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Copter: fixed SITL for ArduCopter

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This commit is contained in:
Andrew Tridgell 2012-12-18 21:15:11 +11:00
parent c20481dc94
commit 9e986801c9
10 changed files with 50 additions and 61 deletions
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20
ArduCopter/ArduCopter.pde
View File

@ -67,6 +67,7 @@
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_Empty.h>
// Application dependencies
#include <GCS_MAVLink.h> // MAVLink GCS definitions
@ -97,6 +98,7 @@
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_Limits.h>
#include <memcheck.h>
#include <SITL.h>
// AP_HAL to Arduino compatibility layer
#include "compat.h"
@ -123,15 +125,7 @@ AP_HAL::BetterStream* cliSerial;
// AP_HAL instance
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
const AP_HAL::HAL& hal = AP_HAL_AVR_SITL;
#include <SITL.h>
SITL sitl;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
////////////////////////////////////////////////////////////////////////////////
@ -192,14 +186,17 @@ AP_ADC_ADS7844 adc;
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins;
#else
#elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
AP_InertialSensor_Oilpan ins(&adc);
#elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
AP_InertialSensor_Stub ins;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// When building for SITL we use the HIL barometer and compass drivers
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
SITL sitl;
#else
// Otherwise, instantiate a real barometer and compass driver
#if CONFIG_BARO == AP_BARO_BMP085
@ -995,9 +992,6 @@ void loop()
}
}
} else {
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
usleep(1000);
#endif
if (timer - fast_loopTimer < 9) {
// we have some spare cycles available
// less than 10ms has passed. We have at least one millisecond

12
ArduCopter/GCS.h
View File

@ -61,20 +61,12 @@ public:
void send_message(enum ap_message id) {
}
/// Send a text message.
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text(gcs_severity severity, const char *str) {
}
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text(gcs_severity severity, const prog_char_t *str) {
void send_text_P(gcs_severity severity, const prog_char_t *str) {
}
// send streams which match frequency range
@ -110,7 +102,7 @@ public:
void init(AP_HAL::UARTDriver *port);
void send_message(enum ap_message id);
void send_text(gcs_severity severity, const char *str);
void send_text(gcs_severity severity, const prog_char_t *str);
void send_text_P(gcs_severity severity, const prog_char_t *str);
void data_stream_send(void);
void queued_param_send();
void queued_waypoint_send();

39
ArduCopter/GCS_Mavlink.pde
View File

@ -194,8 +194,10 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
static void NOINLINE send_meminfo(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
extern unsigned __brkval;
mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
#endif
}
static void NOINLINE send_location(mavlink_channel_t chan)
@ -252,7 +254,7 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
ahrs.get_error_yaw());
}
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
@ -260,7 +262,6 @@ static void NOINLINE send_simstate(mavlink_channel_t chan)
}
#endif
#ifndef DESKTOP_BUILD
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
@ -268,8 +269,6 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
board_voltage(),
hal.i2c->lockup_count());
}
#endif
static void NOINLINE send_gps_raw(mavlink_channel_t chan)
{
@ -639,17 +638,15 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_SIMSTATE:
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
#endif
break;
case MSG_HWSTATUS:
#ifndef DESKTOP_BUILD
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan);
#endif
break;
case MSG_RETRY_DEFERRED:
@ -955,13 +952,7 @@ GCS_MAVLINK::send_message(enum ap_message id)
}
void
GCS_MAVLINK::send_text(gcs_severity severity, const char *str)
{
mavlink_send_text(chan,severity,str);
}
void
GCS_MAVLINK::send_text(gcs_severity severity, const prog_char_t *str)
GCS_MAVLINK::send_text_P(gcs_severity severity, const prog_char_t *str)
{
mavlink_statustext_t m;
uint8_t i;
@ -1062,7 +1053,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text(SEVERITY_LOW,PSTR("command received: "));
send_text_P(SEVERITY_LOW,PSTR("command received: "));
switch(packet.command) {
@ -1642,7 +1633,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
msg->compid,
type);
send_text(SEVERITY_LOW,PSTR("flight plan received"));
send_text_P(SEVERITY_LOW,PSTR("flight plan received"));
waypoint_receiving = false;
// XXX ignores waypoint radius for individual waypoints, can
// only set WP_RADIUS parameter
@ -1944,7 +1935,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet);
if (packet.count != geofence_limit.fence_total()) {
send_text(SEVERITY_LOW,PSTR("bad fence point"));
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
} else {
Vector2l point;
point.x = packet.lat*1.0e7;
@ -1960,7 +1951,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
if (packet.idx >= geofence_limit.fence_total()) {
send_text(SEVERITY_LOW,PSTR("bad fence point"));
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
} else {
Vector2l point = geofence_limit.get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send(chan, 0, 0, packet.idx, geofence_limit.fence_total(),
@ -2111,19 +2102,11 @@ static void gcs_update(void)
}
}
static void gcs_send_text(gcs_severity severity, const char *str)
{
gcs0.send_text(severity, str);
if (gcs3.initialised) {
gcs3.send_text(severity, str);
}
}
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
{
gcs0.send_text(severity, str);
gcs0.send_text_P(severity, str);
if (gcs3.initialised) {
gcs3.send_text(severity, str);
gcs3.send_text_P(severity, str);
}
}

3
ArduCopter/Makefile
View File

@ -42,9 +42,6 @@ apm2hexa: apm2
apm2beta: EXTRAFLAGS += "-DAPM2_BETA_HARDWARE "
apm2beta: apm2
sitl: HAL_BOARD = "HAL_BOARD_AVR_SITL"
sitl: all
sitl-octa: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_FRAME "
sitl-octa: sitl

3
ArduCopter/Parameters.h
View File

@ -58,6 +58,9 @@ public:
// simulation
k_param_sitl = 10,
// barometer object (needed for SITL)
k_param_barometer,
// Misc
//
k_param_log_bitmask = 20,

4
ArduCopter/Parameters.pde
View File

@ -577,10 +577,12 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
GOBJECT(sitl, "SIM_", SITL),
#endif
GOBJECT(barometer, "GND_", AP_Baro),
//@Group: LIM_
//@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp
GOBJECT(limits, "LIM_", AP_Limits),

21
ArduCopter/config.h
View File

@ -64,6 +64,13 @@
# else // APM2 Production Hardware (default)
# define CONFIG_BARO AP_BARO_MS5611
# endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define CONFIG_IMU_TYPE CONFIG_IMU_SITL
# define CONFIG_PUSHBUTTON DISABLED
# define CONFIG_RELAY DISABLED
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
@ -157,6 +164,18 @@
# define USB_MUX_PIN 23
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define SLIDE_SWITCH_PIN (-1)
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
# define USB_MUX_PIN -1
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#endif
////////////////////////////////////////////////////////////////////////////////
@ -179,7 +198,7 @@
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED

3
ArduCopter/defines.h
View File

@ -410,8 +410,9 @@ enum gcs_severity {
#define NOINLINE __attribute__((noinline))
// IMU selection
#define CONFIG_IMU_OILPAN 1
#define CONFIG_IMU_OILPAN 1
#define CONFIG_IMU_MPU6000 2
#define CONFIG_IMU_SITL 3
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2

4
ArduCopter/motors.pde
View File

@ -104,7 +104,7 @@ static void init_arm_motors()
failsafe_disable();
//cliSerial->printf("\nARM\n");
#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
#endif
@ -170,7 +170,7 @@ static void init_arm_motors()
static void init_disarm_motors()
{
#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif

2
ArduCopter/system.pde
View File

@ -625,7 +625,6 @@ void flash_leds(bool on)
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*/
@ -633,7 +632,6 @@ uint16_t board_voltage(void)
{
return board_vcc_analog_source->read_latest();
}
#endif
/*
force a software reset of the APM