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

This commit is contained in:
Hazy 2011-11-20 20:17:47 +08:00
parent 02591d8d38 17041e5346
commit bf6a675a82
14 changed files with 2175 additions and 42 deletions
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12
ArduCopter/ArduCopter.pde
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@ -260,7 +260,12 @@ static byte control_mode = STABILIZE;
static byte old_control_mode = STABILIZE;
static byte oldSwitchPosition; // for remembering the control mode switch
static int16_t motor_out[8];
static bool do_simple = false;
static bool do_simple = false;
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
static bool rc_override_active = false;
static uint32_t rc_override_fs_timer = 0;
// Heli
// ----
@ -480,6 +485,7 @@ static int32_t perf_mon_timer;
//static float imu_health; // Metric based on accel gain deweighting
static int16_t gps_fix_count;
static byte gps_watchdog;
static int pmTest1;
// System Timers
// --------------
@ -1473,8 +1479,8 @@ static void update_nav_wp()
if (circle_angle > 6.28318531)
circle_angle -= 6.28318531;
target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle) * scaleLongUp);
target_WP.lat = next_WP.lat + (g.loiter_radius * sin(1.57 - circle_angle));
target_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
target_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
// calc the lat and long error to the target
calc_location_error(&target_WP);

2091
ArduCopter/GCS_Mavlink copy.txt Normal file
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File diff suppressed because it is too large Load Diff

6
ArduCopter/GCS_Mavlink.pde
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@ -980,7 +980,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// set frame of waypoint
uint8_t frame;
if (tell_command.options & WP_OPTION_ALT_RELATIVE) {
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
} else {
frame = MAV_FRAME_GLOBAL; // reference frame
@ -1294,7 +1294,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
guided_WP = tell_command;
// add home alt if needed
if (guided_WP.options & WP_OPTION_ALT_RELATIVE){
if (guided_WP.options & MASK_OPTIONS_RELATIVE_ALT){
guided_WP.alt += home.alt;
}
@ -1322,7 +1322,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
if(packet.seq != 0)
set_command_with_index(tell_command, packet.seq);
set_cmd_with_index(tell_command, packet.seq);
// update waypoint receiving state machine
waypoint_timelast_receive = millis();

2
ArduCopter/Parameters.h
View File

@ -316,7 +316,7 @@ public:
command_index (0, k_param_command_index, PSTR("WP_INDEX")),
command_nav_index (0, k_param_command_nav_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS * 100, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
loiter_radius (LOITER_RADIUS, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),

7
ArduCopter/commands.pde
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@ -50,7 +50,7 @@ static struct Location get_cmd_with_index(int i)
}
// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & WP_OPTION_ALT_RELATIVE){
//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & MASK_OPTIONS_RELATIVE_ALT){
//temp.alt += home.alt;
//}
@ -65,8 +65,9 @@ static struct Location get_cmd_with_index(int i)
// Setters
// -------
static void set_command_with_index(struct Location temp, int i)
static void set_cmd_with_index(struct Location temp, int i)
{
i = constrain(i, 0, g.command_total.get());
//Serial.printf("set_command: %d with id: %d\n", i, temp.id);
@ -203,7 +204,7 @@ static void init_home()
// Save Home to EEPROM
// -------------------
// no need to save this to EPROM
set_command_with_index(home, 0);
set_cmd_with_index(home, 0);
print_wp(&home, 0);
// Save prev loc this makes the calcs look better before commands are loaded

8
ArduCopter/commands_logic.pde
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@ -222,7 +222,7 @@ static void do_takeoff()
Location temp = current_loc;
// command_nav_queue.alt is a relative altitude!!!
if (command_nav_queue.options & WP_OPTION_ALT_RELATIVE) {
if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
temp.alt = command_nav_queue.alt + home.alt;
//Serial.printf("rel alt: %ld",temp.alt);
} else {
@ -242,7 +242,7 @@ static void do_nav_wp()
wp_control = WP_MODE;
// command_nav_queue.alt is a relative altitude!!!
if (command_nav_queue.options & WP_OPTION_ALT_RELATIVE) {
if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
command_nav_queue.alt += home.alt;
}
set_next_WP(&command_nav_queue);
@ -258,7 +258,7 @@ static void do_nav_wp()
loiter_time_max = command_nav_queue.p1 * 1000;
// if we don't require an altitude minimum, we save this flag as passed (1)
if((next_WP.options & WP_OPTION_ALT_REQUIRED) == 0){
if((next_WP.options & MASK_OPTIONS_RELATIVE_ALT) == 0){
// we don't need to worry about it
wp_verify_byte |= NAV_ALTITUDE;
}
@ -383,7 +383,7 @@ static bool verify_land()
static bool verify_nav_wp()
{
// Altitude checking
if(next_WP.options & WP_OPTION_ALT_REQUIRED){
if(next_WP.options & MASK_OPTIONS_RELATIVE_ALT){
// we desire a certain minimum altitude
if (current_loc.alt > next_WP.alt){
// we have reached that altitude

2
ArduCopter/control_modes.pde
View File

@ -107,7 +107,7 @@ static void read_trim_switch()
current_loc.id = MAV_CMD_NAV_WAYPOINT;
// save command
set_command_with_index(current_loc, CH7_wp_index);
set_cmd_with_index(current_loc, CH7_wp_index);
// save the index
g.command_total.set_and_save(CH7_wp_index + 1);

14
ArduCopter/defines.h
View File

@ -120,6 +120,8 @@
#define POSITION 8 // AUTO control
#define NUM_MODES 9
#define INITIALISING 9 // in startup routines
#define SIMPLE_1 1
#define SIMPLE_2 2
#define SIMPLE_3 4
@ -166,14 +168,14 @@
#define CIRCLE_MODE 3
// Waypoint options
#define WP_OPTION_ALT_RELATIVE 1
#define WP_OPTION_ALT_CHANGE 2
#define WP_OPTION_YAW 4
#define WP_OPTION_ALT_REQUIRED 8
#define WP_OPTION_RELATIVE 16
#define MASK_OPTIONS_RELATIVE_ALT 1
#define WP_OPTION_ALT_CHANGE 2
#define WP_OPTION_YAW 4
#define WP_OPTION_ALT_REQUIRED 8
#define WP_OPTION_RELATIVE 16
//#define WP_OPTION_ 32
//#define WP_OPTION_ 64
#define WP_OPTION_NEXT_CMD 128
#define WP_OPTION_NEXT_CMD 128
//repeating events
#define NO_REPEAT 0

16
ArduCopter/test.pde
View File

@ -970,38 +970,38 @@ static int8_t
// clear home
{Location t = {0, 0, 0, 0, 0, 0};
set_command_with_index(t,0);}
set_cmd_with_index(t,0);}
// CMD opt pitch alt/cm
{Location t = {MAV_CMD_NAV_TAKEOFF, WP_OPTION_RELATIVE, 0, 100, 0, 0};
set_command_with_index(t,1);}
set_cmd_with_index(t,1);}
if (!strcmp_P(argv[1].str, PSTR("wp"))) {
// CMD opt
{Location t = {MAV_CMD_NAV_WAYPOINT, WP_OPTION_RELATIVE, 15, 0, 0, 0};
set_command_with_index(t,2);}
set_cmd_with_index(t,2);}
// CMD opt
{Location t = {MAV_CMD_NAV_RETURN_TO_LAUNCH, WP_OPTION_YAW, 0, 0, 0, 0};
set_command_with_index(t,3);}
set_cmd_with_index(t,3);}
// CMD opt
{Location t = {MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0};
set_command_with_index(t,4);}
set_cmd_with_index(t,4);}
} else {
//2250 = 25 meteres
// CMD opt p1 //alt //NS //WE
{Location t = {MAV_CMD_NAV_LOITER_TIME, 0, 10, 0, 0, 0}; // 19
set_command_with_index(t,2);}
set_cmd_with_index(t,2);}
// CMD opt dir angle/deg deg/s relative
{Location t = {MAV_CMD_CONDITION_YAW, 0, 1, 360, 60, 1};
set_command_with_index(t,3);}
set_cmd_with_index(t,3);}
// CMD opt
{Location t = {MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0};
set_command_with_index(t,4);}
set_cmd_with_index(t,4);}
}

7
ArduPlane/Log.pde
View File

@ -376,12 +376,19 @@ static int find_last_log_page(uint16_t log_number)
bottom_page_filepage = top_page_filepage;
do
{
int16_t last_bottom_page_file;
top_page = bottom_page;
bottom_page = bottom_page - bottom_page_filepage;
if(bottom_page < 1) bottom_page = 1;
DataFlash.StartRead(bottom_page);
last_bottom_page_file = bottom_page_file;
bottom_page_file = DataFlash.GetFileNumber();
bottom_page_filepage = DataFlash.GetFilePage();
if (bottom_page_file == last_bottom_page_file &&
bottom_page_filepage == 0) {
/* no progress can be made - give up. The log may be corrupt */
return -1;
}
} while (bottom_page_file != log_number && bottom_page != 1);
// Deal with stepping down too far due to overwriting a file

2
Tools/ArduPPM/ATMega32U2/Projects/arduino-usbserial/Arduino-usbserial.c
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@ -35,7 +35,7 @@
*/
#include "Arduino-usbserial.h"
#include "..\..\..\Libraries\ppm_encoder.h"
#include "../../../Libraries/PPM_Encoder.h"
/** Circular buffer to hold data from the host before it is sent to the device via the serial port. */

28
Tools/ArduPPM/Libraries/PPM_Encoder.h
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@ -243,18 +243,33 @@ const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
#define USB_PORT PORTC
#define USB_PIN PC2
// true if we have received a USB device connect event
static bool usb_connected;
// USB connected event
void EVENT_USB_Device_Connect(void)
{
// Toggle USB pin high if USB is connected
USB_PORT |= (1 << USB_PIN);
usb_connected = true;
// this unsets the pin connected to PA1 on the 2560
// when the bit is clear, USB is connected
PORTD &= ~1;
}
// USB dosconnect event
// USB disconnect event
void EVENT_USB_Device_Disconnect(void)
{
// toggle USB pin low if USB is disconnected
USB_PORT &= ~(1 << USB_PIN);
usb_connected = false;
// this sets the pin connected to PA1 on the 2560
// when the bit is clear, USB is connected
PORTD |= 1;
}
// AVR parameters for ArduPilot MEGA v1.4 PPM Encoder (ATmega328P)
@ -676,6 +691,17 @@ void ppm_encoder_init( void )
// Activate pullups on all input pins
SERVO_PORT |= 0xFF;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// on 32U2 set PD0 to be an output, and clear the bit. This tells
// the 2560 that USB is connected. The USB connection event fires
// later to set the right value
DDRD |= 1;
if (usb_connected) {
PORTD &= ~1;
} else {
PORTD |= 1;
}
#endif
// SERVO/PPM INPUT - PIN CHANGE INTERRUPT
// ------------------------------------------------------------------------------

2
Tools/autotest/mission2.txt
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@ -15,7 +15,7 @@ QGC WPL 110
# MAV_CMD_NAV_LOITER_TIME
# seconds empty rad Yaw per Lat lon Alt continue
4 0 3 19 35 20 0 1 0 0 0 1
4 0 3 19 35 0 0 1 0 0 20 1
# MAV_CMD_NAV_WAYPOINT B
# Hold sec Hit rad empty Yaw angle lat lon alt continue

20
libraries/Desktop/support/DataFlash.cpp
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@ -16,7 +16,7 @@
static int flash_fd;
static uint8_t buffer[2][DF_PAGE_SIZE];
#define OVERWRITE_DATA 0 // 0: When reach the end page stop, 1: Start overwritten from page 1
#define OVERWRITE_DATA 1 // 0: When reach the end page stop, 1: Start overwritten from page 1
// Constructors ////////////////////////////////////////////////////////////////
DataFlash_Class::DataFlash_Class()
@ -120,7 +120,7 @@ void DataFlash_Class::ChipErase ()
void DataFlash_Class::StartWrite(int16_t PageAdr)
{
df_BufferNum = 1;
df_BufferIdx = 0;
df_BufferIdx = 4;
df_PageAdr = PageAdr;
df_Stop_Write = 0;
@ -137,12 +137,12 @@ void DataFlash_Class::FinishWrite(void)
df_PageAdr++;
if (OVERWRITE_DATA==1)
{
if (df_PageAdr>=4096) // If we reach the end of the memory, start from the begining
if (df_PageAdr>=DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
df_PageAdr = 1;
}
else
{
if (df_PageAdr>=4096) // If we reach the end of the memory, stop here
if (df_PageAdr>=DF_LAST_PAGE) // If we reach the end of the memory, stop here
df_Stop_Write=1;
}
@ -167,17 +167,17 @@ void DataFlash_Class::WriteByte(byte data)
df_BufferIdx++;
if (df_BufferIdx >= df_PageSize) // End of buffer?
{
df_BufferIdx=0;
df_BufferIdx=4;
BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
df_PageAdr++;
if (OVERWRITE_DATA==1)
{
if (df_PageAdr>=4096) // If we reach the end of the memory, start from the begining
if (df_PageAdr>=DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
df_PageAdr = 1;
}
else
{
if (df_PageAdr>=4096) // If we reach the end of the memory, stop here
if (df_PageAdr>=DF_LAST_PAGE) // If we reach the end of the memory, stop here
df_Stop_Write=1;
}
@ -218,7 +218,7 @@ int16_t DataFlash_Class::GetPage()
void DataFlash_Class::StartRead(int16_t PageAdr)
{
df_Read_BufferNum=1;
df_Read_BufferIdx=0;
df_Read_BufferIdx=4;
df_Read_PageAdr=PageAdr;
WaitReady();
PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write Memory page to buffer
@ -234,10 +234,10 @@ byte DataFlash_Class::ReadByte()
df_Read_BufferIdx++;
if (df_Read_BufferIdx >= df_PageSize) // End of buffer?
{
df_Read_BufferIdx=0;
df_Read_BufferIdx=4;
PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write memory page to Buffer
df_Read_PageAdr++;
if (df_Read_PageAdr>=4096) // If we reach the end of the memory, start from the begining
if (df_Read_PageAdr>=DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
{
df_Read_PageAdr = 0;
df_Read_END = true;