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Added voltage divider, input voltage and amps per volt to parameters.

This commit is contained in:
Janne M 2011-09-13 23:00:28 +03:00
parent 80d5c6ac15
commit b5cfbd10ae
2 changed files with 27 additions and 18 deletions
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37
ArduPlane/Parameters.h
View File

@ -18,10 +18,10 @@ public:
// by newer code. // by newer code.
// //
static const uint16_t k_format_version = 12; static const uint16_t k_format_version = 12;
// The parameter software_type is set up solely for ground station use // The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega) // and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use // GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches. // 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 = 0; // 0 for APM trunk
@ -70,7 +70,7 @@ public:
k_param_flap_2_speed, k_param_flap_2_speed,
k_param_num_resets, k_param_num_resets,
// 110: Telemetry control // 110: Telemetry control
// //
k_param_streamrates_port0 = 110, k_param_streamrates_port0 = 110,
@ -95,10 +95,13 @@ public:
k_param_compass_enabled, k_param_compass_enabled,
k_param_compass, k_param_compass,
k_param_battery_monitoring, k_param_battery_monitoring,
k_param_pack_capacity, k_param_volt_div_ratio,
k_param_airspeed_offset, k_param_curr_amp_per_volt,
k_param_sonar_enabled, k_param_input_voltage,
k_param_airspeed_enabled, k_param_pack_capacity,
k_param_airspeed_offset,
k_param_sonar_enabled,
k_param_airspeed_enabled,
// //
// 150: Navigation parameters // 150: Navigation parameters
@ -129,7 +132,7 @@ public:
k_param_throttle_fs_enabled, k_param_throttle_fs_enabled,
k_param_throttle_fs_value, k_param_throttle_fs_value,
k_param_throttle_cruise, k_param_throttle_cruise,
k_param_short_fs_action, k_param_short_fs_action,
k_param_long_fs_action, k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled, k_param_gcs_heartbeat_fs_enabled,
@ -222,13 +225,13 @@ public:
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 serial3_baud;
// Feed-forward gains // Feed-forward gains
// //
AP_Float kff_pitch_compensation; AP_Float kff_pitch_compensation;
@ -268,7 +271,7 @@ public:
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;
@ -308,6 +311,9 @@ public:
AP_Int8 compass_enabled; AP_Int8 compass_enabled;
AP_Int16 angle_of_attack; AP_Int16 angle_of_attack;
AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 sonar_enabled; AP_Int8 sonar_enabled;
@ -377,7 +383,7 @@ public:
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")), throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")), throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
short_fs_action (SHORT_FAILSAFE_ACTION, k_param_short_fs_action, PSTR("FS_SHORT_ACTN")), short_fs_action (SHORT_FAILSAFE_ACTION, k_param_short_fs_action, PSTR("FS_SHORT_ACTN")),
long_fs_action (LONG_FAILSAFE_ACTION, k_param_long_fs_action, PSTR("FS_LONG_ACTN")), long_fs_action (LONG_FAILSAFE_ACTION, k_param_long_fs_action, PSTR("FS_LONG_ACTN")),
gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE, k_param_gcs_heartbeat_fs_enabled, PSTR("FS_GCS_ENABL")), gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE, k_param_gcs_heartbeat_fs_enabled, PSTR("FS_GCS_ENABL")),
@ -412,9 +418,12 @@ public:
flap_1_speed (FLAP_1_SPEED, k_param_flap_1_speed, PSTR("FLAP_1_SPEED")), flap_1_speed (FLAP_1_SPEED, k_param_flap_1_speed, PSTR("FLAP_1_SPEED")),
flap_2_percent (FLAP_2_PERCENT, k_param_flap_2_percent, PSTR("FLAP_2_PERCNT")), flap_2_percent (FLAP_2_PERCENT, k_param_flap_2_percent, PSTR("FLAP_2_PERCNT")),
flap_2_speed (FLAP_2_SPEED, k_param_flap_2_speed, PSTR("FLAP_2_SPEED")), flap_2_speed (FLAP_2_SPEED, k_param_flap_2_speed, PSTR("FLAP_2_SPEED")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")), battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")),
curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")),
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")), pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")), inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")), sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),

8
ArduPlane/defines.h
View File

@ -72,7 +72,7 @@
#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_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 #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
#define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed #define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed
// Fly By Wire B and Fly By Wire C require airspeed sensor // Fly By Wire B and Fly By Wire C require airspeed sensor
#define AUTO 10 #define AUTO 10
#define RTL 11 #define RTL 11
#define LOITER 12 #define LOITER 12
@ -105,7 +105,7 @@
/// NOTE: to ensure we never block on sending MAVLink messages /// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be /// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same /// create new MSG_ IDs for additional messages on the same
/// stream /// stream
#define MSG_ACKNOWLEDGE 0x00 #define MSG_ACKNOWLEDGE 0x00
#define MSG_HEARTBEAT 0x01 #define MSG_HEARTBEAT 0x01
#define MSG_ATTITUDE 0x02 #define MSG_ATTITUDE 0x02
@ -220,9 +220,9 @@
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from #define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO #define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(INPUT_VOLTAGE/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT #define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor #define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
#define BATTERY_PIN1 0 // These are the pins for the voltage dividers #define BATTERY_PIN1 0 // These are the pins for the voltage dividers