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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
James Goppert 2011-10-16 02:58:38 -04:00
parent 0283b8c695 97670246ff
commit 955d159c91
27 changed files with 2324 additions and 613 deletions
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19
ArduCopter/APM_Config.h
View File

@ -52,3 +52,22 @@
//#define RATE_ROLL_I 0.18 //#define RATE_ROLL_I 0.18
//#define RATE_PITCH_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"

48
ArduCopter/ArduCopter.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- 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 ArduCopter Version 2.0 Beta
Authors: Jason Short Authors: Jason Short
@ -210,6 +210,14 @@ ModeFilter sonar_mode_filter;
#error Unrecognised SONAR_TYPE setting. #error Unrecognised SONAR_TYPE setting.
#endif #endif
// agmatthews USERHOOKS
////////////////////////////////////////////////////////////////////////////////
// User variables
////////////////////////////////////////////////////////////////////////////////
#ifdef USERHOOK_VARIABLES
#include USERHOOK_VARIABLES
#endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Global variables // Global variables
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -425,13 +433,13 @@ 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_value; // per command value, such as PWM for servos
static int event_undo_value; // the value used to undo commands static int event_undo_value; // the value used to undo commands
//static byte repeat_forever; //static byte repeat_forever;
static byte undo_event; // counter for timing the undo //static byte undo_event; // counter for timing the undo
// delay command // delay command
// -------------- // --------------
static long condition_value; // used in condition commands (eg delay, change alt, etc.) static long condition_value; // used in condition commands (eg delay, change alt, etc.)
static long condition_start; static long condition_start;
static int condition_rate; //static int condition_rate;
// land command // land command
// ------------ // ------------
@ -445,12 +453,10 @@ static struct Location prev_WP; // last waypoint
static struct Location current_loc; // current location static struct Location current_loc; // current location
static struct Location next_WP; // next waypoint static struct Location next_WP; // next waypoint
static struct Location target_WP; // where do we want to you towards? 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 next_command; // command preloaded
static struct Location guided_WP; // guided mode waypoint static struct Location guided_WP; // guided mode waypoint
static long target_altitude; // used for 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 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 // IMU variables
// ------------- // -------------
@ -567,6 +573,12 @@ static void fast_loop()
//if(motor_armed) //if(motor_armed)
//Log_Write_Attitude(); //Log_Write_Attitude();
// agmatthews - USERHOOKS
#ifdef USERHOOK_FASTLOOP
USERHOOK_FASTLOOP
#endif
} }
static void medium_loop() static void medium_loop()
@ -721,6 +733,10 @@ static void medium_loop()
medium_loopCounter = 0; medium_loopCounter = 0;
break; break;
} }
// agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
USERHOOK_MEDIUMLOOP
#endif
} }
@ -737,6 +753,10 @@ static void fifty_hz_loop()
if(g.sonar_enabled){ if(g.sonar_enabled){
sonar_alt = sonar.read(); sonar_alt = sonar.read();
} }
// agmatthews - USERHOOKS
#ifdef USERHOOK_50HZLOOP
USERHOOK_50HZLOOP
#endif
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME #if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
// HIL for a copter needs very fast update of the servo values // HIL for a copter needs very fast update of the servo values
@ -833,6 +853,11 @@ static void slow_loop()
break; break;
} }
// agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP
#endif
} }
// 1Hz loop // 1Hz loop
@ -842,6 +867,10 @@ static void super_slow_loop()
Log_Write_Current(); Log_Write_Current();
gcs_send_message(MSG_HEARTBEAT); gcs_send_message(MSG_HEARTBEAT);
// agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP
#endif
} }
static void update_GPS(void) static void update_GPS(void)
@ -1047,9 +1076,14 @@ static void update_navigation()
case GUIDED: case GUIDED:
wp_control = WP_MODE; wp_control = WP_MODE;
// check if we are close to point > loiter // 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(); update_nav_wp();
break; break;

11
ArduCopter/Camera.pde
View File

@ -20,8 +20,11 @@ camera_stabilization()
// allow control mixing // 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.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 = 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 // 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 // dont allow control mixing
/* /*
@ -38,10 +41,10 @@ camera_stabilization()
*/ */
// dont allow control mixing // dont allow control mixing
g.rc_camera_roll.servo_out = (float)-dcm.roll_sensor * g.camera_roll_gain;
// limit // 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 // Output
// ------ // ------

15
ArduCopter/Parameters.h
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@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly // The increment will prevent old parameters from being used incorrectly
// by newer code. // 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 // The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega) // and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -128,6 +128,8 @@ public:
k_param_throttle_cruise, k_param_throttle_cruise,
k_param_esc_calibrate, k_param_esc_calibrate,
k_param_radio_tuning, k_param_radio_tuning,
k_param_camera_pitch_gain,
k_param_camera_roll_gain,
// //
// 210: flight modes // 210: flight modes
@ -262,6 +264,8 @@ public:
RC_Channel rc_8; RC_Channel rc_8;
RC_Channel rc_camera_pitch; RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll; RC_Channel rc_camera_roll;
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
// PI/D controllers // PI/D controllers
APM_PI pi_rate_roll; APM_PI pi_rate_roll;
@ -364,8 +368,13 @@ public:
rc_6 (k_param_rc_6, PSTR("RC6_")), rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")), rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")), rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, PSTR("RC_CP_")), rc_camera_pitch (k_param_rc_9, PSTR("CAM_P_")),
rc_camera_roll (k_param_rc_10, PSTR("RC_CR_")), rc_camera_roll (k_param_rc_10, PSTR("CAM_R_")),
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
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 // PI controller group key name initial P initial I initial imax
//-------------------------------------------------------------------------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------------------------------------------------------------------------

15
ArduCopter/UserCode.pde Normal file
View File

@ -0,0 +1,15 @@
// agmatthews USERHOOKS
void userhook_init()
{
// put your initialisation code here
}
void userhook_50Hz()
{
// put your 50Hz code here
}

13
ArduCopter/UserVariables.h Normal file
View File

@ -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

14
ArduCopter/config.h
View File

@ -179,6 +179,16 @@
#endif #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 // OPTICAL_FLOW
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included #if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
@ -451,15 +461,13 @@
#endif #endif
#ifndef WAYPOINT_SPEED_MAX #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 #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Throttle control gains // Throttle control gains
// //
#ifndef THROTTLE_CRUISE #ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 350 // # define THROTTLE_CRUISE 350 //
#endif #endif

19
ArduCopter/control_modes.pde
View File

@ -42,23 +42,24 @@ static void reset_control_switch()
read_control_switch(); read_control_switch();
} }
#if CH7_OPTION == CH7_SET_HOVER
static boolean trim_flag; static boolean trim_flag;
#endif
// read at 10 hz // read at 10 hz
// set this to your trainer switch // set this to your trainer switch
static void read_trim_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){ if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
do_flip = true; do_flip = true;
} }
#elif CH7_OPTION == CH7_SIMPLE_MODE #elif CH7_OPTION == CH7_SIMPLE_MODE
do_simple = (g.rc_7.control_in > 800); do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC); //Serial.println(g.rc_7.control_in, DEC);
#elif CH7_OPTION == CH7_RTL #elif CH7_OPTION == CH7_RTL
static bool ch7_rtl_flag = false; static bool ch7_rtl_flag = false;
if (ch7_rtl_flag == false && g.rc_7.control_in > 800){ if (ch7_rtl_flag == false && g.rc_7.control_in > 800){
@ -73,7 +74,7 @@ static void read_trim_switch()
} }
} }
#elif CH7_OPTION == CH7_SET_HOVER #elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged // switch is engaged
if (g.rc_7.control_in > 800){ if (g.rc_7.control_in > 800){
trim_flag = true; trim_flag = true;
@ -90,17 +91,19 @@ static void read_trim_switch()
trim_flag = false; trim_flag = false;
} }
} }
#elif CH7_OPTION == CH7_ADC_FILTER
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){ if (g.rc_7.control_in > 800){
adc.filter_result = true; adc.filter_result = true;
}else{ }else{
adc.filter_result = false; adc.filter_result = false;
} }
#elif CH7_OPTION == CH7_AUTO_TRIM
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){ if (g.rc_7.control_in > 800){
auto_level_counter = 10; auto_level_counter = 10;
} }
#endif #endif
} }

49
ArduCopter/heli.pde
View File

@ -20,30 +20,30 @@ static void heli_init_swash()
int i; int i;
int tilt_max[CH_3+1]; int tilt_max[CH_3+1];
int total_tilt_max = 0; int total_tilt_max = 0;
// swash servo initialisation // swash servo initialisation
g.heli_servo_1.set_range(0,1000); g.heli_servo_1.set_range(0,1000);
g.heli_servo_2.set_range(0,1000); g.heli_servo_2.set_range(0,1000);
g.heli_servo_3.set_range(0,1000); g.heli_servo_3.set_range(0,1000);
g.heli_servo_4.set_angle(4500); g.heli_servo_4.set_angle(4500);
// pitch factors // pitch factors
heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos)); heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos));
heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos)); heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos));
heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos)); heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos));
// roll factors // roll factors
heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90)); 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_2] = cos(radians(g.heli_servo2_pos + 90));
heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90)); heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90));
// collective min / max // collective min / max
total_tilt_max = 0; total_tilt_max = 0;
for( i=CH_1; i<=CH_3; i++ ) { 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; 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]); total_tilt_max = max(total_tilt_max,tilt_max[i]);
} }
// servo min/max values - or should I use set_range? // 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_min = g.heli_coll_min - tilt_max[CH_1];
g.heli_servo_1.radio_max = g.heli_coll_max + 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_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_min = g.heli_coll_min - tilt_max[CH_3];
g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3]; g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3];
// reset the servo averaging // reset the servo averaging
for( i=0; i<=3; i++ ) for( i=0; i<=3; i++ )
heli_servo_out[i] = 0; heli_servo_out[i] = 0;
// double check heli_servo_averaging is reasonable // double check heli_servo_averaging is reasonable
if( g.heli_servo_averaging < 0 || g.heli_servo_averaging < 0 > 5 ) { if( g.heli_servo_averaging < 0 || g.heli_servo_averaging < 0 > 5 ) {
g.heli_servo_averaging = 0; 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); 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() ) if( g.heli_servo_1.get_reverse() )
g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out; 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); 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() ) if( g.heli_servo_2.get_reverse() )
g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out; 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); 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() ) if( g.heli_servo_3.get_reverse() )
g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out; g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out;
if( g.heli_servo_4.get_reverse() ) 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 g.heli_servo_4.servo_out = -yaw_out; // should probably just use rc_4 directly like we do for a tricopter
else else
g.heli_servo_4.servo_out = yaw_out; g.heli_servo_4.servo_out = yaw_out;
// use servo_out to calculate pwm_out and radio_out // use servo_out to calculate pwm_out and radio_out
g.heli_servo_1.calc_pwm(); g.heli_servo_1.calc_pwm();
g.heli_servo_2.calc_pwm(); g.heli_servo_2.calc_pwm();
g.heli_servo_3.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 // add the servo values to the averaging
heli_servo_out[0] += g.heli_servo_1.servo_out; heli_servo_out[0] += g.heli_servo_1.servo_out;
heli_servo_out[1] += g.heli_servo_2.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[2] += g.heli_servo_3.servo_out;
heli_servo_out[3] += g.heli_servo_4.radio_out; heli_servo_out[3] += g.heli_servo_4.radio_out;
heli_servo_out_count++; heli_servo_out_count++;
// is it time to move the servos? // is it time to move the servos?
if( heli_servo_out_count >= g.heli_servo_averaging ) { if( heli_servo_out_count >= g.heli_servo_averaging ) {
// average the values if necessary // average the values if necessary
if( g.heli_servo_averaging >= 2 ) { if( g.heli_servo_averaging >= 2 ) {
heli_servo_out[0] /= g.heli_servo_averaging; 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[2] /= g.heli_servo_averaging;
heli_servo_out[3] /= g.heli_servo_averaging; heli_servo_out[3] /= g.heli_servo_averaging;
} }
// actually move the servos // actually move the servos
APM_RC.OutputCh(CH_1, heli_servo_out[0]); APM_RC.OutputCh(CH_1, heli_servo_out[0]);
APM_RC.OutputCh(CH_2, heli_servo_out[1]); APM_RC.OutputCh(CH_2, heli_servo_out[1]);
APM_RC.OutputCh(CH_3, heli_servo_out[2]); APM_RC.OutputCh(CH_3, heli_servo_out[2]);
APM_RC.OutputCh(CH_4, heli_servo_out[3]); APM_RC.OutputCh(CH_4, heli_servo_out[3]);
// output gyro value // output gyro value
if( g.heli_ext_gyro_enabled ) { if( g.heli_ext_gyro_enabled ) {
APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain); 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_Out0_Out1();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
#endif
// reset the averaging // reset the averaging
heli_servo_out_count = 0; heli_servo_out_count = 0;
heli_servo_out[0] = 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 // 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() static void output_motors_armed()
{ {

26
ArduCopter/navigation.pde
View File

@ -95,9 +95,16 @@ static void calc_loiter(int x_error, int y_error)
// nav_roll, nav_pitch // nav_roll, nav_pitch
static void calc_loiter_pitch_roll() 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 // rotate the vector
nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x; 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_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y;
// flip pitch because forward is negative // flip pitch because forward is negative
nav_pitch = -nav_pitch; nav_pitch = -nav_pitch;
@ -115,7 +122,12 @@ static void calc_nav_rate(int max_speed)
// limit the ramp up of the speed // limit the ramp up of the speed
if(waypoint_speed_gov < max_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); max_speed = min(max_speed, waypoint_speed_gov);
} }
@ -232,7 +244,7 @@ static void reset_crosstrack()
crosstrack_bearing = get_bearing(&current_loc, &next_WP); // Used for track following crosstrack_bearing = get_bearing(&current_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 // This is the altitude above the home location
// The GPS gives us altitude at Sea Level // The GPS gives us altitude at Sea Level
@ -240,7 +252,7 @@ static long get_altitude_above_home(void)
// ------------------------------------------------------------- // -------------------------------------------------------------
return current_loc.alt - home.alt; return current_loc.alt - home.alt;
} }
*/
// distance is returned in meters // distance is returned in meters
static long get_distance(struct Location *loc1, struct Location *loc2) static long get_distance(struct Location *loc1, struct Location *loc2)
{ {
@ -252,12 +264,12 @@ static long get_distance(struct Location *loc1, struct Location *loc2)
float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown; float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
return sqrt(sq(dlat) + sq(dlong)) * .01113195; return sqrt(sq(dlat) + sq(dlong)) * .01113195;
} }
/*
static long get_alt_distance(struct Location *loc1, struct Location *loc2) static long get_alt_distance(struct Location *loc1, struct Location *loc2)
{ {
return abs(loc1->alt - loc2->alt); return abs(loc1->alt - loc2->alt);
} }
*/
static long get_bearing(struct Location *loc1, struct Location *loc2) static long get_bearing(struct Location *loc1, struct Location *loc2)
{ {
long off_x = loc2->lng - loc1->lng; long off_x = loc2->lng - loc1->lng;

8
ArduCopter/radio.pde
View File

@ -184,11 +184,3 @@ static void trim_radio()
g.rc_4.save_eeprom(); g.rc_4.save_eeprom();
} }
static void trim_yaw()
{
for (byte i = 0; i < 30; i++){
read_radio();
}
g.rc_4.trim(); // yaw
}

112
ArduCopter/read_commands.pde
View File

@ -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

6
ArduCopter/setup.pde
View File

@ -132,7 +132,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
return(-1); return(-1);
AP_Var::erase_all(); AP_Var::erase_all();
Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM")); Serial.printf_P(PSTR("\nReboot APM"));
delay(1000); delay(1000);
//default_gains(); //default_gains();
@ -936,7 +936,7 @@ void report_optflow()
static void report_heli() static void report_heli()
{ {
int servo_rate; int servo_rate;
Serial.printf_P(PSTR("Heli\n")); Serial.printf_P(PSTR("Heli\n"));
print_divider(); 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("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("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); 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 // calculate and print servo rate
if( g.heli_servo_averaging <= 1 ) { if( g.heli_servo_averaging <= 1 ) {
servo_rate = 250; servo_rate = 250;

11
ArduCopter/system.pde
View File

@ -83,7 +83,6 @@ static void init_ardupilot()
// //
report_version(); report_version();
// setup IO pins // setup IO pins
pinMode(C_LED_PIN, OUTPUT); // GPS status LED pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED pinMode(A_LED_PIN, OUTPUT); // GPS status LED
@ -143,6 +142,7 @@ static void init_ardupilot()
} }
}else{ }else{
// Load all auto-loaded EEPROM variables // Load all auto-loaded EEPROM variables
AP_Var::load_all(); AP_Var::load_all();
} }
@ -157,7 +157,6 @@ static void init_ardupilot()
// //
Serial3.begin(map_baudrate(g.serial3_baud,SERIAL3_BAUD), 128, 128); Serial3.begin(map_baudrate(g.serial3_baud,SERIAL3_BAUD), 128, 128);
#ifdef RADIO_OVERRIDE_DEFAULTS #ifdef RADIO_OVERRIDE_DEFAULTS
{ {
int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS; int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
@ -216,11 +215,7 @@ static void init_ardupilot()
// //
if (check_startup_for_CLI()) { if (check_startup_for_CLI()) {
digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
Serial.printf_P(PSTR("\n" Serial.printf_P(PSTR("\nCLI:\n\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"));
for (;;) { for (;;) {
//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n")); //Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
main_menu.run(); main_menu.run();
@ -544,6 +539,6 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
case 111: return 111100; case 111: return 111100;
case 115: return 115200; case 115: return 115200;
} }
Serial.println_P(PSTR("Invalid SERIAL3_BAUD")); //Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
return default_baud; return default_baud;
} }

2
ArduCopter/test.pde
View File

@ -29,7 +29,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
static int8_t test_optflow(uint8_t argc, const Menu::arg *argv); static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
#endif #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_eedump(uint8_t argc, const Menu::arg *argv);
static int8_t test_rawgps(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); //static int8_t test_mission(uint8_t argc, const Menu::arg *argv);

190
Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log Normal file
View File

@ -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 <util/delay.h>."
%% 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 <util/delay.h>."
/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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
%% arduino/core.a
%% ArduCopter.elf
%% ArduCopter.eep
%% ArduCopter.hex

674
Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt Normal file
View File

@ -0,0 +1,674 @@
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Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.build.log Normal file
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@ -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
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%% libraries/AP_ADC/AP_ADC_HIL.o
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%% libraries/AP_Common/AP_MetaClass.o
%% libraries/AP_Common/AP_Var.o
%% libraries/AP_Common/AP_Var_menufuncs.o
%% libraries/AP_Common/c++.o
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%% 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 <util/delay.h>."
%% 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 <util/delay.h>."
/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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
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 <util/delay.h>."
%% arduino/core.a
%% ArduCopter.elf
%% ArduCopter.eep
%% ArduCopter.hex

674
Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.size.txt Normal file
View File

@ -0,0 +1,674 @@
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.build.log
View File

@ -1,63 +1,48 @@
%% ArduCopter.cpp %% ArduCopter.cpp
%% ArduCopter.o %% 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: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 /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: 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:467: warning: 'min_coll' 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:467: warning: 'max_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:467: warning: 'min_tail' 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:467: warning: 'max_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:467: 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:467: 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
autogenerated: At global scope: autogenerated: At global scope:
autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
autogenerated:88: warning: 'void send_message(byte, long int)' declared 'static' but never defined autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:82: warning: 'void send_message(byte, const char*)' declared 'static' but never defined /root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
autogenerated:91: warning: 'void print_current_waypoints()' declared 'static' but never defined /root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
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
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' 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:213: 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:183: warning: 'int get_loiter_angle()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:159: warning: 'int get_loiter_angle()' defined but not used autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:217: warning: 'void reset_crosstrack()' defined but not used autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:222: warning: 'long int get_altitude_above_home()' defined but not used autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:243: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
/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:130: 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
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' 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: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/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 /root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:311: warning: 'void init_optflow()' declared 'static' but never defined autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never defined autogenerated:292: 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/test.pde:1028: 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:277: 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:277: 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/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' 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
%% libraries/APM_BMP085/APM_BMP085.o %% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o %% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o %% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.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_IMU/AP_IMU_Oilpan.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28: 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.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 /usr/local/share/arduino/libraries/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()':
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/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
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o %% 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_MaxsonarXL.o
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o %% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
%% libraries/AP_RangeFinder/RangeFinder.o %% libraries/AP_RangeFinder/RangeFinder.o
%% libraries/AP_Relay/AP_Relay.o
%% libraries/DataFlash/DataFlash.o %% libraries/DataFlash/DataFlash.o
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35: 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: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/FastSerial/vprintf.o
%% libraries/GCS_MAVLink/GCS_MAVLink.o %% libraries/GCS_MAVLink/GCS_MAVLink.o
%% libraries/ModeFilter/ModeFilter.o %% libraries/ModeFilter/ModeFilter.o
%% libraries/RC_Channel/RC_Channel_aux.o
%% libraries/RC_Channel/RC_Channel.o %% libraries/RC_Channel/RC_Channel.o
%% libraries/memcheck/memcheck.o %% libraries/memcheck/memcheck.o
%% libraries/FastSerial/ftoa_engine.o %% libraries/FastSerial/ftoa_engine.o

271
Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt
View File

@ -4,19 +4,19 @@
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@ -27,48 +27,51 @@
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.build.log
View File

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%% ArduCopter.cpp %% ArduCopter.cpp
%% ArduCopter.o %% 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: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 /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: 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:467: warning: 'min_coll' 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:467: warning: 'max_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:467: warning: 'min_tail' 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:467: warning: 'max_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:467: 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:467: 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
autogenerated: At global scope: autogenerated: At global scope:
autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
autogenerated:88: warning: 'void send_message(byte, long int)' declared 'static' but never defined autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:82: warning: 'void send_message(byte, const char*)' declared 'static' but never defined /root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
autogenerated:91: warning: 'void print_current_waypoints()' declared 'static' but never defined /root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
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
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' 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:213: 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:183: warning: 'int get_loiter_angle()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:159: warning: 'int get_loiter_angle()' defined but not used autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:217: warning: 'void reset_crosstrack()' defined but not used autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:222: warning: 'long int get_altitude_above_home()' defined but not used autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:243: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
/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:130: 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
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' 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: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/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 /root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:311: warning: 'void init_optflow()' declared 'static' but never defined autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never defined autogenerated:292: 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/test.pde:1028: 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:277: 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:277: 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/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' 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
%% libraries/APM_BMP085/APM_BMP085.o %% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o %% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o %% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.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_IMU/AP_IMU_Oilpan.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28: 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.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 /usr/local/share/arduino/libraries/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
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o %% 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_MaxsonarXL.o
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o %% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
%% libraries/AP_RangeFinder/RangeFinder.o %% libraries/AP_RangeFinder/RangeFinder.o
%% libraries/AP_Relay/AP_Relay.o
%% libraries/DataFlash/DataFlash.o %% libraries/DataFlash/DataFlash.o
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35: 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: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/FastSerial/vprintf.o
%% libraries/GCS_MAVLink/GCS_MAVLink.o %% libraries/GCS_MAVLink/GCS_MAVLink.o
%% libraries/ModeFilter/ModeFilter.o %% libraries/ModeFilter/ModeFilter.o
%% libraries/RC_Channel/RC_Channel_aux.o
%% libraries/RC_Channel/RC_Channel.o %% libraries/RC_Channel/RC_Channel.o
%% libraries/memcheck/memcheck.o %% libraries/memcheck/memcheck.o
%% libraries/FastSerial/ftoa_engine.o %% libraries/FastSerial/ftoa_engine.o

271
Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt
View File

@ -4,19 +4,19 @@
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@ -27,48 +27,51 @@
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@ -77,11 +80,6 @@
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@ -117,24 +114,21 @@
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@ -155,9 +149,8 @@
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19
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -1,12 +1,5 @@
<?xml version="1.0" encoding="utf-8" ?> <?xml version="1.0" encoding="utf-8" ?>
<options> <options>
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/crap-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/crap-2560.hex</url2560>
<name>Please Update</name>
<desc></desc>
<format_version>0</format_version>
</Firmware>
<Firmware> <Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url> <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560> <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
@ -102,7 +95,7 @@
<Firmware> <Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url> <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560> <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
<name>ArduCopter V2.0.43 Beta Heli (2560 only)</name> <name>ArduCopter V2.0.49 Beta Heli (2560 only)</name>
<desc> <desc>
#define AUTO_RESET_LOITER 0 #define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME #define FRAME_CONFIG HELI_FRAME
@ -143,7 +136,7 @@
#define NAV_LOITER_IMAX 10 #define NAV_LOITER_IMAX 10
</desc> </desc>
<format_version>108</format_version> <format_version>111</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url> <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
@ -161,9 +154,9 @@
<format_version>110</format_version> <format_version>110</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-1280.hex</url> <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-2560.hex</url2560> <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
<name>Please Update</name> <name>ArduCopter V2.0.49 Beta Heli Hil</name>
<desc> <desc>
#define HIL_MODE HIL_MODE_ATTITUDE #define HIL_MODE HIL_MODE_ATTITUDE
@ -209,6 +202,6 @@
</desc> </desc>
<format_version>0</format_version> <format_version>111</format_version>
</Firmware> </Firmware>
</options> </options>

27
Tools/ArdupilotMegaPlanner/Firmware/git.log
View File

@ -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

18
libraries/Desktop/Desktop.mk
View File

@ -1,7 +1,7 @@
# #
# Copyright (c) 2010 Andrew Tridgell. All rights reserved. # Copyright (c) 2010 Andrew Tridgell. All rights reserved.
# based on Arduino.mk, Copyright (c) 2010 Michael Smith # based on Arduino.mk, Copyright (c) 2010 Michael Smith
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
# are met: # are met:
@ -10,7 +10,7 @@
# 2. Redistributions in binary form must reproduce the above copyright # 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the # notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution. # documentation and/or other materials provided with the distribution.
# #
# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND # THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
@ -109,7 +109,7 @@ DEPFLAGS = -MD -MT $@
# XXX warning options TBD # XXX warning options TBD
CXXOPTS = -fno-exceptions -D__AVR_ATmega2560__ -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1 CXXOPTS = -fno-exceptions -D__AVR_ATmega2560__ -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
COPTS = -I$(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) CXXFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(CXXOPTS)
CFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(COPTS) CFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(COPTS)
@ -171,12 +171,12 @@ else
endif endif
# these are library objects we don't want in the desktop build (maybe we'll add them later) # 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. # Find sketchbook libraries referenced by the sketch.
# #
# Include paths for sketch libraries # Include paths for sketch libraries
# #
SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS))) SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
SKETCHLIBNAMES := $(notdir $(SKETCHLIBS)) SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
@ -196,10 +196,10 @@ ARDUINOLIBSRCDIRS := $(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS))
ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS)))) ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS))))
ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS)))) ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS))))
ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS)) ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS))
ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES) ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES)
# Library object files # Library object files
LIBOBJS := $(SKETCHLIBOBJS) LIBOBJS := $(SKETCHLIBOBJS)
################################################################################ ################################################################################
# Built products # Built products
@ -212,7 +212,7 @@ SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
# The core library # The core library
CORELIB = CORELIB =
# All of the objects that may be built # All of the objects that may be built
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS) ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS)
@ -338,7 +338,7 @@ $(CORELIB): $(CORELIBOBJS)
# This process strives to be as faithful to the Arduino implementation as # This process strives to be as faithful to the Arduino implementation as
# possible. Conceptually, the process is as follows: # 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. # for the sketch and followed by the others in alphabetical order.
# * An insertion point is created in the concatenated file at # * An insertion point is created in the concatenated file at
# the first statement that isn't a preprocessor directive or comment. # the first statement that isn't a preprocessor directive or comment.

5
libraries/Desktop/Makefile.desktop
View File

@ -3,7 +3,7 @@ DESKTOP=$(PWD)/../libraries/Desktop
include ../libraries/Desktop/Desktop.mk include ../libraries/Desktop/Desktop.mk
default: default:
make -f $(DESKTOP)/Makefile.desktop make -f $(DESKTOP)/Makefile.desktop
nologging: nologging:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DLOGGING_ENABLED=DISABLED" make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DLOGGING_ENABLED=DISABLED"
@ -22,3 +22,6 @@ hilnocli:
heli: heli:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME" 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"