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IMU: update ACM and APM for flash_leds change in IMU init

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This commit is contained in:
Andrew Tridgell 2011-12-13 18:19:41 +11:00
parent 919ae17473
commit c007fb49b8
7 changed files with 35 additions and 14 deletions
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2
ArduCopter/GCS_Mavlink.pde
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@ -845,7 +845,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_ACTION_CALIBRATE_ACC: case MAV_ACTION_CALIBRATE_ACC:
imu.init_accel(mavlink_delay); imu.init_accel(mavlink_delay, flash_leds);
result=1; result=1;
break; break;

2
ArduCopter/motors.pde
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@ -42,7 +42,7 @@ static void arm_motors()
//Serial.printf("\nLEV\n"); //Serial.printf("\nLEV\n");
// begin manual leveling // begin manual leveling
imu.init_accel(mavlink_delay); imu.init_accel(mavlink_delay, flash_leds);
arming_counter = 0; arming_counter = 0;
}else if (arming_counter == DISARM_DELAY){ }else if (arming_counter == DISARM_DELAY){

4
ArduCopter/setup.pde
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@ -245,8 +245,8 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
setup_accel(uint8_t argc, const Menu::arg *argv) setup_accel(uint8_t argc, const Menu::arg *argv)
{ {
imu.init(IMU::COLD_START, delay, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
imu.init_accel(); imu.init_accel(delay, flash_leds);
print_accel_offsets(); print_accel_offsets();
report_imu(); report_imu();
return(0); return(0);

12
ArduCopter/system.pde
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@ -389,7 +389,7 @@ static void startup_ground(void)
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// Warm up and read Gyro offsets // Warm up and read Gyro offsets
// ----------------------------- // -----------------------------
imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler); imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
report_imu(); report_imu();
#endif #endif
@ -655,3 +655,13 @@ static void check_usb_mux(void)
} }
} }
#endif #endif
/*
called by gyro/accel init to flash LEDs so user
has some mesmerising lights to watch while waiting
*/
void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}

8
ArduCopter/test.pde
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@ -484,10 +484,10 @@ test_imu(uint8_t argc, const Menu::arg *argv)
Vector3f gyro; Vector3f gyro;
Vector3f accel; Vector3f accel;
imu.init(IMU::WARM_START, delay, &timer_scheduler); imu.init(IMU::WARM_START, delay, flash_leds, &timer_scheduler);
report_imu(); report_imu();
imu.init_gyro(); imu.init_gyro(delay, flash_leds);
report_imu(); report_imu();
print_hit_enter(); print_hit_enter();
@ -524,10 +524,10 @@ test_dcm_eulers(uint8_t argc, const Menu::arg *argv)
//dcm.kp_yaw(0.02); //dcm.kp_yaw(0.02);
//dcm.ki_yaw(0); //dcm.ki_yaw(0);
imu.init(IMU::WARM_START, delay, &timer_scheduler); imu.init(IMU::WARM_START, delay, flash_leds, &timer_scheduler);
report_imu(); report_imu();
imu.init_gyro(); imu.init_gyro(delay, flash_leds);
report_imu(); report_imu();
print_hit_enter(); print_hit_enter();

17
ArduPlane/system.pde
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@ -261,7 +261,7 @@ static void init_ardupilot()
//---------------- //----------------
//read_EEPROM_airstart_critical(); //read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
imu.init(IMU::WARM_START, mavlink_delay, &timer_scheduler); imu.init(IMU::WARM_START, mavlink_delay, flash_leds, &timer_scheduler);
dcm.set_centripetal(1); dcm.set_centripetal(1);
#endif #endif
@ -455,8 +455,8 @@ static void startup_IMU_ground(void)
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane")); gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
mavlink_delay(1000); mavlink_delay(1000);
imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler); imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
imu.init_accel(mavlink_delay); imu.init_accel(mavlink_delay, flash_leds);
dcm.set_centripetal(1); dcm.set_centripetal(1);
// read Baro pressure at ground // read Baro pressure at ground
@ -556,3 +556,14 @@ static void check_usb_mux(void)
} }
} }
#endif #endif
/*
called by gyro/accel init to flash LEDs so user
has some mesmerising lights to watch while waiting
*/
void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}

4
ArduPlane/test.pde
View File

@ -505,7 +505,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
//Serial.printf_P(PSTR("Calibrating.")); //Serial.printf_P(PSTR("Calibrating."));
isr_registry.init(); isr_registry.init();
timer_scheduler.init( &isr_registry ); timer_scheduler.init( &isr_registry );
imu.init(IMU::COLD_START, delay, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
@ -568,7 +568,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
// we need the DCM initialised for this test // we need the DCM initialised for this test
isr_registry.init(); isr_registry.init();
timer_scheduler.init( &isr_registry ); timer_scheduler.init( &isr_registry );
imu.init(IMU::COLD_START, delay, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
int counter = 0; int counter = 0;
//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION); //Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);