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ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues

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This commit is contained in:
rmackay9 2012-11-11 22:42:10 +09:00
parent e212744f4c
commit bcb9519fd7
8 changed files with 43 additions and 43 deletions
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26
ArduCopter/ArduCopter.pde
View File

@ -403,12 +403,12 @@ static struct AP_System{
uint8_t new_radio_frame : 1; // 3 // Set true if we have new PWM data to act on from the Radio uint8_t new_radio_frame : 1; // 3 // Set true if we have new PWM data to act on from the Radio
uint8_t nav_ok : 1; // 4 // deprecated uint8_t nav_ok : 1; // 4 // deprecated
uint8_t CH7_flag : 1; // 5 // manages state of the ch7 toggle switch uint8_t CH7_flag : 1; // 5 // manages state of the ch7 toggle switch
uint8_t usb_connected : 1; // 6 // manages state of the ch7 toggle switch uint8_t usb_connected : 1; // 6 // true if APM is powered from USB connection
uint8_t run_50hz_loop : 1; // 7 // toggles the 100hz loop for 50hz uint8_t run_50hz_loop : 1; // 7 // toggles the 100hz loop for 50hz
uint8_t alt_sensor_flag : 1; // 8 // used to track when to read sensors vs estimate alt uint8_t alt_sensor_flag : 1; // 8 // used to track when to read sensors vs estimate alt
uint8_t yaw_stopped : 1; // 9 // Used to manage the Yaw hold capabilities uint8_t yaw_stopped : 1; // 9 // Used to manage the Yaw hold capabilities
}system; } ap_system;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -972,9 +972,9 @@ void loop()
fast_loop(); fast_loop();
// run the 50hz loop 1/2 the time // run the 50hz loop 1/2 the time
system.run_50hz_loop = !system.run_50hz_loop; ap_system.run_50hz_loop = !ap_system.run_50hz_loop;
if(system.run_50hz_loop) { if(ap_system.run_50hz_loop) {
#if DEBUG_MED_LOOP == ENABLED #if DEBUG_MED_LOOP == ENABLED
Log_Write_Data(DATA_MED_LOOP, (int32_t)(timer - fiftyhz_loopTimer)); Log_Write_Data(DATA_MED_LOOP, (int32_t)(timer - fiftyhz_loopTimer));
@ -1143,7 +1143,7 @@ static void medium_loop()
} }
} }
system.alt_sensor_flag = true; ap_system.alt_sensor_flag = true;
break; break;
// This case deals with sending high rate telemetry // This case deals with sending high rate telemetry
@ -1491,7 +1491,7 @@ static void update_GPS(void)
#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode #if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode
//update_altitude(); //update_altitude();
system.alt_sensor_flag = true; ap_system.alt_sensor_flag = true;
#endif #endif
} }
@ -1572,7 +1572,7 @@ void update_roll_pitch_mode(void)
case ROLL_PITCH_STABLE: case ROLL_PITCH_STABLE:
// apply SIMPLE mode transform // apply SIMPLE mode transform
if(ap.simple_mode && system.new_radio_frame) { if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode(); update_simple_mode();
} }
@ -1586,7 +1586,7 @@ void update_roll_pitch_mode(void)
case ROLL_PITCH_AUTO: case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform // apply SIMPLE mode transform
if(ap.simple_mode && system.new_radio_frame) { if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode(); update_simple_mode();
} }
// mix in user control with Nav control // mix in user control with Nav control
@ -1602,7 +1602,7 @@ void update_roll_pitch_mode(void)
case ROLL_PITCH_STABLE_OF: case ROLL_PITCH_STABLE_OF:
// apply SIMPLE mode transform // apply SIMPLE mode transform
if(ap.simple_mode && system.new_radio_frame) { if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode(); update_simple_mode();
} }
@ -1632,9 +1632,9 @@ void update_roll_pitch_mode(void)
//reset_stability_I(); //reset_stability_I();
//} //}
if(system.new_radio_frame) { if(ap_system.new_radio_frame) {
// clear new radio frame info // clear new radio frame info
system.new_radio_frame = false; ap_system.new_radio_frame = false;
// These values can be used to scale the PID gains // These values can be used to scale the PID gains
// This allows for a simple gain scheduling implementation // This allows for a simple gain scheduling implementation
@ -1954,9 +1954,9 @@ static void update_altitude()
static void update_altitude_est() static void update_altitude_est()
{ {
if(system.alt_sensor_flag) { if(ap_system.alt_sensor_flag) {
update_altitude(); update_altitude();
system.alt_sensor_flag = false; ap_system.alt_sensor_flag = false;
if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()) { if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()) {
Log_Write_Control_Tuning(); Log_Write_Control_Tuning();

2
ArduCopter/GCS_Mavlink.pde
View File

@ -471,7 +471,7 @@ static bool telemetry_delayed(mavlink_channel_t chan)
return false; return false;
} }
#if USB_MUX_PIN > 0 #if USB_MUX_PIN > 0
if (chan == MAVLINK_COMM_0 && system.usb_connected) { if (chan == MAVLINK_COMM_0 && ap_system.usb_connected) {
// this is an APM2 with USB telemetry // this is an APM2 with USB telemetry
return false; return false;
} }

22
ArduCopter/control_modes.pde
View File

@ -65,26 +65,26 @@ static void read_trim_switch()
set_simple_mode(g.rc_7.radio_in > CH_7_PWM_TRIGGER); set_simple_mode(g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (option == CH7_FLIP) { }else if (option == CH7_FLIP) {
if (system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) { if (ap_system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
system.CH7_flag = true; ap_system.CH7_flag = true;
// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff // don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
if(g.rc_3.control_in != 0 && ap.takeoff_complete) { if(g.rc_3.control_in != 0 && ap.takeoff_complete) {
init_flip(); init_flip();
} }
} }
if (system.CH7_flag == true && g.rc_7.control_in < 800) { if (ap_system.CH7_flag == true && g.rc_7.control_in < 800) {
system.CH7_flag = false; ap_system.CH7_flag = false;
} }
}else if (option == CH7_RTL) { }else if (option == CH7_RTL) {
if (system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) { if (ap_system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
system.CH7_flag = true; ap_system.CH7_flag = true;
set_mode(RTL); set_mode(RTL);
} }
if (system.CH7_flag == true && g.rc_7.control_in < 800) { if (ap_system.CH7_flag == true && g.rc_7.control_in < 800) {
system.CH7_flag = false; ap_system.CH7_flag = false;
if (control_mode == RTL || control_mode == LOITER) { if (control_mode == RTL || control_mode == LOITER) {
reset_control_switch(); reset_control_switch();
} }
@ -92,11 +92,11 @@ static void read_trim_switch()
}else if (option == CH7_SAVE_WP) { }else if (option == CH7_SAVE_WP) {
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) { // switch is engaged if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) { // switch is engaged
system.CH7_flag = true; ap_system.CH7_flag = true;
}else{ // switch is disengaged }else{ // switch is disengaged
if(system.CH7_flag) { if(ap_system.CH7_flag) {
system.CH7_flag = false; ap_system.CH7_flag = false;
if(control_mode == AUTO) { if(control_mode == AUTO) {
// reset the mission // reset the mission

14
ArduCopter/leds.pde
View File

@ -28,8 +28,8 @@ static void update_GPS_light(void)
case (1): case (1):
if (g_gps->valid_read == true) { if (g_gps->valid_read == true) {
system.GPS_light = !system.GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock ap_system.GPS_light = !ap_system.GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (system.GPS_light) { if (ap_system.GPS_light) {
digitalWrite(C_LED_PIN, LED_OFF); digitalWrite(C_LED_PIN, LED_OFF);
}else{ }else{
digitalWrite(C_LED_PIN, LED_ON); digitalWrite(C_LED_PIN, LED_ON);
@ -47,17 +47,17 @@ static void update_GPS_light(void)
static void update_motor_light(void) static void update_motor_light(void)
{ {
if(motors.armed() == false) { if(motors.armed() == false) {
system.motor_light = !system.motor_light; ap_system.motor_light = !ap_system.motor_light;
// blink // blink
if(system.motor_light) { if(ap_system.motor_light) {
digitalWrite(A_LED_PIN, LED_ON); digitalWrite(A_LED_PIN, LED_ON);
}else{ }else{
digitalWrite(A_LED_PIN, LED_OFF); digitalWrite(A_LED_PIN, LED_OFF);
} }
}else{ }else{
if(!system.motor_light) { if(!ap_system.motor_light) {
system.motor_light = true; ap_system.motor_light = true;
digitalWrite(A_LED_PIN, LED_ON); digitalWrite(A_LED_PIN, LED_ON);
} }
} }
@ -93,7 +93,7 @@ static void clear_leds()
digitalWrite(A_LED_PIN, LED_OFF); digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_OFF); digitalWrite(B_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF); digitalWrite(C_LED_PIN, LED_OFF);
system.motor_light = false; ap_system.motor_light = false;
led_mode = NORMAL_LEDS; led_mode = NORMAL_LEDS;
} }

2
ArduCopter/motors.pde
View File

@ -143,7 +143,7 @@ static void init_arm_motors()
#endif #endif
// temp hack // temp hack
system.motor_light = true; ap_system.motor_light = true;
digitalWrite(A_LED_PIN, LED_ON); digitalWrite(A_LED_PIN, LED_ON);
// go back to normal AHRS gains // go back to normal AHRS gains

2
ArduCopter/radio.pde
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@ -127,7 +127,7 @@ void output_min()
static void read_radio() static void read_radio()
{ {
if (APM_RC.GetState() == 1) { if (APM_RC.GetState() == 1) {
system.new_radio_frame = true; ap_system.new_radio_frame = true;
g.rc_1.set_pwm(APM_RC.InputCh(CH_1)); g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
g.rc_2.set_pwm(APM_RC.InputCh(CH_2)); g.rc_2.set_pwm(APM_RC.InputCh(CH_2));

12
ArduCopter/system.pde
View File

@ -62,8 +62,8 @@ static void init_ardupilot()
// USB_MUX_PIN // USB_MUX_PIN
pinMode(USB_MUX_PIN, INPUT); pinMode(USB_MUX_PIN, INPUT);
system.usb_connected = !digitalRead(USB_MUX_PIN); ap_system.usb_connected = !digitalRead(USB_MUX_PIN);
if (!system.usb_connected) { if (!ap_system.usb_connected) {
// USB is not connected, this means UART0 may be a Xbee, with // USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at // its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for // least one second after powering up. Simplest solution for
@ -163,7 +163,7 @@ static void init_ardupilot()
gcs0.init(&Serial); gcs0.init(&Serial);
#if USB_MUX_PIN > 0 #if USB_MUX_PIN > 0
if (!system.usb_connected) { if (!ap_system.usb_connected) {
// we are not connected via USB, re-init UART0 with right // we are not connected via USB, re-init UART0 with right
// baud rate // baud rate
Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD)); Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
@ -640,13 +640,13 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
static void check_usb_mux(void) static void check_usb_mux(void)
{ {
bool usb_check = !digitalRead(USB_MUX_PIN); bool usb_check = !digitalRead(USB_MUX_PIN);
if (usb_check == system.usb_connected) { if (usb_check == ap_system.usb_connected) {
return; return;
} }
// the user has switched to/from the telemetry port // the user has switched to/from the telemetry port
system.usb_connected = usb_check; ap_system.usb_connected = usb_check;
if (system.usb_connected) { if (ap_system.usb_connected) {
Serial.begin(SERIAL0_BAUD); Serial.begin(SERIAL0_BAUD);
} else { } else {
Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD)); Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));

6
ArduCopter/toy.pde
View File

@ -110,15 +110,15 @@ void roll_pitch_toy()
if(g.rc_1.control_in != 0) { // roll if(g.rc_1.control_in != 0) { // roll
get_acro_yaw(yaw_rate/2); get_acro_yaw(yaw_rate/2);
system.yaw_stopped = false; ap_system.yaw_stopped = false;
yaw_timer = 150; yaw_timer = 150;
}else if (!system.yaw_stopped) { }else if (!ap_system.yaw_stopped) {
get_acro_yaw(0); get_acro_yaw(0);
yaw_timer--; yaw_timer--;
if((yaw_timer == 0) || (fabs(omega.z) < .17)) { if((yaw_timer == 0) || (fabs(omega.z) < .17)) {
system.yaw_stopped = true; ap_system.yaw_stopped = true;
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
}else{ }else{