mirror of https://github.com/ArduPilot/ardupilot
refactoring of code beginning
git-svn-id: https://arducopter.googlecode.com/svn/trunk@533 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
CaranchoEngineering
parent
241fd41289
commit
9d8ea2563f
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@ -4,7 +4,7 @@
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An Open Source Arduino based multicopter.
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File : Arducopter.pde
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Version : v1.0, Aug 27, 2010
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Version : v0.1, October 2010
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Author(s): ArduCopter Team
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Ted Carancho (AeroQuad), Jose Julio, Jordi Muñoz,
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Jani Hirvinen, Ken McEwans, Roberto Navoni,
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@ -35,23 +35,11 @@
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/* GPS_UBLOX or GPS_NMEA or GPS_MTK : GPS library [optional] */
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/* ********************************************************************** */
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/* ********************************************************************** *
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ChangeLog:
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* *********************************************************************** *
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TODO:
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* *********************************************************************** */
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - MODULES ******************** */
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/* ************************************************************ */
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/* User definable modules */
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// Comment out with // modules that you are not using
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//#define IsGPS // Do we have a GPS connected
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@ -59,34 +47,18 @@ TODO:
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//#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
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//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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//#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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//#define UseAirspeed
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//#define UseBMP
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
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// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
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#define Ser0 // FTDI/USB Port Either one
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//#define Ser3 // Telemetry port
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//#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
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/**********************************************/
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// Not in use yet, starting to work with battery monitors and pressure sensors.
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// Added 19-08-2010
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//#define UseAirspeed
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//#define UseBMP
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
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/**********************************************/
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// Frame build condiguration
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#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
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//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - INCLUDES ******************* */
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/* ************************************************************ */
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@ -100,72 +72,79 @@ TODO:
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <APM_Compass.h> // ArduPilot Mega Magnetometer Library
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//#include "defines.h"
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//#include "console.h"
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#include <Wire.h> // I2C Communication library
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#ifdef UseBMP
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#endif
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//#include <GPS_IMU.h> // ArduPilot IMU/SIM GPS Library
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#include <GPS_MTK.h> // ArduPilot MTK GPS Library
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//#include <GPS_UBLOX.h> // ArduPilot Ublox GPS Library
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//#include <GPS_NMEA.h> // ArduPilot NMEA GPS library
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// EEPROM storage for user configurable values
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#include <EEPROM.h> // EEPROM
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#include "Arducopter.h"
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#include "ArduUser.h"
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// GPS
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#include <GPS_MTK.h> // ArduPilot MTK GPS Library
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//#include <GPS_IMU.h> // ArduPilot IMU/SIM GPS Library
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//#include <GPS_UBLOX.h> // ArduPilot Ublox GPS Library
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//#include <GPS_NMEA.h> // ArduPilot NMEA GPS library
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/* Software version */
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#define VER 1.40 // Current software version (only numeric values)
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#define VER 0.1 // Current software version (only numeric values)
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/* ************************************************************ */
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/* ************* MAIN PROGRAM - DECLARATIONS ****************** */
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/* ************************************************************ */
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#define ROLL 0
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#define PITCH 1
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#define YAW 2
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#define XAXIS 0
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#define YAXIS 1
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#define ZAXIS 2
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#define GYROZ 0
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#define GYROX 1
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#define GYROY 2
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#define ACCELX 3
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#define ACCELY 4
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#define ACCELZ 5
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#define LASTSENSOR 6
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int rawADC[6];
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int zeroADC[6];
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int dataADC[6];
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byte channel;
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int sensorSign[6] = {1, 1, 1, 1, 1, 1}; // GYROZ, GYROX, GYROY, ACCELX, ACCELY, ACCELZ
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#define STABLE 0
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#define ACRO 1
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byte flightMode;
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unsigned long currentTime, previousTime, deltaTime;
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unsigned long sensorLoop = 0;
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unsigned long controlLoop = 0;
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unsigned long radioLoop = 0;
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unsigned long motorLoop = 0;
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - SETUP ********************** */
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/* ************************************************************ */
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void setup() {
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//APM_Init_IO();
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APM_Init();
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//APM_Init_ADC();
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//APM_Init_Radio();
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//APM_Init_Serial();
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//APM_Init_xx
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// Just add this in now and edit later
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int i, j;
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float aux_float[3];
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pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
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pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
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pinMode(LED_Green,OUTPUT); //Green LED C (PC0)
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pinMode(SW1_pin,INPUT); //Switch SW1 (pin PG0)
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pinMode(RELE_pin,OUTPUT); // Rele output
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digitalWrite(RELE_pin,LOW);
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APM_RC.Init(); // APM Radio initialization
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// APM Radio initialization
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APM_RC.Init();
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// RC channels Initialization (Quad motors)
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APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
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APM_RC.OutputCh(1,MIN_THROTTLE);
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APM_RC.OutputCh(2,MIN_THROTTLE);
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APM_RC.OutputCh(3,MIN_THROTTLE);
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// delay(1000); // Wait until frame is not moving after initial power cord has connected
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for(i = 0; i <= 50; i++) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, HIGH);
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}
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APM_ADC.Init(); // APM ADC library initialization
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DataFlash.Init(); // DataFlash log initialization
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#ifdef IsGPS
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GPS.Init(); // GPS Initialization
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#ifdef IsNEWMTEK
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delay(250);
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// DIY Drones MTEK GPS needs binary sentences activated if you upgraded to latest firmware.
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// If your GPS shows solid blue but LED C (Red) does not go on, your GPS is on NMEA mode
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Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
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#endif
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#endif
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readUserConfig(); // Load user configurable items from EEPROM
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// Safety measure for Channel mids
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if(roll_mid < 1400 || roll_mid > 1600) roll_mid = 1500;
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if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500;
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if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500;
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if (MAGNETOMETER == 1)
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APM_Compass.Init(); // I2C initialization
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DataFlash.StartWrite(1); // Start a write session on page 1
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SerBeg(SerBau); // Initialize SerialXX.port, IsXBEE define declares which port
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#ifndef CONFIGURATOR
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SerPri("ArduCopter Quadcopter v");
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SerPriln(VER)
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SerPri("Serial ready on port: "); // Printout greeting to selecter serial port
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SerPriln(SerPor); // Printout serial port name
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#endif
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// Check if we enable the DataFlash log Read Mode (switch)
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// If we press switch 1 at startup we read the Dataflash eeprom
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while (digitalRead(SW1_pin)==0)
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{
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while (digitalRead(SW1_pin)==0) {
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SerPriln("Entering Log Read Mode...");
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Log_Read(1,2000);
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delay(30000);
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}
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Read_adc_raw();
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delay(10);
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#ifdef IsGPS
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GPS.Init(); // GPS Initialization
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#ifdef IsNEWMTEK
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delay(250);
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// DIY Drones MTEK GPS needs binary sentences activated if you upgraded to latest firmware.
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// If your GPS shows solid blue but LED C (Red) does not go on, your GPS is on NMEA mode
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Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
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#endif
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#endif
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// Offset values for accels and gyros...
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AN_OFFSET[3] = acc_offset_x;
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AN_OFFSET[4] = acc_offset_y;
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AN_OFFSET[5] = acc_offset_z;
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aux_float[0] = gyro_offset_roll;
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aux_float[1] = gyro_offset_pitch;
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aux_float[2] = gyro_offset_yaw;
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readUserConfig(); // Load user configurable items from EEPROM
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j = 0;
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// Take the gyro offset values
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for(i=0;i<300;i++)
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{
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Read_adc_raw();
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for(int y=0; y<=2; y++) // Read initial ADC values for gyro offset.
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{
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aux_float[y]=aux_float[y]*0.8 + AN[y]*0.2;
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//SerPri(AN[y]);
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//SerPri(",");
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}
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//SerPriln();
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Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],ch_throttle);
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delay(10);
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if (MAGNETOMETER == 1)
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APM_Compass.Init(); // I2C initialization
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// Runnings lights effect to let user know that we are taking mesurements
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if(j == 0) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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}
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else if (j == 1) {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, LOW);
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}
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else {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, HIGH);
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}
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if((i % 5) == 0) j++;
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if(j >= 3) j = 0;
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}
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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for(int y=0; y<=2; y++)
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AN_OFFSET[y]=aux_float[y];
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// Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
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#ifndef CONFIGURATOR
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for(i=0;i<6;i++)
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{
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SerPri("AN[]:");
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SerPriln(AN_OFFSET[i]);
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}
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SerPri("Yaw neutral value:");
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// SerPriln(Neutro_yaw);
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SerPri(yaw_mid);
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#endif
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delay(1000);
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DataFlash.StartWrite(1); // Start a write session on page 1
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timer = millis();
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tlmTimer = millis();
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Read_adc_raw(); // Initialize ADC readings...
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delay(20);
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#ifdef IsAM
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// Switch Left & Right lights on
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digitalWrite(RI_LED, HIGH);
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digitalWrite(LE_LED, HIGH);
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#endif
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calibrateSensors();
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previousTime = millis();
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motorArmed = 0;
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digitalWrite(LED_Green,HIGH); // Ready to go...
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}
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@ -306,21 +195,39 @@ void setup() {
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/* ************************************************************ */
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/* ************** MAIN PROGRAM - MAIN LOOP ******************** */
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/* ************************************************************ */
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// fast rate
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// read sensors
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// update attitude
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// motor control
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// medium rate
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// read transmitter
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// magnetometer
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// barometer
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// slow rate
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// external command/telemetry
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// GPS
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void loop() {
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// We want this to execute at 500Hz if possible
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// -------------------------------------------
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if (millis()-fast_loopTimer > 5) {
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deltaMiliSeconds = millis() - fast_loopTimer;
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G_Dt = (float)deltaMiliSeconds / 1000.0f;
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fast_loopTimer = millis();
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mainLoop_count++;
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// Execute the fast loop
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// ---------------------
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// fast_loop();
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// - PWM Updates
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// - Stabilization
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// - Altitude correction
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if(FL_mode == 0) { // Changed for variable
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currentTime = millis();
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deltaTime = currentTime - previousTime;
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G_Dt = deltaTime / 1000.0;
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previousTime = currentTime;
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// Read Sensors **************************************************
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if (currentTime > sensorLoop + 2) { // 500Hz (every 2ms)
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for (channel = GYROZ; channel < LASTSENSOR; channel++) {
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dataADC[channel] = readADC(channel); // defined in Sensors.pde
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}
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sensorLoop = currentTime;
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}
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// Update ArduCopter Control *************************************
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if (currentTime > controlLoop + 5) { // 200Hz (every 5ms)
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if(flightMode == STABLE) { // Changed for variable
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gled_speed = 1200;
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Attitude_control_v3();
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}
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@ -330,6 +237,15 @@ void loop() {
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// Reset yaw, so if we change to stable mode we continue with the actual yaw direction
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command_rx_yaw = ToDeg(yaw);
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}
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controlLoop = currentTime;
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}
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// Execute the fast loop
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// ---------------------
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// fast_loop();
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// - PWM Updates
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// - Stabilization
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// - Altitude correction
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// Execute the medium loop
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// -----------------------
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@ -33,30 +33,6 @@ TODO:
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* ************************************************************** */
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/* ******* ADC functions ********************* */
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// Read all the ADC channles
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void Read_adc_raw(void)
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{
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int temp;
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for (int i=0;i<6;i++)
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AN[i] = APM_ADC.Ch(sensors[i]);
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// Correction for non ratiometric sensor (test code)
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gyro_temp = APM_ADC.Ch(3);
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//AN[0] += 1500-temp;
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//AN[1] += 1500-temp;
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//AN[2] += 1500-temp;
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}
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// Returns an analog value with the offset
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int read_adc(int select)
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{
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if (SENSOR_SIGN[select]<0)
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return (AN_OFFSET[select]-AN[select]);
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else
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return (AN[select]-AN_OFFSET[select]);
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}
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/* ******************************************* */
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/* ******* DCM IMU functions ********************* */
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@ -23,12 +23,45 @@
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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* ************************************************************** *
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ChangeLog:
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* ************************************************************** *
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TODO:
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* ************************************************************** */
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int readADC(byte channel) {
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if (sensorSign[channel] < 0)
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return (zeroADC[channel] - APM_ADC.Ch(channel));
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else
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return (APM_ADC.Ch(channel) - zeroADC[channel]);
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}
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void calibrateSensors(void) {
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int j = 0;
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// Take the gyro offset values
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for(int i=0;i<300;i++) {
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for (channel = GYROZ; channel < LASTSENSOR; channel++) {
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rawADC[channel] = APM_ADC.Ch(channel);
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zeroADC[channel] = (zeroADC[channel] * 0.8) + (rawADC[channel] * 0.2);
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Log_Write_Sensor(rawADC[GYROZ], rawADC[GYROX], rawADC[GYROY], rawADC[ACCELX], rawADC[ACCELY], rawADC[ACCELZ], receiverData[THROTTLE]);
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}
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delay(5);
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// Runnings lights effect to let user know that we are taking mesurements
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if(j == 0) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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}
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else if (j == 1) {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, LOW);
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}
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else {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, HIGH);
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}
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if((i % 5) == 0) j++;
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if(j >= 3) j = 0;
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}
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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}
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Reference in New Issue