mirror of https://github.com/ArduPilot/ardupilot
Consolidating APO.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1691 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert
parent
33a720bbaa
commit
a329aa18fe
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@ -1,21 +0,0 @@
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/*
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* AP_Controller.cpp
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* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Controller.h"
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// vim:ts=4:sw=4:expandtab
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@ -1,249 +0,0 @@
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/*
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* AP_Controller.h
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* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_Controller_H
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#define AP_Controller_H
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#include <AP_Common.h>
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#include <AP_Vector.h>
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#include <AP_Var.h>
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#include <AP_RcChannel.h>
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#include <APM_RC.h>
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/// Block
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class Block
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{
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public:
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Block() :
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_input(), _output()
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{
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}
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virtual void update(const float & dt) = 0;
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virtual void connect( Block * block)
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{
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if (!block) return;
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for (int i=0;block->getOutput().getSize();i++)
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_input.push_back(block->getOutput()[i]);
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}
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const Vector < AP_Float * > & getOutput() const { return _output; }
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protected:
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Vector< const AP_Float * > _input;
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Vector< AP_Float * > _output;
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};
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/// Servo Block
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class ToServo: public Block
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{
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public:
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ToServo(AP_RcChannel * ch) : _ch(ch)
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{
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}
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// doesn't connect
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virtual void connect(Block * block) {};
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virtual void update(const float & dt = 0)
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{
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if (_input.getSize() > 0)
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{
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_ch->setNormalized(_input[0]->get());
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}
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}
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private:
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float _position;
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AP_RcChannel * _ch;
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};
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/// SumGain
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class SumGain : public Block
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{
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public:
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/// Constructor that allows 1-8 sum gain pairs, more
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/// can be added if necessary
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SumGain(
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AP_Float & var1 = AP_Float_zero, AP_Float & gain1 = AP_Float_zero,
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AP_Float & var2 = AP_Float_zero, AP_Float & gain2 = AP_Float_zero,
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AP_Float & var3 = AP_Float_zero, AP_Float & gain3 = AP_Float_zero,
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AP_Float & var4 = AP_Float_zero, AP_Float & gain4 = AP_Float_zero,
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AP_Float & var5 = AP_Float_zero, AP_Float & gain5 = AP_Float_zero,
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AP_Float & var6 = AP_Float_zero, AP_Float & gain6 = AP_Float_zero,
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AP_Float & var7 = AP_Float_zero, AP_Float & gain7 = AP_Float_zero,
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AP_Float & var8 = AP_Float_zero, AP_Float & gain8 = AP_Float_zero)
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{
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if ( (&var1 != &AP_Float_zero) && (&gain1 != &AP_Float_zero) ) add(var1,gain1);
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if ( (&var2 != &AP_Float_zero) && (&gain2 != &AP_Float_zero) ) add(var2,gain2);
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if ( (&var3 != &AP_Float_zero) && (&gain3 != &AP_Float_zero) ) add(var3,gain3);
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if ( (&var4 != &AP_Float_zero) && (&gain4 != &AP_Float_zero) ) add(var4,gain4);
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if ( (&var5 != &AP_Float_zero) && (&gain5 != &AP_Float_zero) ) add(var5,gain5);
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if ( (&var6 != &AP_Float_zero) && (&gain6 != &AP_Float_zero) ) add(var6,gain6);
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if ( (&var7 != &AP_Float_zero) && (&gain7 != &AP_Float_zero) ) add(var7,gain7);
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if ( (&var8 != &AP_Float_zero) && (&gain8 != &AP_Float_zero) ) add(var8,gain8);
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// create output
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_output.push_back(new AP_Float(0));
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}
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void add(AP_Float & var, AP_Float & gain)
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{
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_input.push_back(&var);
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_gain.push_back(&gain);
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}
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virtual void update(const float & dt = 0)
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{
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if (_output.getSize() < 1) return;
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float sum =0;
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for (int i=0;i<_input.getSize();i++) sum += _input[i]->get() * _gain[i]->get() ;
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_output[0]->set(sum);
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}
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private:
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Vector< AP_Float * > _gain;
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};
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/// PID block
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class Pid : public Block, public AP_Var_group
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{
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public:
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Pid(AP_Var::Key key, const prog_char * name,
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float kP = 0.0,
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float kI = 0.0,
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float kD = 0.0,
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float iMax = 0.0,
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uint8_t dFcut = 20.0
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) :
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AP_Var_group(key,name),
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_kP(this,1,kP,PSTR("P")),
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_kI(this,2,kI,PSTR("I")),
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_kD(this,3,kD,PSTR("D")),
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_iMax(this,4,iMax,PSTR("IMAX")),
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_fCut(this,5,dFcut,PSTR("FCUT"))
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{
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_output.push_back(new AP_Float(0));
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}
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virtual void update(const float & dt)
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{
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if (_output.getSize() < 1 || (!_input[0]) || (!_output[0]) ) return;
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// derivative with low pass
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float RC = 1/(2*M_PI*_fCut); // low pass filter
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_eD = _eD + ( ( _eP - _input[0]->get() )/dt - _eD ) * (dt / (dt + RC));
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// proportional, note must come after derivative
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// because derivatve uses _eP as previous value
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_eP = _input[0]->get();
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// integral
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_eI += _eP*dt;
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// wind up guard
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if (_eI > _iMax) _eI = _iMax;
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else if (_eI < -_iMax) _eI = -_iMax;
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// pid sum
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_output[0]->set(_kP*_eP + _kI*_eI + _kD*_eD);
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// debug output
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/*Serial.println("kP, kI, kD: ");
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Serial.print(_kP,5); Serial.print(" ");
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Serial.print(_kI,5); Serial.print(" ");
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Serial.println(_kD,5);
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Serial.print("eP, eI, eD: ");
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Serial.print(_eP,5); Serial.print(" ");
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Serial.print(_eI,5); Serial.print(" ");
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Serial.println(_eD,5);
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Serial.print("input: ");
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Serial.println(_input[0]->get(),5);
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Serial.print("output: ");
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Serial.println(_output[0]->get(),5);*/
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}
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private:
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float _eP; /// input
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float _eI; /// integral of input
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float _eD; /// derivative of input
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AP_Float _kP; /// proportional gain
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AP_Float _kI; /// integral gain
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AP_Float _kD; /// derivative gain
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AP_Float _iMax; /// integrator saturation
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AP_Uint8 _fCut; /// derivative low-pass cut freq (Hz)
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};
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/// Sink block
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/// saves input port to variable
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class Sink : public Block
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{
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public:
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Sink(AP_Float & var, uint8_t port=0) :
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_var(var), _port(port)
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{
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}
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virtual void update(const float & dt)
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{
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_var = _input[_port]->get();
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}
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// doesn't connect
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virtual void connect(Block * block) {}
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private:
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AP_Float & _var;
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uint8_t _port;
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};
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/// Saturate block
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/// Constrains output to a range
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class Saturate : public Block
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{
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public:
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Saturate(AP_Float & min, AP_Float & max, uint8_t port=0) :
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_min(min), _max(max), _port(port)
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{
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}
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virtual void update(const float & dt)
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{
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float u = _input[_port]->get();
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if (u>_max) u = _max;
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if (u<_min) u = _min;
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_output[_port]->set(u);
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}
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private:
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uint8_t _port;
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AP_Float & _min;
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AP_Float & _max;
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};
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/// Controller class
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class AP_Controller
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{
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public:
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void addBlock(Block * block)
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{
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if (_blocks.getSize() > 0)
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block->connect(_blocks[_blocks.getSize()-1]);
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_blocks.push_back(block);
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}
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void update(const double dt)
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{
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for (int i=0;i<_blocks.getSize();i++)
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{
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if (!_blocks[i]) continue;
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_blocks[i]->update(dt);
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}
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}
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private:
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Vector<Block * > _blocks;
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};
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#endif // AP_Controller_H
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// vim:ts=4:sw=4:expandtab
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@ -1,110 +0,0 @@
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#include <FastSerial.h>
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#include <AP_Controller.h>
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#include <AP_Var.h>
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#include <AP_RcChannel.h>
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#include <APM_RC.h>
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FastSerialPort0(Serial);
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class CarController : public AP_Controller
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{
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private:
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// state
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AP_Float & velocity;
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AP_Float & heading;
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// control variables
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AP_Float & headingCommand;
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AP_Float & velocityCommand;
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// channels
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AP_RcChannel * steeringCh;
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AP_RcChannel * throttleCh;
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public:
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CarController(AP_Var::Key pidStrKey, AP_Var::Key pidThrKey,
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AP_Float & heading, AP_Float & velocity,
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AP_Float & headingCommand, AP_Float & velocityCommand,
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AP_RcChannel * steeringCh, AP_RcChannel * throttleCh) :
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heading(heading), velocity(velocity),
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headingCommand(headingCommand), velocityCommand(velocityCommand),
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steeringCh(steeringCh), throttleCh(throttleCh)
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{
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// steering control loop
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addBlock(new SumGain(headingCommand,AP_Float_unity,heading,AP_Float_negative_unity));
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addBlock(new Pid(pidStrKey,PSTR("STR"),1,1,1,1,20));
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addBlock(new ToServo(steeringCh));
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// throttle control loop
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addBlock(new SumGain(velocityCommand,AP_Float_unity,velocity,AP_Float_negative_unity));
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addBlock(new Pid(pidThrKey,PSTR("THR"),1,1,1,1,20));
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addBlock(new ToServo(throttleCh));
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}
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};
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AP_Controller * controller;
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Vector<AP_RcChannel * > ch;
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AP_Float heading, velocity; // measurements
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AP_Float headingCommand, velocityCommand; // guidance data
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int8_t sign = 1;
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float value = 0;
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enum keys
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{
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config,
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chStrKey,
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chThrKey,
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pidStrKey,
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pidThrKey
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};
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void setup()
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{
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Serial.begin(115200);
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// variables
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heading = 0;
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velocity = 0;
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headingCommand = 0;
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velocityCommand = 0;
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// rc channels
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APM_RC.Init();
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ch.push_back(new AP_RcChannel(chStrKey,PSTR("STR"),APM_RC,1,45));
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ch.push_back(new AP_RcChannel(chThrKey,PSTR("THR"),APM_RC,2,45));
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// controller
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controller = new CarController(pidStrKey,pidThrKey,heading,velocity,headingCommand,velocityCommand,ch[0],ch[1]);
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}
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void loop()
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{
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// loop rate 20 Hz
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delay(1000.0/20);
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// feedback signal, 1/3 Hz sawtooth
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if (value > 1)
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{
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value = 1;
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sign = -1;
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}
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else if (value < -1)
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{
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value = -1;
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sign = 1;
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}
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value += sign/20.0/3.0;
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velocity = value;
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heading = value;
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// update controller
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controller->update(1./20);
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// output
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Serial.printf("hdng:%f\tcmd:(%f)\tservo:%f\t", heading.get(),headingCommand.get(), ch[0]->getNormalized());
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Serial.printf("| thr:%f\tcmd:(%f)\tservo:%f\n", velocity.get(), velocityCommand.get(), ch[1]->getNormalized());
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}
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// vim:ts=4:sw=4:expandtab
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@ -1,130 +0,0 @@
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/*
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AP_RcChannel.cpp - Radio library for Arduino
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Code by Jason Short, James Goppert. DIYDrones.com
|
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|
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This library is free software; you can redistribute it and / or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
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*/
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#include <math.h>
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#include <avr/eeprom.h>
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#include "AP_RcChannel.h"
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#include <AP_Common.h>
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AP_RcChannel::AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
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const float & scale, const float & center,
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const uint16_t & pwmMin,
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const uint16_t & pwmNeutral, const uint16_t & pwmMax,
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const uint16_t & pwmDeadZone,
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const bool & filter, const bool & reverse) :
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AP_Var_group(key,name),
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_rc(rc),
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ch(this,0,ch,PSTR("CH")),
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scale(this,1,scale,PSTR("SCALE")),
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center(this,2,center,PSTR("CENTER")),
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pwmMin(this,3,pwmMin,PSTR("PMIN")),
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pwmMax(this,4,pwmMax,PSTR("PMAX")),
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pwmNeutral(this,5,pwmNeutral,PSTR("PNTRL")),
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pwmDeadZone(this,6,pwmDeadZone,PSTR("PDEAD")),
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filter(this,7,filter,PSTR("FLTR")),
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reverse(this,8,reverse,PSTR("REV")),
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_pwm(0)
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{
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setNormalized(0.0);
|
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}
|
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|
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void AP_RcChannel::readRadio() {
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// apply reverse
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uint16_t pwmRadio = _rc.InputCh(ch);
|
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setPwm(pwmRadio);
|
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}
|
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|
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void
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AP_RcChannel::setPwm(uint16_t pwm)
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{
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//Serial.printf("pwm in setPwm: %d\n", pwm);
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//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
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// apply reverse
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if(reverse) pwm = int16_t(pwmNeutral-pwm) + pwmNeutral;
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//Serial.printf("pwm after reverse: %d\n", pwm);
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// apply filter
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if(filter){
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if(_pwm == 0)
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_pwm = pwm;
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else
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_pwm = ((pwm + _pwm) >> 1); // Small filtering
|
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}else{
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_pwm = pwm;
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}
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||||
|
||||
//Serial.printf("pwm after filter: %d\n", _pwm);
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// apply deadzone
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_pwm = (abs(_pwm - pwmNeutral) < pwmDeadZone) ? uint16_t(pwmNeutral) : _pwm;
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//Serial.printf("pwm after deadzone: %d\n", _pwm);
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_rc.OutputCh(ch,_pwm);
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}
|
||||
|
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void
|
||||
AP_RcChannel::setPosition(float position)
|
||||
{
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if (position > scale) position = scale;
|
||||
else if (position < -scale) position = -scale;
|
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setPwm(_positionToPwm(position));
|
||||
}
|
||||
|
||||
void
|
||||
AP_RcChannel::setNormalized(float normPosition)
|
||||
{
|
||||
setPosition(normPosition*scale);
|
||||
}
|
||||
|
||||
void
|
||||
AP_RcChannel::mixRadio(uint16_t infStart)
|
||||
{
|
||||
uint16_t pwmRadio = _rc.InputCh(ch);
|
||||
float inf = abs( int16_t(pwmRadio - pwmNeutral) );
|
||||
inf = min(inf, infStart);
|
||||
inf = ((infStart - inf) /infStart);
|
||||
setPwm(_pwm*inf + pwmRadio);
|
||||
}
|
||||
|
||||
uint16_t
|
||||
AP_RcChannel::_positionToPwm(const float & position)
|
||||
{
|
||||
uint16_t pwm;
|
||||
//Serial.printf("position: %f\n", position);
|
||||
float p = position - center;
|
||||
if(p < 0)
|
||||
pwm = p * int16_t(pwmNeutral - pwmMin) /
|
||||
scale + pwmNeutral;
|
||||
else
|
||||
pwm = p * int16_t(pwmMax - pwmNeutral) /
|
||||
scale + pwmNeutral;
|
||||
constrain(pwm,uint16_t(pwmMin),uint16_t(pwmMax));
|
||||
return pwm;
|
||||
}
|
||||
|
||||
float
|
||||
AP_RcChannel::_pwmToPosition(const uint16_t & pwm)
|
||||
{
|
||||
float position;
|
||||
if(pwm < pwmNeutral)
|
||||
position = scale * int16_t(pwm - pwmNeutral)/
|
||||
int16_t(pwmNeutral - pwmMin) + center;
|
||||
else
|
||||
position = scale * int16_t(pwm - pwmNeutral)/
|
||||
int16_t(pwmMax - pwmNeutral) + center;
|
||||
constrain(position,center-scale,center+scale);
|
||||
return position;
|
||||
}
|
||||
|
||||
// ------------------------------------------
|
||||
|
|
@ -1,68 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/// @file AP_RcChannel.h
|
||||
/// @brief AP_RcChannel manager
|
||||
|
||||
#ifndef AP_RcChannel_h
|
||||
#define AP_RcChannel_h
|
||||
|
||||
#include <stdint.h>
|
||||
#include <APM_RC.h>
|
||||
#include <AP_Common.h>
|
||||
#include <AP_Var.h>
|
||||
|
||||
/// @class AP_RcChannel
|
||||
/// @brief Object managing one RC channel
|
||||
class AP_RcChannel : public AP_Var_group {
|
||||
|
||||
public:
|
||||
|
||||
/// Constructor
|
||||
AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
|
||||
const float & scale=45.0, const float & center=0.0,
|
||||
const uint16_t & pwmMin=1200,
|
||||
const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800,
|
||||
const uint16_t & pwmDeadZone=10,
|
||||
const bool & filter=false, const bool & reverse=false);
|
||||
|
||||
// configuration
|
||||
AP_Uint8 ch;
|
||||
AP_Float scale;
|
||||
AP_Float center;
|
||||
AP_Uint16 pwmMin;
|
||||
AP_Uint16 pwmNeutral;
|
||||
AP_Uint16 pwmMax;
|
||||
AP_Uint16 pwmDeadZone;
|
||||
AP_Bool filter;
|
||||
AP_Bool reverse;
|
||||
|
||||
// set
|
||||
void readRadio();
|
||||
void setPwm(uint16_t pwm);
|
||||
void setPosition(float position);
|
||||
void setNormalized(float normPosition);
|
||||
void mixRadio(uint16_t infStart);
|
||||
|
||||
// get
|
||||
uint16_t getPwm() { return _pwm; }
|
||||
float getPosition() { return _pwmToPosition(_pwm); }
|
||||
float getNormalized() { return getPosition()/scale; }
|
||||
|
||||
// did our read come in 50µs below the min?
|
||||
bool failSafe() { _pwm < (pwmMin - 50); }
|
||||
|
||||
private:
|
||||
|
||||
// configuration
|
||||
const char * _name;
|
||||
APM_RC_Class & _rc;
|
||||
|
||||
// internal states
|
||||
uint16_t _pwm; // this is the internal state, position is just created when needed
|
||||
|
||||
// private methods
|
||||
uint16_t _positionToPwm(const float & position);
|
||||
float _pwmToPosition(const uint16_t & pwm);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -1,94 +0,0 @@
|
|||
/*
|
||||
Example of RC_Channel library.
|
||||
Code by James Goppert/ Jason Short. 2010
|
||||
DIYDrones.com
|
||||
|
||||
*/
|
||||
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
|
||||
#include <APM_RC.h>
|
||||
#include <AP_Vector.h>
|
||||
|
||||
FastSerialPort0(Serial); // make sure this proceeds variable declarations
|
||||
|
||||
// test settings
|
||||
|
||||
class RadioTest
|
||||
{
|
||||
private:
|
||||
float testPosition;
|
||||
int8_t testSign;
|
||||
enum
|
||||
{
|
||||
version,
|
||||
rollKey,
|
||||
pitchKey,
|
||||
thrKey,
|
||||
yawKey,
|
||||
ch5Key,
|
||||
ch6Key,
|
||||
ch7Key,
|
||||
ch8Key
|
||||
};
|
||||
Vector<AP_RcChannel *> ch;
|
||||
public:
|
||||
RadioTest() : testPosition(2), testSign(1)
|
||||
{
|
||||
ch.push_back(new AP_RcChannel(rollKey,PSTR("ROLL"),APM_RC,1,45));
|
||||
ch.push_back(new AP_RcChannel(pitchKey,PSTR("PITCH"),APM_RC,2,45));
|
||||
ch.push_back(new AP_RcChannel(thrKey,PSTR("THR"),APM_RC,3,100));
|
||||
ch.push_back(new AP_RcChannel(yawKey,PSTR("YAW"),APM_RC,4,45));
|
||||
ch.push_back(new AP_RcChannel(ch5Key,PSTR("CH5"),APM_RC,5,1));
|
||||
ch.push_back(new AP_RcChannel(ch6Key,PSTR("CH6"),APM_RC,6,1));
|
||||
ch.push_back(new AP_RcChannel(ch7Key,PSTR("CH7"),APM_RC,7,1));
|
||||
ch.push_back(new AP_RcChannel(ch8Key,PSTR("CH8"),APM_RC,8,1));
|
||||
|
||||
Serial.begin(115200);
|
||||
delay(2000);
|
||||
Serial.println("ArduPilot RC Channel test");
|
||||
APM_RC.Init(); // APM Radio initialization
|
||||
delay(2000);
|
||||
}
|
||||
|
||||
void update()
|
||||
{
|
||||
// read the radio
|
||||
for (int i=0;i<ch.getSize();i++) ch[i]->readRadio();
|
||||
|
||||
// print channel names
|
||||
Serial.print("\t\t");
|
||||
static char name[7];
|
||||
for (int i=0;i<ch.getSize();i++)
|
||||
{
|
||||
ch[i]->copy_name(name,7);
|
||||
Serial.printf("%7s\t",name);
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
// print pwm
|
||||
Serial.printf("pwm :\t");
|
||||
for (int i=0;i<ch.getSize();i++) Serial.printf("%7d\t",ch[i]->getPwm());
|
||||
Serial.println();
|
||||
|
||||
// print position
|
||||
Serial.printf("position :\t");
|
||||
for (int i=0;i<ch.getSize();i++) Serial.printf("%7.2f\t",ch[i]->getPosition());
|
||||
Serial.println();
|
||||
|
||||
delay(500);
|
||||
}
|
||||
};
|
||||
|
||||
RadioTest * test;
|
||||
|
||||
void setup()
|
||||
{
|
||||
test = new RadioTest;
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
test->update();
|
||||
}
|
||||
|
|
@ -1,113 +0,0 @@
|
|||
/*
|
||||
Example of RC_Channel library.
|
||||
Code by James Goppert/ Jason Short. 2010
|
||||
DIYDrones.com
|
||||
|
||||
*/
|
||||
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
|
||||
#include <APM_RC.h>
|
||||
#include <AP_Vector.h>
|
||||
|
||||
FastSerialPort0(Serial); // make sure this proceeds variable declarations
|
||||
|
||||
// test settings
|
||||
|
||||
class RadioTest
|
||||
{
|
||||
private:
|
||||
float testPosition;
|
||||
int8_t testSign;
|
||||
enum
|
||||
{
|
||||
version,
|
||||
rollKey,
|
||||
pitchKey,
|
||||
thrKey,
|
||||
yawKey,
|
||||
ch5Key,
|
||||
ch6Key,
|
||||
ch7Key,
|
||||
ch8Key
|
||||
};
|
||||
Vector<AP_RcChannel *> ch;
|
||||
public:
|
||||
RadioTest() : testPosition(2), testSign(1)
|
||||
{
|
||||
ch.push_back(new AP_RcChannel(rollKey,PSTR("ROLL"),APM_RC,1,45));
|
||||
ch.push_back(new AP_RcChannel(pitchKey,PSTR("PITCH"),APM_RC,2,45));
|
||||
ch.push_back(new AP_RcChannel(thrKey,PSTR("THR"),APM_RC,3,100));
|
||||
ch.push_back(new AP_RcChannel(yawKey,PSTR("YAW"),APM_RC,4,45));
|
||||
ch.push_back(new AP_RcChannel(ch5Key,PSTR("CH5"),APM_RC,5,1));
|
||||
ch.push_back(new AP_RcChannel(ch6Key,PSTR("CH6"),APM_RC,6,1));
|
||||
ch.push_back(new AP_RcChannel(ch7Key,PSTR("CH7"),APM_RC,7,1));
|
||||
ch.push_back(new AP_RcChannel(ch8Key,PSTR("CH8"),APM_RC,8,1));
|
||||
|
||||
Serial.begin(115200);
|
||||
delay(2000);
|
||||
Serial.println("ArduPilot RC Channel test");
|
||||
APM_RC.Init(); // APM Radio initialization
|
||||
delay(2000);
|
||||
}
|
||||
|
||||
void update()
|
||||
{
|
||||
// update test value
|
||||
testPosition += testSign*.1;
|
||||
if (testPosition > 1)
|
||||
{
|
||||
//eepromRegistry.print(Serial); // show eeprom map
|
||||
testPosition = 1;
|
||||
testSign = -1;
|
||||
}
|
||||
else if (testPosition < -1)
|
||||
{
|
||||
testPosition = -1;
|
||||
testSign = 1;
|
||||
}
|
||||
|
||||
// set channel positions
|
||||
for (int i=0;i<ch.getSize();i++) ch[i]->setNormalized(testPosition);
|
||||
|
||||
// print test position
|
||||
Serial.printf("\nnormalized position (%f)\n",testPosition);
|
||||
|
||||
// print channel names
|
||||
Serial.print("\t\t");
|
||||
static char name[7];
|
||||
for (int i=0;i<ch.getSize();i++)
|
||||
{
|
||||
ch[i]->copy_name(name,7);
|
||||
Serial.printf("%7s\t",name);
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
// print pwm
|
||||
Serial.printf("pwm :\t");
|
||||
for (int i=0;i<ch.getSize();i++) Serial.printf("%7d\t",ch[i]->getPwm());
|
||||
Serial.println();
|
||||
|
||||
// print position
|
||||
Serial.printf("position :\t");
|
||||
for (int i=0;i<ch.getSize();i++) Serial.printf("%7.2f\t",ch[i]->getPosition());
|
||||
Serial.println();
|
||||
|
||||
delay(500);
|
||||
}
|
||||
};
|
||||
|
||||
RadioTest * test;
|
||||
|
||||
void setup()
|
||||
{
|
||||
test = new RadioTest;
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
test->update();
|
||||
}
|
||||
|
||||
// vim:ts=4:sw=4:expandtab
|
||||
Loading…
Reference in New Issue