mirror of https://github.com/ArduPilot/ardupilot
purple: switch ArduCopter to new sensor objects
this uses the new sensor abstractions for the purple/APM1 hardware choice
This commit is contained in:
Pat Hickey
parent
bc5a59e5fe
commit
bbae76efb5
|
|
@ -49,16 +49,23 @@ And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
|
|||
// Libraries
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
#include <Arduino_Mega_ISR_Registry.h>
|
||||
#include <APM_RC.h> // ArduPilot Mega RC Library
|
||||
#include <AP_GPS.h> // ArduPilot GPS library
|
||||
#include <Wire.h> // Arduino I2C lib
|
||||
#include <SPI.h> // Arduino SPI lib
|
||||
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
|
||||
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
|
||||
#include <AP_AnalogSource.h>
|
||||
#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
|
||||
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
|
||||
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
||||
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
|
||||
#include <AP_IMU.h> // ArduPilot Mega IMU Library
|
||||
#include <AP_PeriodicProcess.h> // Parent header of Timer and TimerAperiodic
|
||||
// (only included for makefile libpath to work)
|
||||
#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
|
||||
#include <AP_TimerAperiodicProcess.h> // TimerAperiodicProcess is the scheduler for ADC reads.
|
||||
#include <AP_DCM.h> // ArduPilot Mega DCM Library
|
||||
#include <APM_PI.h> // PI library
|
||||
#include <RC_Channel.h> // RC Channel Library
|
||||
|
|
@ -89,6 +96,8 @@ FastSerialPort0(Serial); // FTDI/console
|
|||
FastSerialPort1(Serial1); // GPS port
|
||||
FastSerialPort3(Serial3); // Telemetry port
|
||||
|
||||
Arduino_Mega_ISR_Registry isr_registry;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Parameters
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -102,6 +111,24 @@ static Parameters g;
|
|||
// prototypes
|
||||
static void update_events(void);
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// RC Hardware
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
|
||||
APM_RC_Purple APM_RC;
|
||||
#else
|
||||
APM_RC_APM1 APM_RC;
|
||||
#endif
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Dataflash
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
|
||||
DataFlash_Purple DataFlash;
|
||||
#else
|
||||
DataFlash_APM1 DataFlash;
|
||||
#endif
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Sensors
|
||||
|
|
@ -125,7 +152,10 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
|
|||
#if HIL_MODE == HIL_MODE_DISABLED
|
||||
|
||||
// real sensors
|
||||
#if CONFIG_ADC == ENABLED
|
||||
AP_ADC_ADS7844 adc;
|
||||
#endif
|
||||
|
||||
APM_BMP085_Class barometer;
|
||||
AP_Compass_HMC5843 compass(Parameters::k_param_compass);
|
||||
|
||||
|
|
@ -183,7 +213,14 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
|
|||
#if HIL_MODE != HIL_MODE_ATTITUDE
|
||||
#if HIL_MODE != HIL_MODE_SENSORS
|
||||
// Normal
|
||||
AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration);
|
||||
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
|
||||
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
|
||||
AP_TimerProcess timer_scheduler;
|
||||
#else
|
||||
AP_InertialSensor_Oilpan ins(&adc);
|
||||
AP_TimerAperiodicProcess timer_scheduler;
|
||||
#endif
|
||||
AP_IMU_INS imu(&ins, Parameters::k_param_IMU_calibration);
|
||||
#else
|
||||
// hil imu
|
||||
AP_IMU_Shim imu;
|
||||
|
|
@ -203,12 +240,21 @@ GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
|
|||
////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
ModeFilter sonar_mode_filter;
|
||||
#if CONFIG_SONAR == ENABLED
|
||||
|
||||
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
|
||||
AP_AnalogSource_ADC sonar_analog_source( &adc,
|
||||
CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
|
||||
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
|
||||
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
|
||||
#endif
|
||||
|
||||
#if SONAR_TYPE == MAX_SONAR_XL
|
||||
AP_RangeFinder_MaxsonarXL sonar(&adc, &sonar_mode_filter);//(SONAR_PORT, &adc);
|
||||
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
|
||||
#else
|
||||
#error Unrecognised SONAR_TYPE setting.
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// agmatthews USERHOOKS
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -768,9 +814,12 @@ static void fifty_hz_loop()
|
|||
|
||||
// Read Sonar
|
||||
// ----------
|
||||
# if CONFIG_SONAR == ENABLED
|
||||
if(g.sonar_enabled){
|
||||
sonar_alt = sonar.read();
|
||||
}
|
||||
#endif
|
||||
|
||||
// agmatthews - USERHOOKS
|
||||
#ifdef USERHOOK_50HZLOOP
|
||||
USERHOOK_50HZLOOP
|
||||
|
|
|
|||
Loading…
Reference in New Issue