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

This commit is contained in:
Jason Short 2011-09-12 12:57:56 -07:00
parent 4a2f58b013 49b31299ef
commit bca934b538
8 changed files with 20 additions and 34 deletions
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8
ArduCopter/defines.h
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@ -87,14 +87,6 @@
// Note channels are from 0! // Note channels are from 0!
// //
// XXX these should be CH_n defines from RC.h at some point. // XXX these should be CH_n defines from RC.h at some point.
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_10 9 //PB5 #define CH_10 9 //PB5
#define CH_11 10 //PE3 #define CH_11 10 //PE3

4
ArduPlane/APM_Config.h.reference
View File

@ -398,9 +398,9 @@
// also means that you should avoid switching out of MANUAL while you have // also means that you should avoid switching out of MANUAL while you have
// any control stick deflection. // any control stick deflection.
// //
// The default is to enable AUTO_TRIM. // The default is to disable AUTO_TRIM.
// //
//#define AUTO_TRIM ENABLED //#define AUTO_TRIM DISABLED
// //
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

1
ArduPlane/ArduPlane.pde
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@ -39,7 +39,6 @@ version 2.1 of the License, or (at your option) any later version.
#include <AP_DCM.h> // ArduPilot Mega DCM Library #include <AP_DCM.h> // ArduPilot Mega DCM Library
#include <PID.h> // PID library #include <PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library #include <RC_Channel.h> // RC Channel Library
//#include <RC_Channel/RC_Channel_aux.h> // Auxiliary RC Channel Library (Channels 5..8)
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
#include <ModeFilter.h> #include <ModeFilter.h>
#include <AP_Camera.h> // Photo or video camera #include <AP_Camera.h> // Photo or video camera

12
ArduPlane/Attitude.pde
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@ -274,14 +274,14 @@ static void set_servos(void)
} }
g.channel_throttle.radio_out = g.channel_throttle.radio_in; g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_rudder.radio_out = g.channel_rudder.radio_in; g.channel_rudder.radio_out = g.channel_rudder.radio_in;
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; G_RC_AUX(k_aileron)->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
} else { } else {
if (g.mix_mode == 0) { if (g.mix_mode == 0) {
g.channel_roll.calc_pwm(); g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm(); g.channel_pitch.calc_pwm();
g.channel_rudder.calc_pwm(); g.channel_rudder.calc_pwm();
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) { if (g_rc_function[RC_Channel_aux::k_aileron]) {
g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out; g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm(); g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
} }
@ -315,7 +315,7 @@ static void set_servos(void)
} }
if(control_mode <= FLY_BY_WIRE_B) { if(control_mode <= FLY_BY_WIRE_B) {
if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in; G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else if (control_mode >= FLY_BY_WIRE_C) { } else if (control_mode >= FLY_BY_WIRE_C) {
if (g.airspeed_enabled == true) { if (g.airspeed_enabled == true) {
flapSpeedSource = g.airspeed_cruise; flapSpeedSource = g.airspeed_cruise;
@ -323,11 +323,11 @@ static void set_servos(void)
flapSpeedSource = g.throttle_cruise; flapSpeedSource = g.throttle_cruise;
} }
if ( flapSpeedSource > g.flap_1_speed) { if ( flapSpeedSource > g.flap_1_speed) {
if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0; G_RC_AUX(k_flap_auto)->servo_out = 0;
} else if (flapSpeedSource > g.flap_2_speed) { } else if (flapSpeedSource > g.flap_2_speed) {
if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent; G_RC_AUX(k_flap_auto)->servo_out = g.flap_1_percent;
} else { } else {
if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent; G_RC_AUX(k_flap_auto)->servo_out = g.flap_2_percent;
} }
} }

2
ArduPlane/config.h
View File

@ -300,7 +300,7 @@
// AUTO_TRIM // AUTO_TRIM
// //
#ifndef AUTO_TRIM #ifndef AUTO_TRIM
# define AUTO_TRIM ENABLED # define AUTO_TRIM DISABLED
#endif #endif

1
ArduPlane/radio.pde
View File

@ -23,6 +23,7 @@ static void init_rc_in()
g.channel_throttle.dead_zone = 6; g.channel_throttle.dead_zone = 6;
//set auxiliary ranges //set auxiliary ranges
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
G_RC_AUX(k_flap)->set_range(0,100); G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100); G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(SERVO_MAX); G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);

6
libraries/AP_Common/Arduino.mk
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@ -259,7 +259,11 @@ SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)
# make. # make.
# #
SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p' SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR))) ifeq ($(SYSTYPE),Darwin)
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
else
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
endif
# #
# Find sketchbook libraries referenced by the sketch. # Find sketchbook libraries referenced by the sketch.

20
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -21,6 +21,7 @@ RC_Channel_aux::closest_limit(int16_t angle)
while (min >= 1800) min -= 3600; while (min >= 1800) min -= 3600;
while (max < -1800) max += 3600; while (max < -1800) max += 3600;
while (max >= 1800) max -= 3600; while (max >= 1800) max -= 3600;
// This is done every time because the user might change the min, max values on the fly
set_range(min, max); set_range(min, max);
// If the angle is outside servo limits, saturate the angle to the closest limit // If the angle is outside servo limits, saturate the angle to the closest limit
@ -44,6 +45,7 @@ RC_Channel_aux::closest_limit(int16_t angle)
void void
RC_Channel_aux::output_ch(unsigned char ch_nr) RC_Channel_aux::output_ch(unsigned char ch_nr)
{ {
// take care or two corner cases
switch(function) switch(function)
{ {
case k_none: // disabled case k_none: // disabled
@ -52,26 +54,14 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
case k_manual: // manual case k_manual: // manual
radio_out = radio_in; radio_out = radio_in;
break; break;
case k_flap: // flaps
case k_flap_auto: // flaps automated
case k_aileron: // aileron
case k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
case k_mount_yaw: // mount yaw (pan)
case k_mount_pitch: // mount pitch (tilt)
case k_mount_roll: // mount roll
case k_cam_trigger: // camera trigger
case k_cam_open: // camera open
case k_egg_drop: // egg drop
case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
default:
break;
} }
APM_RC.OutputCh(ch_nr, radio_out); APM_RC.OutputCh(ch_nr, radio_out);
} }
// update the g_rc_function array from pointers to rc_x channels // Update the g_rc_function array of pointers to rc_x channels
// This should be done periodically because the user might change the configuration and // This is to be done before rc_init so that the channels get correctly initialized.
// It also should be called periodically because the user might change the configuration and
// expects the changes to take effect instantly // expects the changes to take effect instantly
void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8) void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
{ {