector_55 +000000a6 t send_servo_out(mavlink_channel_t) 000000a8 t test_sonar(unsigned char, Menu::arg const*) -000000b0 t read_radio() +000000aa t Log_Read_Nav_Tuning() +000000b0 t test_relay(unsigned char, Menu::arg const*) 000000b2 t erase_logs(unsigned char, Menu::arg const*) -000000b4 t test_relay(unsigned char, Menu::arg const*) -000000b4 t planner_gcs(unsigned char, Menu::arg const*) +000000b4 t read_radio() 000000b6 t get_log_boundaries(unsigned char, int&, int&) 000000b7 B compass -000000be t Log_Read_Nav_Tuning() +000000be t update_events() 000000c2 t test_eedump(unsigned char, Menu::arg const*) 000000c2 t setup_compass(unsigned char, Menu::arg const*) +000000c2 t send_radio_out(mavlink_channel_t) +000000c2 t Log_Read_Attitude() 000000c4 t get_distance(Location*, Location*) -000000c4 t update_events() 000000c4 r setup_esc(unsigned char, Menu::arg const*)::__c -000000c6 t Log_Read(int, int) +000000c6 t send_radio_in(mavlink_channel_t) +000000c6 t Log_Read_Performance() 000000c6 t test_tri(unsigned char, Menu::arg const*) 000000c7 B dcm 000000ca t init_barometer() 000000d0 t get_bearing(Location*, Location*) +000000d0 t print_switch(unsigned char, unsigned char, bool) +000000d4 t get_stabilize_roll(long) +000000d4 t get_stabilize_pitch(long) +000000d4 t Log_Read(int, int) 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000dc t test_adc(unsigned char, Menu::arg const*) -000000de t Log_Read_Performance() -000000de t Log_Read_Control_Tuning() -000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() 000000e4 W APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&) -000000e6 t setup_flightmodes(unsigned char, Menu::arg const*) 000000e8 t Log_Read_Current() +000000ea t Log_Read_Control_Tuning() 000000ee t report_batt_monitor() -000000f4 t _mav_finalize_message_chan_send 000000f6 t Log_Read_Cmd() -000000fa t calc_nav_pitch_roll() +00000100 r test_menu_commands 00000100 r setup_menu_commands 00000108 t setup_gyro(unsigned char, Menu::arg const*) +0000010a t mavlink_delay(unsigned long) +0000010a t send_raw_imu2(mavlink_channel_t) 0000010a t test_gps(unsigned char, Menu::arg const*) -0000010c W RC_Channel::RC_Channel(unsigned int, prog_char_t const*) -00000112 t test_current(unsigned char, Menu::arg const*) +0000010c t test_current(unsigned char, Menu::arg const*) +0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*) +00000112 t set_next_WP(Location*) +00000112 t send_extended_status1(mavlink_channel_t, unsigned int) 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int) 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int) 00000118 t set_command_with_index(Location, int) -00000118 T GCS_MAVLINK::_queued_send() -00000120 r test_menu_commands -00000128 t get_command_with_index(int) +0000011c t get_command_with_index(int) +0000012c t calc_loiter_pitch_roll() 00000130 t report_compass() -00000134 T GCS_MAVLINK::send_message(unsigned char, unsigned long) -0000014e T GCS_MAVLINK::update() -00000150 t update_trig() -00000152 t set_next_WP(Location*) -00000156 t Log_Read_GPS() +00000148 t Log_Read_GPS() +00000156 t update_commands() +0000015c t update_trig() +00000160 t send_location(mavlink_channel_t) +00000160 t send_nav_controller_output(mavlink_channel_t) +00000162 T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) 00000166 t select_logs(unsigned char, Menu::arg const*) -0000016c t update_commands() -00000170 t test_mag(unsigned char, Menu::arg const*) -00000172 t update_nav_wp() -000001a0 t init_home() +00000166 t send_vfr_hud(mavlink_channel_t) +00000168 T GCS_MAVLINK::update() +0000016c t test_imu(unsigned char, Menu::arg const*) +0000016e t send_attitude(mavlink_channel_t) +00000174 t mavlink_send_message(mavlink_channel_t, ap_message, unsigned int) +000001a2 t mavlink_try_send_message(mavlink_channel_t, ap_message, unsigned int) 000001a8 t print_radio_values() -000001b8 t test_imu(unsigned char, Menu::arg const*) -000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) -000001ca t arm_motors() -000001ca t mavlink_delay(unsigned long) -000001ce t start_new_log() -00000202 t set_mode(unsigned char) +000001be t arm_motors() +000001cc t start_new_log() +000001e4 t verify_nav_wp() +000001e4 t setup_flightmodes(unsigned char, Menu::arg const*) +000001ea t init_home() +00000216 t set_mode(unsigned char) +0000021a t send_raw_imu1(mavlink_channel_t) 0000021c t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -000002b8 t heli_init_swash() -000002d0 t report_heli() -000002ea t tuning() -00000330 t calc_nav_rate(int, int, int, int) -00000358 T update_throttle_mode() -00000368 t heli_move_swash(int, int, int, int) +0000022a t send_gps_raw(mavlink_channel_t) +00000242 t calc_loiter(int, int) +00000268 t send_raw_imu3(mavlink_channel_t) +0000030c t heli_init_swash() +00000312 W Parameters::~Parameters() +00000328 t report_heli() +00000330 t tuning() 00000382 t print_log_menu() -000003be t read_battery() -0000042a T update_yaw_mode() -000004b2 t mavlink_parse_char -00000556 T update_roll_pitch_mode() -00000632 t init_ardupilot() -00000718 t setup_heli(unsigned char, Menu::arg const*) -00000818 t __static_initialization_and_destruction_0(int, int) -000008e4 t process_next_command() -0000097a W Parameters::Parameters() -000009ad b g -000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001af4 T loop +0000039a T update_throttle_mode() +000003a0 t read_battery() +0000045c T update_yaw_mode() +0000046e T update_roll_pitch_mode() +0000052e t heli_move_swash(int, int, int, int) +000005cc t __static_initialization_and_destruction_0(int, int) +0000063e t init_ardupilot() +0000071a t update_nav_wp() +000007e8 t setup_heli(unsigned char, Menu::arg const*) +00000870 t process_next_command() +000009b4 W Parameters::Parameters() +00000a1f b g +000012ec T GCS_MAVLINK::handleMessage(__mavlink_message*) +0000158a T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml index e7ec09031a..334338a8d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml +++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml @@ -1,12 +1,5 @@ - - http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/crap-1280.hex - http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/crap-2560.hex - Please Update - - 0 - http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex @@ -102,7 +95,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex - ArduCopter V2.0.43 Beta Heli (2560 only) + ArduCopter V2.0.49 Beta Heli (2560 only) #define AUTO_RESET_LOITER 0 #define FRAME_CONFIG HELI_FRAME @@ -143,7 +136,7 @@ #define NAV_LOITER_IMAX 10 - 108 + 111 http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex @@ -161,9 +154,9 @@ 110 - http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-1280.hex - http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-2560.hex - Please Update + http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex + http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex + ArduCopter V2.0.49 Beta Heli Hil #define HIL_MODE HIL_MODE_ATTITUDE @@ -209,6 +202,6 @@ - 0 + 111 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/git.log b/Tools/ArdupilotMegaPlanner/Firmware/git.log index 2a7bfed917..73083308cd 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/git.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/git.log @@ -1 +1,26 @@ -Already up-to-date. +From https://code.google.com/p/ardupilot-mega + 6a8104d..b4f49d1 APM_Camera -> origin/APM_Camera + d5ab678..7f6c49b master -> origin/master +Updating d5ab678..7f6c49b +Fast-forward + ArduCopter/APM_Config.h | 19 ++++++ + ArduCopter/ArduCopter.pde | 48 +++++++++++++-- + ArduCopter/Camera.pde | 11 ++- + ArduCopter/Parameters.h | 15 ++++- + ArduCopter/UserCode.pde | 15 +++++ + ArduCopter/UserVariables.h | 13 ++++ + ArduCopter/config.h | 14 ++++- + ArduCopter/control_modes.pde | 19 ++++--- + ArduCopter/heli.pde | 49 ++++++++++------ + ArduCopter/navigation.pde | 26 ++++++-- + ArduCopter/radio.pde | 8 --- + ArduCopter/read_commands.pde | 112 ------------------------------------ + ArduCopter/setup.pde | 6 +- + ArduCopter/system.pde | 11 +--- + ArduCopter/test.pde | 2 +- + libraries/Desktop/Desktop.mk | 18 +++--- + libraries/Desktop/Makefile.desktop | 5 +- + 17 files changed, 198 insertions(+), 193 deletions(-) + create mode 100644 ArduCopter/UserCode.pde + create mode 100644 ArduCopter/UserVariables.h + delete mode 100644 ArduCopter/read_commands.pde From 97670246ff406912f923ffc73f5a309fd16af729 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 20:45:45 -0700 Subject: [PATCH 8/8] fix for Camera Roll --- ArduCopter/Camera.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/Camera.pde b/ArduCopter/Camera.pde index 3a359d617b..e1d079f08e 100644 --- a/ArduCopter/Camera.pde +++ b/ArduCopter/Camera.pde @@ -41,7 +41,7 @@ camera_stabilization() */ // dont allow control mixing - g.rc_camera_roll.servo_out = (float)g.rc_camera_roll.servo_out * g.camera_roll_gain; + g.rc_camera_roll.servo_out = (float)-dcm.roll_sensor * g.camera_roll_gain; // limit //g.rc_camera_roll.servo_out = constrain(-dcm.roll_sensor, -4500, 4500);