mirror of https://github.com/ArduPilot/ardupilot
Rover: fixed PX4 MPU6000 driver for rover
This commit is contained in:
Andrew Tridgell
parent
150046f2b8
commit
bb14672dab
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@ -153,41 +153,44 @@ static GPS *g_gps;
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// flight modes convenience array
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static AP_Int8 *modes = &g.mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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#if CONFIG_ADC == ENABLED
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static AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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static AP_Compass_HIL compass;
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static SITL sitl;
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#else
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#if CONFIG_COMPASS == AP_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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// real GPS selection
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// GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver();
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AP_GPS_NMEA g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver();
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AP_GPS_SIRF g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver();
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AP_GPS_UBLOX g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver();
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AP_GPS_MTK g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
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AP_GPS_MTK19 g_gps_driver();
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AP_GPS_MTK19 g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver();
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AP_GPS_None g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
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AP_GPS_HIL g_gps_driver;
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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@ -195,30 +198,25 @@ AP_GPS_None g_gps_driver();
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#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
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AP_InertialSensor_MPU6000 ins;
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# elif CONFIG_INS_TYPE == CONFIG_INS_SITL
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
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AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_STUB
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AP_InertialSensor_Stub ins;
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#else
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &adc );
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_ADC_HIL adc;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_InertialSensor_Oilpan ins( &adc );
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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#if HIL_MODE == HIL_MODE_ATTITUDE
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AP_AHRS_HIL ahrs(&ins, g_gps);
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AP_GPS_HIL g_gps_driver(NULL);
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AP_Compass_HIL compass; // never used
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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SITL sitl;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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@ -65,6 +65,7 @@
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//
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define A_LED_PIN 37
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# define B_LED_PIN 36
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# define C_LED_PIN 35
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@ -79,6 +80,7 @@
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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@ -95,7 +97,8 @@
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define CONFIG_INS_TYPE CONFIG_INS_SITL
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# define CONFIG_INS_TYPE CONFIG_INS_STUB
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# define CONFIG_COMPASS AP_COMPASS_HIL
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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@ -112,7 +115,8 @@
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# define CURRENT_PIN_1 2
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define CONFIG_INS_TYPE CONFIG_INS_SITL
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# define CONFIG_INS_TYPE CONFIG_INS_PX4
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# define CONFIG_COMPASS AP_COMPASS_PX4
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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@ -188,6 +192,17 @@
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef GPS_PROTOCOL
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#define GPS_PROTOCOL GPS_PROTOCOL_HIL
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#undef CONFIG_INS_TYPE
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#define CONFIG_INS_TYPE CONFIG_INS_STUB
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#undef CONFIG_ADC
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#define CONFIG_ADC DISABLED
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#undef CONFIG_COMPASS
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#define CONFIG_COMPASS AP_COMPASS_HIL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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@ -208,10 +208,15 @@ enum gcs_severity {
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// InertialSensor driver types
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#define CONFIG_INS_OILPAN 1
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#define CONFIG_INS_MPU6000 2
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#define CONFIG_INS_STUB 3
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#define CONFIG_INS_PX4 4
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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// compass driver types
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#define AP_COMPASS_HMC5843 1
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#define AP_COMPASS_PX4 2
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#define AP_COMPASS_HIL 3
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#endif // _DEFINES_H
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