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Rover: added SERIAL0_BAUD parameter

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This commit is contained in:
Andrew Tridgell 2013-01-18 07:56:32 +11:00
parent 74e3d64e62
commit aff5b1559d
3 changed files with 115 additions and 103 deletions
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206
APMrover2/Parameters.h
View File

@ -55,12 +55,13 @@ public:
k_param_battery_curr_pin, k_param_battery_curr_pin,
// 110: Telemetry control // 110: Telemetry control
// //
k_param_gcs0 = 110, // stream rates for port0 k_param_gcs0 = 110, // stream rates for port0
k_param_gcs3, // stream rates for port3 k_param_gcs3, // stream rates for port3
k_param_sysid_this_mav, k_param_sysid_this_mav,
k_param_sysid_my_gcs, k_param_sysid_my_gcs,
k_param_serial0_baud,
k_param_serial3_baud, k_param_serial3_baud,
k_param_telem_delay, k_param_telem_delay,
@ -78,18 +79,18 @@ public:
k_param_airspeed_ratio, k_param_airspeed_ratio,
k_param_ground_temperature, k_param_ground_temperature,
k_param_ground_pressure, k_param_ground_pressure,
k_param_compass_enabled, k_param_compass_enabled,
k_param_compass, k_param_compass,
k_param_battery_monitoring, k_param_battery_monitoring,
k_param_volt_div_ratio, k_param_volt_div_ratio,
k_param_curr_amp_per_volt, k_param_curr_amp_per_volt,
k_param_input_voltage, k_param_input_voltage,
k_param_pack_capacity, k_param_pack_capacity,
k_param_airspeed_offset, k_param_airspeed_offset,
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
k_param_sonar_enabled, k_param_sonar_enabled,
k_param_sonar_type, k_param_sonar_type,
#endif #endif
#endif #endif
k_param_ahrs, // AHRS group k_param_ahrs, // AHRS group
@ -231,115 +232,116 @@ public:
// 254,255: reserved // 254,255: reserved
}; };
AP_Int16 format_version; AP_Int16 format_version;
AP_Int8 software_type; AP_Int8 software_type;
// Telemetry control // Telemetry control
// //
AP_Int16 sysid_this_mav; AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs; AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud; AP_Int8 serial0_baud;
AP_Int8 telem_delay; AP_Int8 serial3_baud;
AP_Int8 telem_delay;
// Crosstrack navigation // Crosstrack navigation
// //
AP_Float crosstrack_gain; AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle; AP_Int16 crosstrack_entry_angle;
// Estimation // Estimation
// //
AP_Float altitude_mix; AP_Float altitude_mix;
AP_Float airspeed_ratio; AP_Float airspeed_ratio;
AP_Int16 airspeed_offset; AP_Int16 airspeed_offset;
// Waypoints // Waypoints
// //
AP_Int8 waypoint_mode; AP_Int8 waypoint_mode;
AP_Int8 command_total; AP_Int8 command_total;
AP_Int8 command_index; AP_Int8 command_index;
AP_Int8 waypoint_radius; AP_Int8 waypoint_radius;
// Fly-by-wire // Fly-by-wire
// //
AP_Int8 flybywire_airspeed_min; AP_Int8 flybywire_airspeed_min;
AP_Int8 flybywire_airspeed_max; AP_Int8 flybywire_airspeed_max;
AP_Int16 FBWB_min_altitude; AP_Int16 FBWB_min_altitude;
// Throttle // Throttle
// //
AP_Int8 throttle_min; AP_Int8 throttle_min;
AP_Int8 throttle_max; AP_Int8 throttle_max;
AP_Int8 throttle_slewrate; AP_Int8 throttle_slewrate;
AP_Int8 throttle_fs_enabled; AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value; AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise; AP_Int8 throttle_cruise;
// Failsafe // Failsafe
AP_Int8 short_fs_action; AP_Int8 short_fs_action;
AP_Int8 long_fs_action; AP_Int8 long_fs_action;
AP_Int8 gcs_heartbeat_fs_enabled; AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes // Flight modes
// //
AP_Int8 flight_mode_channel; AP_Int8 flight_mode_channel;
AP_Int8 flight_mode1; AP_Int8 flight_mode1;
AP_Int8 flight_mode2; AP_Int8 flight_mode2;
AP_Int8 flight_mode3; AP_Int8 flight_mode3;
AP_Int8 flight_mode4; AP_Int8 flight_mode4;
AP_Int8 flight_mode5; AP_Int8 flight_mode5;
AP_Int8 flight_mode6; AP_Int8 flight_mode6;
// Navigational maneuvering limits // Navigational maneuvering limits
// //
AP_Int16 roll_limit; AP_Int16 roll_limit;
AP_Int16 pitch_limit_max; AP_Int16 pitch_limit_max;
AP_Int16 pitch_limit_min; AP_Int16 pitch_limit_min;
// Misc // Misc
// //
AP_Int8 auto_trim; AP_Int8 auto_trim;
AP_Int16 num_resets; AP_Int16 num_resets;
AP_Int16 log_bitmask; AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan; AP_Int8 reset_switch_chan;
AP_Int8 manual_level; AP_Int8 manual_level;
AP_Int16 airspeed_cruise; AP_Int16 airspeed_cruise;
AP_Int16 min_gndspeed; AP_Int16 min_gndspeed;
AP_Int8 ch7_option; AP_Int8 ch7_option;
AP_Int16 ground_temperature; AP_Int16 ground_temperature;
AP_Int32 ground_pressure; AP_Int32 ground_pressure;
AP_Int8 compass_enabled; AP_Int8 compass_enabled;
AP_Int16 angle_of_attack; AP_Int16 angle_of_attack;
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio; AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt; AP_Float curr_amp_per_volt;
AP_Float input_voltage; AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 rssi_pin; AP_Int8 rssi_pin;
AP_Int8 battery_volt_pin; AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin; AP_Int8 battery_curr_pin;
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
AP_Int8 sonar_enabled; AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range) // 2 = XLL (XL with 10m range)
// 3 = HRLV // 3 = HRLV
#endif #endif
#endif #endif
// ************ ThermoPilot parameters ************************ // ************ ThermoPilot parameters ************************
// - JLN update // - JLN update
AP_Int8 auto_wp_radius; AP_Int8 auto_wp_radius;
AP_Int16 sonar_trigger; AP_Int16 sonar_trigger;
AP_Int16 turn_gain; AP_Int16 turn_gain;
AP_Int8 booster; AP_Int8 booster;
// ************************************************************ // ************************************************************
// RC channels // RC channels
RC_Channel channel_roll; RC_Channel channel_roll;
RC_Channel channel_pitch; RC_Channel channel_pitch;
RC_Channel channel_throttle; RC_Channel channel_throttle;
@ -349,15 +351,15 @@ public:
RC_Channel_aux rc_7; RC_Channel_aux rc_7;
RC_Channel_aux rc_8; RC_Channel_aux rc_8;
// PID controllers // PID controllers
// //
PID pidNavRoll; PID pidNavRoll;
PID pidServoRoll; PID pidServoRoll;
PID pidServoPitch; PID pidServoPitch;
PID pidNavPitchAirspeed; PID pidNavPitchAirspeed;
PID pidServoRudder; PID pidServoRudder;
PID pidTeThrottle; PID pidTeThrottle;
PID pidNavPitchAltitude; PID pidNavPitchAltitude;
Parameters() : Parameters() :
// RC channels // RC channels

9
APMrover2/Parameters.pde
View File

@ -14,11 +14,18 @@
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} } #define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} }
const AP_Param::Info var_info[] PROGMEM = { const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION", 0), GSCALAR(format_version, "FORMAT_VERSION", 1),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID), GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL0_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the first serial port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial0_baud, "SERIAL0_BAUD", SERIAL0_BAUD/1000),
// @Param: SERIAL3_BAUD // @Param: SERIAL3_BAUD
// @DisplayName: Telemetry Baud Rate // @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port // @Description: The baud rate used on the telemetry port

3
APMrover2/system.pde
View File

@ -118,6 +118,9 @@ static void init_ardupilot()
load_parameters(); load_parameters();
// after parameter load setup correct baud rate on uartA
hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
// keep a record of how many resets have happened. This can be // keep a record of how many resets have happened. This can be
// used to detect in-flight resets // used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1); g.num_resets.set_and_save(g.num_resets+1);