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AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.

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This commit is contained in:
Andreas M. Antonopoulos 2012-07-16 11:46:43 -07:00
parent 9e4d118fdb
commit a976a59c88
4 changed files with 41 additions and 20 deletions
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17
ArduCopter/APM_Config.h
View File

@ -109,20 +109,3 @@
// #define MOT_6 CH_4 // #define MOT_6 CH_4
// #define MOT_7 CH_7 // #define MOT_7 CH_7
// #define MOT_8 CH_8 // #define MOT_8 CH_8
///
//
// AP_Limits
//
//
// Enable/disable AP_Limits
#define AP_LIMITS ENABLED
// Use PIN for displaying LIMITS status. 0 is disabled.
#define LIMITS_TRIGGERED_PIN 0
// PWM of "on" state for LIM_CHANNEL
#define LIMITS_ENABLE_PWM 1800

2
ArduCopter/ArduCopter.pde
View File

@ -1291,7 +1291,7 @@ static void fifty_hz_loop()
static void slow_loop() static void slow_loop()
{ {
#ifdef AP_LIMITS #if AP_LIMITS == ENABLED
// Run the AP_Limits main loop // Run the AP_Limits main loop
limits_loop(); limits_loop();

4
ArduCopter/GCS_Mavlink.pde
View File

@ -93,7 +93,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
omega.z); omega.z);
} }
#ifdef AP_LIMITS #if AP_LIMITS == ENABLED
static NOINLINE void send_limits_status(mavlink_channel_t chan) static NOINLINE void send_limits_status(mavlink_channel_t chan)
{ {
limits_send_mavlink_status(chan); limits_send_mavlink_status(chan);
@ -585,7 +585,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_statustext(chan); send_statustext(chan);
break; break;
#ifdef AP_LIMITS #if AP_LIMITS == ENABLED
case MSG_LIMITS_STATUS: case MSG_LIMITS_STATUS:
CHECK_PAYLOAD_SIZE(LIMITS_STATUS); CHECK_PAYLOAD_SIZE(LIMITS_STATUS);

38
ArduCopter/config.h
View File

@ -962,6 +962,44 @@
# define ALLOW_RC_OVERRIDE DISABLED # define ALLOW_RC_OVERRIDE DISABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
#ifndef AP_LIMITS
#define AP_LIMITS ENABLED
#endif
// Use PIN for displaying LIMITS status. 0 is disabled.
#ifndef LIMITS_TRIGGERED_PIN
#define LIMITS_TRIGGERED_PIN 0
#endif
// PWM of "on" state for LIM_CHANNEL
#ifndef LIMITS_ENABLE_PWM
#define LIMITS_ENABLE_PWM 1800
#endif
#ifndef LIM_ENABLED
#define LIM_ENABLED 0
#endif
#ifndef LIM_ALT_ON
#define LIM_ALT_ON 0
#endif
#ifndef LIM_FNC_ON
#define LIM_FNC_ON 0
#endif
#ifndef LIM_GPSLCK_ON
#define LIM_GPSLCK_ON 0
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Developer Items // Developer Items
// //