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Changed software ID from 0 to 20 for ArduRover V2 Divergence. 

Also changed definition of flight mode 2 from Stabilize to Learning.
This commit is contained in:
Robert Lefebvre 2012-05-14 15:21:29 -04:00
parent 1920bcbe1d
commit a03642df52
15 changed files with 39 additions and 39 deletions
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8
APMrover2/APM_Config.h.reference
View File

@ -263,9 +263,9 @@
// Name | Description
// -----------------+--------------------------------------------
// |
// MANUAL | Full manual control via the hardware multiplexer.
// MANUAL | Full manual control via software.
// |
// STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs.
// LEARNING | Full manual control, used for live waypoint definition via Ch7 toggle.
// |
// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle.
// |
@ -298,8 +298,8 @@
//
//#define FLIGHT_MODE_1 RTL
//#define FLIGHT_MODE_2 RTL
//#define FLIGHT_MODE_3 STABILIZE
//#define FLIGHT_MODE_4 STABILIZE
//#define FLIGHT_MODE_3 LEARNING
//#define FLIGHT_MODE_4 LEARNING
//#define FLIGHT_MODE_5 MANUAL
//#define FLIGHT_MODE_6 MANUAL
//

8
APMrover2/APM_Config_HILmode.h
View File

@ -22,8 +22,8 @@
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 STABILIZE // pos 2
#define FLIGHT_MODE_4 STABILIZE // pos 3 ---
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
@ -39,8 +39,8 @@
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 STABILIZE // pos 2
#define FLIGHT_MODE_4 STABILIZE // pos 3 ---
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---

4
APMrover2/APM_Config_Rover.h
View File

@ -37,8 +37,8 @@
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 STABILIZE // pos 2
#define FLIGHT_MODE_4 STABILIZE // pos 3 ---
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---

2
APMrover2/APM_Config_mavlink_hil.h
View File

@ -10,7 +10,7 @@
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 STABILIZE
#define FLIGHT_MODE_5 LEARNING
#define FLIGHT_MODE_6 MANUAL
// HIL_MODE SELECTION

8
APMrover2/APMrover2.pde
View File

@ -336,7 +336,7 @@ static const char *comma = ",";
static const char* flight_mode_strings[] = {
"Manual",
"Circle",
"Stabilize",
"Learning",
"",
"",
"FBW_A",
@ -846,8 +846,8 @@ static void fast_loop()
// apply desired roll, pitch and yaw to the plane
// ----------------------------------------------
if (control_mode > STABILIZE)
stabilize();
if (control_mode > LEARNING)
learning();
// write out the servo PWM values
// ------------------------------
@ -1133,7 +1133,7 @@ static void update_current_flight_mode(void)
case FLY_BY_WIRE_B:
break;
case STABILIZE:
case LEARNING:
nav_roll = 0;
nav_pitch = 0;
#if X_PLANE == ENABLED

4
APMrover2/Attitude.pde
View File

@ -4,7 +4,7 @@
// Function that controls aileron/rudder, elevator, rudder (if 4 channel control) and throttle to produce desired attitude and airspeed.
//****************************************************************
static void stabilize()
static void learning()
{
// Calculate desired servo output for the turn // Wheels Direction
// ---------------------------------------------
@ -111,7 +111,7 @@ static void set_servos(void)
rc_array[CH_7] = &g.rc_7;
rc_array[CH_8] = &g.rc_8;
if((control_mode == MANUAL) || (control_mode == STABILIZE)){
if((control_mode == MANUAL) || (control_mode == LEARNING)){
// do a direct pass through of radio values
g.channel_roll.radio_out = g.channel_roll.radio_in;
g.channel_pitch.radio_out = g.channel_pitch.radio_in;

16
APMrover2/GCS_Mavlink.pde
View File

@ -44,11 +44,11 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
case MANUAL:
base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case STABILIZE:
case LEARNING:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
case FLY_BY_WIRE_C:
base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
base_mode = MAV_MODE_FLAG_LEARNING_ENABLED;
break;
case AUTO:
case RTL:
@ -56,7 +56,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
case GUIDED:
case CIRCLE:
base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
MAV_MODE_FLAG_STABILIZE_ENABLED;
MAV_MODE_FLAG_LEARNING_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
@ -68,7 +68,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
if (control_mode != MANUAL && control_mode != INITIALISING) {
// stabiliser of some form is enabled
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
base_mode |= MAV_MODE_FLAG_LEARNING_ENABLED;
}
#if ENABLE_STICK_MIXING==ENABLED
@ -165,7 +165,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
case MANUAL:
break;
case STABILIZE:
case LEARNING:
case FLY_BY_WIRE_A:
control_sensors_enabled |= (1<<10); // 3D angular rate control
control_sensors_enabled |= (1<<11); // attitude stabilisation
@ -242,7 +242,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
case MANUAL:
mode = MAV_MODE_MANUAL;
break;
case STABILIZE:
case LEARNING:
mode = MAV_MODE_TEST1;
break;
case FLY_BY_WIRE_A:
@ -1315,7 +1315,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch (packet.custom_mode) {
case MANUAL:
case CIRCLE:
case STABILIZE:
case LEARNING:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
case FLY_BY_WIRE_C:
@ -1346,7 +1346,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_MODE_TEST1:
set_mode(STABILIZE);
set_mode(LEARNING);
break;
case MAV_MODE_TEST2:

2
APMrover2/Parameters.h
View File

@ -24,7 +24,7 @@ public:
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 0; // 0 for APM trunk
static const uint16_t k_software_type = 20; // 0 for APM trunk
enum {
// Layout version number, always key zero.

10
APMrover2/config.h
View File

@ -382,19 +382,19 @@
#endif
#if !defined(FLIGHT_MODE_1)
# define FLIGHT_MODE_1 STABILIZE
# define FLIGHT_MODE_1 LEARNING
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 STABILIZE
# define FLIGHT_MODE_2 LEARNING
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 STABILIZE
# define FLIGHT_MODE_3 LEARNING
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 STABILIZE
# define FLIGHT_MODE_4 LEARNING
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 STABILIZE
# define FLIGHT_MODE_5 LEARNING
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 MANUAL

4
APMrover2/control_modes.pde
View File

@ -77,7 +77,7 @@ if (g.ch7_option == CH7_SAVE_WP){ // set to 1
#endif
CH7_wp_index = 1;
return;
} else if (control_mode == STABILIZE) { // if SW7 is ON in STABILIZE = record the Wp
} else if (control_mode == LEARNING) { // if SW7 is ON in LEARNING = record the Wp
// set the next_WP (home is stored at 0)
// max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain(CH7_wp_index, 1, 100);
@ -113,7 +113,7 @@ if (g.ch7_option == CH7_SAVE_WP){ // set to 1
}else{ // switch is disengaged
if(trim_flag){
trim_flag = false;
if (control_mode == STABILIZE) {
if (control_mode == LEARNING) {
set_mode(RTL);
}
}

2
APMrover2/defines.h
View File

@ -94,7 +94,7 @@
// ----------------
#define MANUAL 0
#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
#define STABILIZE 2
#define LEARNING 2
#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed

4
APMrover2/events.pde
View File

@ -10,7 +10,7 @@ static void failsafe_short_on_event(int fstype)
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case LEARNING:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
set_mode(CIRCLE);
@ -41,7 +41,7 @@ static void failsafe_long_on_event(int fstype)
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case LEARNING:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
case CIRCLE:

2
APMrover2/geofence.pde
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@ -275,7 +275,7 @@ static void geofence_check(bool altitude_check_only)
if (control_mode == MANUAL && g.auto_trim) {
// make sure we don't auto trim the surfaces on this change
control_mode = STABILIZE;
control_mode = LEARNING;
}
set_mode(GUIDED);

2
APMrover2/setup.pde
View File

@ -224,7 +224,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
while (
mode != MANUAL &&
mode != CIRCLE &&
mode != STABILIZE &&
mode != LEARNING &&
mode != FLY_BY_WIRE_A &&
mode != FLY_BY_WIRE_B &&
mode != AUTO &&

2
APMrover2/system.pde
View File

@ -355,7 +355,7 @@ static void set_mode(byte mode)
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case LEARNING:
case CIRCLE:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B: