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ArduPlane: Fix 1280 builds

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Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
This commit is contained in:
Amilcar Lucas 2012-08-27 01:33:45 +02:00
parent 769f04b7d6
commit b48a1f1fc4
2 changed files with 56 additions and 0 deletions
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5
ArduPlane/config.h
View File

@ -446,10 +446,13 @@
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
// uses 4174 bytes of memory on 1280 chips (MNT_JSTICK_SPD_OPTION, MNT_RETRACT_OPTION, MNT_STABILIZE_OPTION and MNT_MOUNT2_OPTION disabled)
// uses 7726 bytes of memory on 2560 chips (all options are enabled)
#ifndef MOUNT
# define MOUNT ENABLED
#endif
// second mount, can for example be used to keep an antenna pointed at the home position
#ifndef MOUNT2
# define MOUNT2 DISABLED
#endif
@ -470,6 +473,8 @@
# define GPS_PROTOCOL GPS_PROTOCOL_MTK
# endif
# undef CAMERA
# define CAMERA DISABLED
#endif

51
libraries/AP_Mount/AP_Mount.cpp
View File

@ -5,6 +5,24 @@
#include <AP_Param.h>
#include <AP_Mount.h>
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
#if defined( __AVR_ATmega1280__ )
# define MNT_JSTICK_SPD_OPTION DISABLED // Allow RC joystick to control the speed of the mount movements instead of the position of the mount
# define MNT_RETRACT_OPTION DISABLED // Use a servo to retract the mount inside the fuselage (i.e. for landings)
# define MNT_GPSPOINT_OPTION ENABLED // Point the mount to a GPS point defined via a mouse click in the Mission Planner GUI
# define MNT_STABILIZE_OPTION DISABLED // stabilize camera using frame attitude information
# define MNT_MOUNT2_OPTION DISABLED // second mount, can for example be used to keep an antenna pointed at the home position
#else
# define MNT_JSTICK_SPD_OPTION ENABLED // uses 844 bytes of memory
# define MNT_RETRACT_OPTION ENABLED // uses 244 bytes of memory
# define MNT_GPSPOINT_OPTION ENABLED // uses 580 bytes of memory
# define MNT_STABILIZE_OPTION ENABLED // uses 2424 bytes of memory
# define MNT_MOUNT2_OPTION ENABLED // uses 58 bytes of memory (must also be enabled in APM_Config.h)
#endif
const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Param: MODE
// @DisplayName: Mount operation mode
@ -13,6 +31,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("MODE", 0, AP_Mount, _mount_mode, MAV_MOUNT_MODE_RETRACT), // see MAV_MOUNT_MODE at ardupilotmega.h
#if MNT_RETRACT_OPTION == ENABLED
// @Param: RETRACT
// @DisplayName: Mount retract angles
// @Description: Mount angles when in retract operation mode
@ -21,6 +40,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Increment: 1
// @User: Standard
AP_GROUPINFO("RETRACT", 1, AP_Mount, _retract_angles, 0),
#endif
// @Param: NEUTRAL
// @DisplayName: Mount neutral angles
@ -40,6 +60,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("CONTROL", 3, AP_Mount, _control_angles, 0),
#if MNT_STABILIZE_OPTION == ENABLED
// @Param: STAB_ROLL
// @DisplayName: Stabilize mount roll
// @Description:enable roll stabilisation relative to Earth
@ -60,6 +81,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("STAB_PAN", 6, AP_Mount, _stab_pan, 0),
#endif
// @Param: RC_IN_ROLL
// @DisplayName: roll RC input channel
@ -136,6 +158,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("ANGMAX_PAN", 15, AP_Mount, _pan_angle_max, 4500),
#if MNT_JSTICK_SPD_OPTION == ENABLED
// @Param: JSTICK_SPD
// @DisplayName: mount joystick speed
// @Description: 0 for position control, small for low speeds, 10 for max speed
@ -143,6 +166,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Increment: 1
// @User: Standard
AP_GROUPINFO("JSTICK_SPD", 16, AP_Mount, _joystick_speed, 0),
#endif
AP_GROUPEND
};
@ -164,17 +188,21 @@ AP_Mount::AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs,
// default unknown mount type
_mount_type = k_unknown;
#if MNT_MOUNT2_OPTION == ENABLED
if (id == 0) {
#endif
_roll_idx = RC_Channel_aux::k_mount_roll;
_tilt_idx = RC_Channel_aux::k_mount_tilt;
_pan_idx = RC_Channel_aux::k_mount_pan;
_open_idx = RC_Channel_aux::k_mount_open;
#if MNT_MOUNT2_OPTION == ENABLED
} else {
_roll_idx = RC_Channel_aux::k_mount2_roll;
_tilt_idx = RC_Channel_aux::k_mount2_tilt;
_pan_idx = RC_Channel_aux::k_mount2_pan;
_open_idx = RC_Channel_aux::k_mount2_open;
}
#endif
}
/// Auto-detect the mount gimbal type depending on the functions assigned to the servos
@ -226,6 +254,7 @@ void AP_Mount::update_mount_position()
switch((enum MAV_MOUNT_MODE)_mount_mode.get())
{
#if MNT_RETRACT_OPTION == ENABLED
// move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
case MAV_MOUNT_MODE_RETRACT:
{
@ -235,6 +264,7 @@ void AP_Mount::update_mount_position()
_pan_angle = vec.z;
break;
}
#endif
// move mount to a neutral position, typically pointing forward
case MAV_MOUNT_MODE_NEUTRAL:
@ -260,6 +290,7 @@ void AP_Mount::update_mount_position()
// RC radio manual angle control, but with stabilization from the AHRS
case MAV_MOUNT_MODE_RC_TARGETING:
{
#if MNT_JSTICK_SPD_OPTION == ENABLED
if (_joystick_speed) { // for spring loaded joysticks
// allow pilot speed position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
@ -281,6 +312,7 @@ void AP_Mount::update_mount_position()
if (_pan_control_angle > radians(_pan_angle_max*0.01)) _pan_control_angle = radians(_pan_angle_max*0.01);
}
} else {
#endif
// allow pilot position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
_roll_control_angle = angle_input_rad(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max);
@ -291,11 +323,14 @@ void AP_Mount::update_mount_position()
if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) {
_pan_control_angle = angle_input_rad(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max);
}
#if MNT_JSTICK_SPD_OPTION == ENABLED
}
#endif
stabilize();
break;
}
#if MNT_GPSPOINT_OPTION == ENABLED
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
{
@ -305,11 +340,14 @@ void AP_Mount::update_mount_position()
}
break;
}
#endif
default:
//do nothing
break;
}
#if MNT_RETRACT_OPTION == ENABLED
// move mount to a "retracted position" into the fuselage with a fourth servo
if (g_rc_function[_open_idx]) {
bool mount_open_new = (enum MAV_MOUNT_MODE)_mount_mode.get()==MAV_MOUNT_MODE_RETRACT ? 0 : 1;
@ -318,6 +356,7 @@ void AP_Mount::update_mount_position()
move_servo(g_rc_function[_open_idx], mount_open_new, 0, 1);
}
}
#endif
// write the results to the servos
move_servo(g_rc_function[_roll_idx], _roll_angle*10, _roll_angle_min*0.1, _roll_angle_max*0.1);
@ -359,6 +398,7 @@ void AP_Mount::control_msg(mavlink_message_t *msg)
switch ((enum MAV_MOUNT_MODE)_mount_mode.get())
{
#if MNT_RETRACT_OPTION == ENABLED
case MAV_MOUNT_MODE_RETRACT: // Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization
set_retract_angles(packet.input_b*0.01, packet.input_a*0.01, packet.input_c*0.01);
if (packet.save_position)
@ -366,6 +406,7 @@ void AP_Mount::control_msg(mavlink_message_t *msg)
_retract_angles.save();
}
break;
#endif
case MAV_MOUNT_MODE_NEUTRAL: // Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM
set_neutral_angles(packet.input_b*0.01, packet.input_a*0.01, packet.input_c*0.01);
@ -388,6 +429,7 @@ void AP_Mount::control_msg(mavlink_message_t *msg)
}
break;
#if MNT_GPSPOINT_OPTION == ENABLED
case MAV_MOUNT_MODE_GPS_POINT: // Load neutral position and start to point to Lat,Lon,Alt
Location targetGPSLocation;
targetGPSLocation.lat = packet.input_a;
@ -395,6 +437,7 @@ void AP_Mount::control_msg(mavlink_message_t *msg)
targetGPSLocation.alt = packet.input_c;
set_GPS_target_location(targetGPSLocation);
break;
#endif
case MAV_MOUNT_MODE_ENUM_END:
break;
@ -426,11 +469,13 @@ void AP_Mount::status_msg(mavlink_message_t *msg)
packet.pointing_a = _tilt_angle*100; // degrees*100
packet.pointing_c = _pan_angle*100; // degrees*100
break;
#if MNT_GPSPOINT_OPTION == ENABLED
case MAV_MOUNT_MODE_GPS_POINT: // neutral position and start to point to Lat,Lon,Alt
packet.pointing_a = _target_GPS_location.lat; // latitude
packet.pointing_b = _target_GPS_location.lng; // longitude
packet.pointing_c = _target_GPS_location.alt; // altitude
break;
#endif
case MAV_MOUNT_MODE_ENUM_END:
break;
}
@ -444,11 +489,13 @@ void AP_Mount::status_msg(mavlink_message_t *msg)
/// Set mount point/region of interest, triggered by mission script commands
void AP_Mount::set_roi_cmd(struct Location *target_loc)
{
#if MNT_GPSPOINT_OPTION == ENABLED
// set the target gps location
_target_GPS_location = *target_loc;
// set the mode to GPS tracking mode
set_mode(MAV_MOUNT_MODE_GPS_POINT);
#endif
}
/// Set mount configuration, triggered by mission script commands
@ -501,6 +548,7 @@ AP_Mount::calc_GPS_target_angle(struct Location *target)
void
AP_Mount::stabilize()
{
#if MNT_STABILIZE_OPTION == ENABLED
if (_ahrs) {
// only do the full 3D frame transform if we are doing pan control
if (_stab_pan) {
@ -529,10 +577,13 @@ AP_Mount::stabilize()
}
}
} else {
#endif
_roll_angle = degrees(_roll_control_angle);
_tilt_angle = degrees(_tilt_control_angle);
_pan_angle = degrees(_pan_control_angle);
#if MNT_STABILIZE_OPTION == ENABLED
}
#endif
}
/*
* /// For testing and development. Called in the medium loop.