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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Jason Short 2011-10-15 13:09:18 -07:00
parent 142707711e 35268cf6b9
commit b8e7eac346
37 changed files with 449 additions and 383 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/ArduPlane.pde
View File

@ -483,7 +483,7 @@ static void fast_loop()
#if HIL_MODE == HIL_MODE_SENSORS
// update hil before dcm update
hil.update();
gcs_update();
#endif
dcm.update_DCM();

6
ArduPlane/GCS_Mavlink.pde
View File

@ -1401,8 +1401,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// TODO: check scaling for temp/absPress
float temp = 70;
float absPress = 1;
// Serial.printf_P(PSTR("accel:\t%d\t%d\t%d\n"), packet.xacc, packet.yacc, packet.zacc);
// Serial.printf_P(PSTR("gyro:\t%d\t%d\t%d\n"), packet.xgyro, packet.ygyro, packet.zgyro);
//Serial.printf_P(PSTR("accel: %d %d %d\n"), packet.xacc, packet.yacc, packet.zacc);
//Serial.printf_P(PSTR("gyro: %d %d %d\n"), packet.xgyro, packet.ygyro, packet.zgyro);
// rad/sec
Vector3f gyros;
@ -1432,7 +1432,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// set pressure hil sensor
// TODO: check scaling
float temp = 70;
barometer.setHIL(temp,packet.press_diff1);
barometer.setHIL(temp,packet.press_diff1 + 101325);
break;
}
#endif // HIL_MODE

18
ArduPlane/config.h
View File

@ -83,24 +83,6 @@
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#endif
// If we are in XPlane, diasble the mag
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
// check xplane settings
#if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
// MAGNETOMETER not supported by XPLANE
# undef MAGNETOMETER
# define MAGNETOMETER DISABLED
# if HIL_MODE != HIL_MODE_ATTITUDE
# error HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE
# endif
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//

2
ArduPlane/sensors.pde
View File

@ -22,7 +22,7 @@ static void init_barometer(void)
for(int i = 0; i < 30; i++){ // We take some readings...
#if HIL_MODE == HIL_MODE_SENSORS
hil.update(); // look for inbound hil packets
gcs_update(); // look for inbound hil packets
#endif
barometer.Read(); // Get initial data from absolute pressure sensor

39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
autogenerated: At global scope:
autogenerated:107: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:117: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
autogenerated:119: warning: 'void decrement_WP_index()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:208: warning: 'void debug_motors()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:182: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:183: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:210: warning: 'void debug_motors()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
autogenerated:229: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:230: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:231: warning: 'void reset_crosstrack()' declared 'static' but never defined
autogenerated:231: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:232: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:233: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:256: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:187: warning: 'void trim_yaw()' defined but not used
autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:245: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:246: warning: 'void parseCommand(char*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
autogenerated:249: warning: 'long int read_baro_filtered()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
autogenerated:261: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:262: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:269: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:270: warning: 'int read_num_from_serial()' declared 'static' but never defined
autogenerated:263: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:264: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:271: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:272: warning: 'int read_num_from_serial()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:284: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
autogenerated:286: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
@ -45,6 +47,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

5
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt
View File

@ -572,9 +572,9 @@
0000010a t send_raw_imu2(mavlink_channel_t)
0000010a t test_gps(unsigned char, Menu::arg const*)
0000010c t test_current(unsigned char, Menu::arg const*)
0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
00000112 t set_next_WP(Location*)
00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
00000118 t set_command_with_index(Location, int)
@ -600,6 +600,7 @@
000001be t arm_motors()
000001cc t start_new_log()
000001e4 t setup_flightmodes(unsigned char, Menu::arg const*)
000001e6 t verify_nav_wp()
000001ea t init_home()
00000210 t setup_motors(unsigned char, Menu::arg const*)
00000216 t set_mode(unsigned char)
@ -622,4 +623,4 @@
00000870 t process_next_command()
000008f4 W Parameters::Parameters()
000012ec T GCS_MAVLINK::handleMessage(__mavlink_message*)
00001bc4 T loop
000019f6 T loop

39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
autogenerated: At global scope:
autogenerated:107: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:117: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
autogenerated:119: warning: 'void decrement_WP_index()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:208: warning: 'void debug_motors()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:182: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:183: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:210: warning: 'void debug_motors()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
autogenerated:229: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:230: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:231: warning: 'void reset_crosstrack()' declared 'static' but never defined
autogenerated:231: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:232: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:233: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:256: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:187: warning: 'void trim_yaw()' defined but not used
autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:245: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:246: warning: 'void parseCommand(char*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
autogenerated:249: warning: 'long int read_baro_filtered()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
autogenerated:261: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:262: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:269: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:270: warning: 'int read_num_from_serial()' declared 'static' but never defined
autogenerated:263: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:264: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:271: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:272: warning: 'int read_num_from_serial()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:284: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
autogenerated:286: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
@ -45,6 +47,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

5
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt
View File

@ -572,9 +572,9 @@
0000010a t send_raw_imu2(mavlink_channel_t)
0000010a t test_gps(unsigned char, Menu::arg const*)
0000010c t test_current(unsigned char, Menu::arg const*)
0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
00000112 t set_next_WP(Location*)
00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
00000118 t set_command_with_index(Location, int)
@ -599,6 +599,7 @@
000001a8 t print_radio_values()
000001be t arm_motors()
000001cc t start_new_log()
000001e4 t verify_nav_wp()
000001e4 t setup_flightmodes(unsigned char, Menu::arg const*)
000001ea t init_home()
00000210 t setup_motors(unsigned char, Menu::arg const*)
@ -622,4 +623,4 @@
00000870 t process_next_command()
000008f4 W Parameters::Parameters()
000012ec T GCS_MAVLINK::handleMessage(__mavlink_message*)
00001bc2 T loop
000019f6 T loop

55
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log
View File

@ -14,41 +14,43 @@ autogenerated: At global scope:
autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
autogenerated:103: warning: 'void Log_Write_Raw()' declared 'static' but never defined
autogenerated:107: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:109: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/Log.pde:738: warning: 'void Log_Write_Attitude()' defined but not used
autogenerated:117: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:105: warning: 'void Log_Write_Raw()' declared 'static' but never defined
autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined
autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used
autogenerated:119: warning: 'void decrement_WP_index()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:208: warning: 'void debug_motors()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:182: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:183: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:210: warning: 'void debug_motors()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
autogenerated:229: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:230: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:231: warning: 'void reset_crosstrack()' declared 'static' but never defined
autogenerated:231: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:232: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:233: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:256: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:187: warning: 'void trim_yaw()' defined but not used
autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:245: warning: 'void ReadSCP1000()' declared 'static' but never defined
autogenerated:246: warning: 'void init_barometer()' declared 'static' but never defined
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
autogenerated:248: warning: 'long int read_barometer()' declared 'static' but never defined
autogenerated:249: warning: 'void read_airspeed()' declared 'static' but never defined
autogenerated:250: warning: 'void zero_airspeed()' declared 'static' but never defined
autogenerated:261: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:262: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:269: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:270: warning: 'int read_num_from_serial()' declared 'static' but never defined
autogenerated:245: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:246: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:247: warning: 'void ReadSCP1000()' declared 'static' but never defined
autogenerated:248: warning: 'void init_barometer()' declared 'static' but never defined
autogenerated:249: warning: 'long int read_baro_filtered()' declared 'static' but never defined
autogenerated:250: warning: 'long int read_barometer()' declared 'static' but never defined
autogenerated:251: warning: 'void read_airspeed()' declared 'static' but never defined
autogenerated:252: warning: 'void zero_airspeed()' declared 'static' but never defined
autogenerated:263: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:264: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:271: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:272: warning: 'int read_num_from_serial()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:284: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
autogenerated:286: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:336: warning: 'old_altitude' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:354: warning: 'abs_pressure' defined but not used
@ -64,6 +66,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
/root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

7
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt
View File

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55
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log
View File

@ -14,41 +14,43 @@ autogenerated: At global scope:
autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
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autogenerated:105: warning: 'void Log_Write_Raw()' declared 'static' but never defined
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autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
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autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:245: warning: 'void ReadSCP1000()' declared 'static' but never defined
autogenerated:246: warning: 'void init_barometer()' declared 'static' but never defined
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@ -64,6 +66,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

7
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt
View File

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39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
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autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

5
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt
View File

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39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
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autogenerated:271: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
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autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
autogenerated:286: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
@ -45,6 +47,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

5
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt
View File

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39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
autogenerated: At global scope:
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autogenerated:117: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
autogenerated:119: warning: 'void decrement_WP_index()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
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autogenerated:181: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:182: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:183: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
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autogenerated:233: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:256: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
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autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:245: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:246: warning: 'void parseCommand(char*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
autogenerated:249: warning: 'long int read_baro_filtered()' declared 'static' but never defined
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autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never defined
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/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
@ -45,6 +47,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

3
Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.size.txt
View File

@ -601,6 +601,7 @@
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39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
autogenerated: At global scope:
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@ -45,6 +47,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

3
Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.size.txt
View File

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39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

5
Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt
View File

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00001904 T loop

39
Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log
View File

@ -7,36 +7,38 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
autogenerated: At global scope:
autogenerated:107: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:117: warning: 'void decrement_WP_index()' declared 'static' but never defined
autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
autogenerated:119: warning: 'void decrement_WP_index()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:208: warning: 'void debug_motors()' declared 'static' but never defined
autogenerated:181: warning: 'void heli_init_swash()' declared 'static' but never defined
autogenerated:182: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
autogenerated:183: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
autogenerated:210: warning: 'void debug_motors()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
autogenerated:229: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:230: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:231: warning: 'void reset_crosstrack()' declared 'static' but never defined
autogenerated:231: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
autogenerated:232: warning: 'long int cross_track_test()' declared 'static' but never defined
autogenerated:233: warning: 'void reset_crosstrack()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:256: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:187: warning: 'void trim_yaw()' defined but not used
autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:245: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:246: warning: 'void parseCommand(char*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
autogenerated:249: warning: 'long int read_baro_filtered()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
autogenerated:261: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:262: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:269: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:270: warning: 'int read_num_from_serial()' declared 'static' but never defined
autogenerated:263: warning: 'void report_heli()' declared 'static' but never defined
autogenerated:264: warning: 'void report_gyro()' declared 'static' but never defined
autogenerated:271: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:272: warning: 'int read_num_from_serial()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:284: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
autogenerated:286: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
@ -45,6 +47,7 @@ autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never de
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_BMP085/APM_BMP085_hil.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o

5
Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt
View File

@ -572,9 +572,9 @@
0000010a t send_raw_imu2(mavlink_channel_t)
0000010a t test_gps(unsigned char, Menu::arg const*)
0000010c t test_current(unsigned char, Menu::arg const*)
0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
00000112 t set_next_WP(Location*)
00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
00000118 t set_command_with_index(Location, int)
@ -600,6 +600,7 @@
000001a8 t print_radio_values()
000001be t arm_motors()
000001cc t start_new_log()
000001e4 t verify_nav_wp()
000001e4 t setup_flightmodes(unsigned char, Menu::arg const*)
000001ea t init_home()
00000216 t set_mode(unsigned char)
@ -622,4 +623,4 @@
00000870 t process_next_command()
000008f4 W Parameters::Parameters()
000012ec T GCS_MAVLINK::handleMessage(__mavlink_message*)
00001ad0 T loop
00001904 T loop

51
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -160,4 +160,55 @@
</desc>
<format_version>110</format_version>
</Firmware>
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-2560.hex</url2560>
<name>Please Update</name>
<desc>
#define HIL_MODE HIL_MODE_ATTITUDE
#define ALLOW_RC_OVERRIDE ENABLED
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10
</desc>
<format_version>0</format_version>
</Firmware>
</options>

45
Tools/ArdupilotMegaPlanner/Firmware/git.log
View File

@ -1,44 +1 @@
From https://code.google.com/p/ardupilot-mega
25b258c..a188536 APM_Camera -> origin/APM_Camera
36e7d95..9f44a2e master -> origin/master
Updating 36e7d95..9f44a2e
Fast-forward
ArduCopter/ArduCopter.pde | 11 +-
ArduCopter/commands_logic.pde | 2 +-
ArduCopter/config.h | 10 +-
ArduCopter/motors.pde | 2 +-
ArduCopter/motors_hexa.pde | 14 ++-
ArduCopter/motors_octa.pde | 19 ++-
ArduCopter/motors_octa_quad.pde | 13 +-
ArduCopter/motors_quad.pde | 11 +
ArduCopter/motors_tri.pde | 13 ++
ArduCopter/motors_y6.pde | 14 ++-
ArduCopter/radio.pde | 1 +
ArduCopter/system.pde | 4 +-
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj | 1 +
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs | 222 ++++++++++++++++++++
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs | 7 +-
Tools/ArdupilotMegaPlanner/JoystickSetup.cs | 2 +-
Tools/ArdupilotMegaPlanner/MainV2.cs | 7 +
.../Properties/AssemblyInfo.cs | 2 +-
Tools/ArdupilotMegaPlanner/bin/Release/.gitignore | 3 +-
.../ArdupilotMegaPlanner/bin/Release/ArduPlane.exe | Bin 0 -> 673167 bytes
.../bin/Release/ArdupilotMegaPlanner.application | 2 +-
.../bin/Release/ArdupilotMegaPlanner.exe | Bin 2186240 -> 2189824 bytes
Tools/ArdupilotMegaPlanner/bin/Release/Updater.exe | Bin 8192 -> 8192 bytes
Tools/ArdupilotMegaPlanner/bin/Release/cygwin1.dll | Bin 0 -> 2666500 bytes
Tools/ArdupilotMegaPlanner/bin/Release/resedit.exe | Bin 20480 -> 20480 bytes
.../ru-RU/ArdupilotMegaPlanner.resources.dll | Bin 53248 -> 53248 bytes
.../zh-Hans/ArdupilotMegaPlanner.resources.dll | Bin 380928 -> 380928 bytes
apo/ControllerQuad.h | 91 ++++----
apo/QuadArducopter.h | 32 ++--
apo/apo.pde | 2 +-
libraries/APO/APO_DefaultSetup.h | 17 +-
libraries/APO/AP_Navigator.h | 3 +-
libraries/APO/AP_RcChannel.h | 2 +-
libraries/Desktop/Desktop.mk | 5 +-
libraries/Desktop/support/Arduino.cpp | 24 ++-
35 files changed, 438 insertions(+), 98 deletions(-)
create mode 100644 Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/ArduPlane.exe
create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/cygwin1.dll
Already up-to-date.

4
apo/ControllerQuad.h
View File

@ -152,8 +152,8 @@ public:
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
// "mix manual"
cmdRoll = -1 * _hal->rc[CH_ROLL]->getPosition();
cmdPitch = -1 * _hal->rc[CH_PITCH]->getPosition();
cmdRoll = -0.5 * _hal->rc[CH_ROLL]->getPosition();
cmdPitch = -0.5 * _hal->rc[CH_PITCH]->getPosition();
cmdYawRate = -1 * _hal->rc[CH_YAW]->getPosition();
thrustMix = _hal->rc[CH_THRUST]->getPosition();
break;

36
apo/QuadArducopter.h
View File

@ -11,7 +11,7 @@
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
@ -47,18 +47,13 @@ static const bool rangeFinderUpEnabled = false;
static const bool rangeFinderDownEnabled = false;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop0Rate = 200; // attitude nav
static const float loop1Rate = 50; // controller
static const float loop2Rate = 10; // pos nav/ gcs fast
static const float loop3Rate = 1; // gcs slow
static const float loop4Rate = 0.1;
//motor parameters
static const float MOTOR_MAX = 1;
static const float MOTOR_MIN = 0.1;
// position control loop
static const float PID_POS_INTERVAL = 1 / 100; // 5 hz
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
@ -71,30 +66,23 @@ static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;
// attitude control loop
static const float PID_ATT_INTERVAL = 1 / 100; // 100 hz
static const float PID_ATT_P = 0.1; // 0.1
static const float PID_ATT_I = 0; // 0.0
static const float PID_ATT_D = 0.1; // 0.1
static const float PID_ATT_LIM = 1; // 0.01 // 10 % #define MOTORs
static const float PID_ATT_AWU = 0; // 0.0
static const float PID_ATT_P = 0.3;
static const float PID_ATT_I = 0.5;
static const float PID_ATT_D = 0.08;
static const float PID_ATT_LIM = 0.1; // 10 %
static const float PID_ATT_AWU = 0.03; // 3 %
static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = .2;
static const float PID_YAWSPEED_P = 0.5;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .3; // 0.01 // 10 % MOTORs
static const float PID_YAWSPEED_LIM = .1; // 10 % MOTORs
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
// mixing
static const float MIX_REMOTE_WEIGHT = 1;
static const float MIX_POSITION_WEIGHT = 1;
static const float MIX_POSITION_Z_WEIGHT = 1;
static const float MIX_POSITION_YAW_WEIGHT = 1;
static const float THRUST_HOVER_OFFSET = 0.475;
#include "ControllerQuad.h"

42
libraries/APM_BMP085/APM_BMP085.cpp
View File

@ -286,44 +286,4 @@ void APM_BMP085_Class::Calculate()
x1 = (x1 * 3038) >> 16;
x2 = (-7357 * p) >> 16;
Press = p + ((x1 + x2 + 3791) >> 4);
}
// Constructors ////////////////////////////////////////////////////////////////
APM_BMP085_HIL_Class::APM_BMP085_HIL_Class()
{
}
// Public Methods //////////////////////////////////////////////////////////////
void APM_BMP085_HIL_Class::Init(int initialiseWireLib)
{
BMP085_State=1;
}
// Read the sensor. This is a state machine
// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
uint8_t APM_BMP085_HIL_Class::Read()
{
uint8_t result = 0;
if (BMP085_State == 1){
BMP085_State++;
}else{
if (BMP085_State == 5){
BMP085_State = 1; // Start again from state = 1
result = 1; // New pressure reading
}else{
BMP085_State++;
result = 1; // New pressure reading
}
}
return(result);
}
void APM_BMP085_HIL_Class::setHIL(float _Temp, float _Press)
{
// TODO: map floats to raw
Temp = _Temp;
Press = _Press;
}
}

19
libraries/APM_BMP085/APM_BMP085.h
View File

@ -4,6 +4,8 @@
#define TEMP_FILTER_SIZE 16
#define PRESS_FILTER_SIZE 10
#include <APM_BMP085_hil.h>
class APM_BMP085_Class
{
public:
@ -43,21 +45,4 @@ class APM_BMP085_Class
void Calculate();
};
class APM_BMP085_HIL_Class
{
private:
uint8_t BMP085_State;
public:
int32_t RawPress;
int32_t RawTemp;
int16_t Temp;
int32_t Press;
//int Altitude;
uint8_t oss;
APM_BMP085_HIL_Class(); // Constructor
void Init(int initialiseWireLib = 1);
uint8_t Read();
void setHIL(float Temp, float Press);
};
#endif

50
libraries/APM_BMP085/APM_BMP085_hil.cpp Normal file
View File

@ -0,0 +1,50 @@
extern "C" {
// AVR LibC Includes
#include <inttypes.h>
#include <avr/interrupt.h>
#include "WConstants.h"
}
#include "APM_BMP085_hil.h"
// Constructors ////////////////////////////////////////////////////////////////
APM_BMP085_HIL_Class::APM_BMP085_HIL_Class()
{
}
// Public Methods //////////////////////////////////////////////////////////////
void APM_BMP085_HIL_Class::Init(int initialiseWireLib)
{
BMP085_State=1;
}
// Read the sensor. This is a state machine
// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
uint8_t APM_BMP085_HIL_Class::Read()
{
uint8_t result = 0;
if (BMP085_State == 1){
BMP085_State++;
}else{
if (BMP085_State == 5){
BMP085_State = 1; // Start again from state = 1
result = 1; // New pressure reading
}else{
BMP085_State++;
result = 1; // New pressure reading
}
}
return(result);
}
void APM_BMP085_HIL_Class::setHIL(float _Temp, float _Press)
{
// TODO: map floats to raw
Temp = _Temp;
Press = _Press;
}

24
libraries/APM_BMP085/APM_BMP085_hil.h Normal file
View File

@ -0,0 +1,24 @@
#ifndef APM_BMP085_hil_h
#define APM_BMP085_hil_h
#define TEMP_FILTER_SIZE 16
#define PRESS_FILTER_SIZE 10
class APM_BMP085_HIL_Class
{
private:
uint8_t BMP085_State;
public:
APM_BMP085_HIL_Class(); // Constructor
int32_t RawPress;
int32_t RawTemp;
int16_t Temp;
int32_t Press;
//int Altitude;
uint8_t oss;
void Init(int initialiseWireLib = 1);
uint8_t Read();
void setHIL(float Temp, float Press);
};
#endif

39
libraries/APO/AP_Autopilot.cpp
View File

@ -17,7 +17,7 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
Loop(loop0Rate, callback0, this), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal), _loop0Rate(loop0Rate),
_loop1Rate(loop1Rate), _loop2Rate(loop2Rate), _loop3Rate(loop3Rate),
_loop4Rate(loop3Rate) {
_loop4Rate(loop3Rate), callback0Calls(0), clockInit(millis()) {
hal->setState(MAV_STATE_BOOT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
@ -111,6 +111,8 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
hal->debug->println_P(PSTR("initializing radio"));
APM_RC.Init(); // APM Radio initialization,
// start this after control loop is running
clockInit = millis();
}
void AP_Autopilot::callback0(void * data) {
@ -120,6 +122,8 @@ void AP_Autopilot::callback0(void * data) {
/*
* ahrs update
*/
apo->callback0Calls++;
if (apo->getNavigator())
apo->getNavigator()->updateFast(1.0 / apo->getLoopRate(0));
}
@ -163,19 +167,6 @@ void AP_Autopilot::callback2(void * data) {
apo->getGuide()->update();
}
/*
* send telemetry
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_ATTITUDE);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
}
/*
* slow navigation loop update
*/
@ -183,6 +174,13 @@ void AP_Autopilot::callback2(void * data) {
apo->getNavigator()->updateSlow(1.0 / apo->getLoopRate(2));
}
/*
* send telemetry
*/
if (apo->getHal()->gcs) {
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_ATTITUDE);
}
/*
* handle ground control station communication
*/
@ -215,6 +213,18 @@ void AP_Autopilot::callback2(void * data) {
void AP_Autopilot::callback3(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 3"));
/*
* send telemetry
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
}
/*
* send heartbeat
@ -225,6 +235,7 @@ void AP_Autopilot::callback3(void * data) {
* load/loop rate/ram debug
*/
apo->getHal()->load = apo->load();
apo->getHal()->debug->printf_P(PSTR("missed calls: %d\n"),uint16_t(millis()*apo->getLoopRate(0)/1000-apo->callback0Calls));
apo->getHal()->debug->printf_P(PSTR("load: %d%%\trate: %f Hz\tfree ram: %d bytes\n"),
apo->load(),1.0/apo->dt(),freeMemory());

6
libraries/APO/AP_Autopilot.h
View File

@ -99,6 +99,12 @@ public:
}
}
/**
* Loop Monitoring
*/
uint32_t callback0Calls;
uint32_t clockInit;
private:
/**

1
libraries/APO/AP_Navigator.h
View File

@ -279,6 +279,7 @@ public:
}
}
virtual void updateFast(float dt) {
if (_hal->getMode() != MODE_LIVE)
return;

10
libraries/AP_IMU/AP_IMU_Shim.h
View File

@ -13,12 +13,19 @@ public:
/// @name IMU protocol
//@{
virtual void init(Start_style style, void (*callback)(unsigned long t)) {}
virtual void init(Start_style style = COLD_START, void (*callback)(unsigned long t) = delay) {};
virtual void init_accel(void (*callback)(unsigned long t) = delay) {};
virtual void init_gyro(void (*callback)(unsigned long t) = delay) {};
virtual bool update(void) {
bool updated = _updated;
_updated = false;
// return number of microseconds since last call
uint32_t us = micros();
uint32_t ret = us - last_ch6_micros;
last_ch6_micros = us;
_sample_time = ret;
return updated;
}
//@}
@ -54,6 +61,7 @@ public:
private:
/// set true when new data is delivered
bool _updated;
uint32_t last_ch6_micros;
};
#endif

5
libraries/Desktop/Makefile.desktop
View File

@ -13,6 +13,9 @@ nogps:
hil:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
hilsen:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
hilnocli:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
@ -21,4 +24,4 @@ heli:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME"
helihil:
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"