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

This commit is contained in:
Michael Oborne 2011-09-14 21:32:24 +08:00
parent b965da89d1 1f29197771
commit d3a30f8d70
66 changed files with 849 additions and 2554 deletions
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3
.gitignore vendored Normal file
View File

@ -0,0 +1,3 @@
.metadata/
Tools/ArdupilotMegaPlanner/bin/Release/logs/
config.mk

142
ArduCopter/ArduCopter.pde
View File

@ -296,6 +296,7 @@ static boolean motor_auto_armed; // if true,
//int max_stabilize_dampener; //
//int max_yaw_dampener; //
static Vector3f omega;
float tuning_value;
// LED output
// ----------
@ -315,11 +316,13 @@ static bool did_ground_start = false; // have we ground started after first ar
// ---------------------
static const float radius_of_earth = 6378100; // meters
static const float gravity = 9.81; // meters/ sec^2
static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
//static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
static long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
static bool xtrack_enabled = false;
static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
//static bool xtrack_enabled = false;
//static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
//static long crosstrack_correction; // deg * 100 : 0 to 360 desired angle of plane to target
static int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
static long circle_angle = 0;
static byte wp_control; // used to control - navgation or loiter
@ -348,7 +351,7 @@ static int airspeed; // m/s * 100
// Location Errors
// ---------------
static long bearing_error; // deg * 100 : 0 to 36000
//static long bearing_error; // deg * 100 : 0 to 36000
static long altitude_error; // meters * 100 we are off in altitude
static long old_altitude;
static long yaw_error; // how off are we pointed
@ -507,7 +510,7 @@ static byte simple_timer; // for limiting the execution of flight mode thi
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
static unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
static float load; // % MCU cycles used
//static float load; // % MCU cycles used
static byte counter_one_herz;
static bool GPS_enabled = false;
@ -526,11 +529,11 @@ void loop()
{
// We want this to execute fast
// ----------------------------
if (millis() - fast_loopTimer >= 5) {
if (millis() - fast_loopTimer >= 4) {
//PORTK |= B00010000;
delta_ms_fast_loop = millis() - fast_loopTimer;
fast_loopTimer = millis();
load = float(fast_loopTimeStamp - fast_loopTimer) / delta_ms_fast_loop;
//load = float(fast_loopTimeStamp - fast_loopTimer) / delta_ms_fast_loop;
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
mainLoop_count++;
@ -542,6 +545,7 @@ void loop()
fast_loop();
fast_loopTimeStamp = millis();
}
//PORTK &= B11101111;
if (millis() - fiftyhz_loopTimer > 19) {
delta_ms_fiftyhz = millis() - fiftyhz_loopTimer;
@ -576,7 +580,6 @@ void loop()
}
//PORTK &= B10111111;
}
//PORTK &= B11101111;
}
// PORTK |= B01000000;
// PORTK &= B10111111;
@ -673,8 +676,8 @@ static void medium_loop()
// ------------------------------------------------------
navigate();
// control mode specific updates to nav_bearing
// --------------------------------------------
// control mode specific updates
// -----------------------------
update_navigation();
if (g.log_bitmask & MASK_LOG_NTUN)
@ -798,7 +801,7 @@ static void fifty_hz_loop()
#endif
// use Yaw to find our bearing error
calc_bearing_error();
//calc_bearing_error();
//if (throttle_slew < 0)
// throttle_slew++;
@ -907,16 +910,15 @@ static void slow_loop()
// between 1 and 5 Hz
#else
gcs.send_message(MSG_LOCATION);
gcs.send_message(MSG_CPU_LOAD, load*100);
//gcs.send_message(MSG_CPU_LOAD, load*100);
#endif
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
hil.data_stream_send(1,5);
#endif
#if CHANNEL_6_TUNING != CH6_NONE
if(g.radio_tuning > 0)
tuning();
#endif
// filter out the baro offset.
//if(baro_alt_offset > 0) baro_alt_offset--;
@ -1246,7 +1248,7 @@ static void update_navigation()
wp_control = WP_MODE;
}else{
set_mode(LOITER);
xtrack_enabled = false;
//xtrack_enabled = false;
}
@ -1268,16 +1270,13 @@ static void update_navigation()
// calculates desired Yaw
update_auto_yaw();
{
circle_angle += dTnav; //1000 * (dTnav/1000);
if (circle_angle >= 36000)
circle_angle -= 36000;
//circle_angle += dTnav; //1000 * (dTnav/1000);
circle_angle = wrap_360(target_bearing + 2000 + 18000);
target_WP.lng = next_WP.lng + g.loiter_radius * cos(radians(90 - circle_angle));
target_WP.lat = next_WP.lat + g.loiter_radius * sin(radians(90 - circle_angle));
}
// calc the lat and long error to the target
calc_location_error(&target_WP);
@ -1301,7 +1300,7 @@ static void read_AHRS(void)
hil.update();
#endif
dcm.update_DCM(G_Dt);
dcm.update_DCM_fast(G_Dt);//, _tog);
omega = dcm.get_gyro();
}
@ -1396,68 +1395,75 @@ adjust_altitude()
}
static void tuning(){
tuning_value = (float)g.rc_6.control_in / 1000.0;
//Outer Loop : Attitude
#if CHANNEL_6_TUNING == CH6_STABILIZE_KP
g.pi_stabilize_roll.kP((float)g.rc_6.control_in / 1000.0);
g.pi_stabilize_pitch.kP((float)g.rc_6.control_in / 1000.0);
switch(g.radio_tuning){
case CH6_STABILIZE_KP:
g.rc_6.set_range(0,8000); // 0 to 8
g.pi_stabilize_roll.kP(tuning_value);
g.pi_stabilize_pitch.kP(tuning_value);
break;
#elif CHANNEL_6_TUNING == CH6_STABILIZE_KI
g.pi_stabilize_roll.kI((float)g.rc_6.control_in / 1000.0);
g.pi_stabilize_pitch.kI((float)g.rc_6.control_in / 1000.0);
case CH6_STABILIZE_KI:
g.rc_6.set_range(0,300); // 0 to .3
tuning_value = (float)g.rc_6.control_in / 1000.0;
g.pi_stabilize_roll.kI(tuning_value);
g.pi_stabilize_pitch.kI(tuning_value);
break;
#elif CHANNEL_6_TUNING == CH6_YAW_KP
g.pi_stabilize_yaw.kP((float)g.rc_6.control_in / 1000.0); // range from 0.0 ~ 5.0
case CH6_RATE_KP:
g.rc_6.set_range(0,300); // 0 to .3
g.pi_rate_roll.kP(tuning_value);
g.pi_rate_pitch.kP(tuning_value);
break;
#elif CHANNEL_6_TUNING == CH6_YAW_KI
g.pi_stabilize_yaw.kI((float)g.rc_6.control_in / 1000.0);
case CH6_RATE_KI:
g.rc_6.set_range(0,300); // 0 to .3
g.pi_rate_roll.kI(tuning_value);
g.pi_rate_pitch.kI(tuning_value);
break;
case CH6_YAW_KP:
g.rc_6.set_range(0,1000);
g.pi_stabilize_yaw.kP(tuning_value);
break;
//Inner Loop : Rate
#elif CHANNEL_6_TUNING == CH6_RATE_KP
g.pi_rate_roll.kP((float)g.rc_6.control_in / 1000.0);
g.pi_rate_pitch.kP((float)g.rc_6.control_in / 1000.0);
case CH6_YAW_RATE_KP:
g.rc_6.set_range(0,1000);
g.pi_rate_yaw.kP(tuning_value);
break;
#elif CHANNEL_6_TUNING == CH6_RATE_KI
g.pi_rate_roll.kI((float)g.rc_6.control_in / 1000.0);
g.pi_rate_pitch.kI((float)g.rc_6.control_in / 1000.0);
case CH6_THROTTLE_KP:
g.rc_6.set_range(0,1000);
g.pi_throttle.kP(tuning_value);
break;
#elif CHANNEL_6_TUNING == CH6_YAW_RATE_KP
g.pi_rate_yaw.kP((float)g.rc_6.control_in / 1000.0);
case CH6_TOP_BOTTOM_RATIO:
g.rc_6.set_range(800,1000); // .8 to 1
g.top_bottom_ratio = tuning_value;
break;
#elif CHANNEL_6_TUNING == CH6_YAW_RATE_KI
g.pi_rate_yaw.kI((float)g.rc_6.control_in / 1000.0);
case CH6_RELAY:
g.rc_6.set_range(0,1000);
if (g.rc_6.control_in <= 600) relay_on();
if (g.rc_6.control_in >= 400) relay_off();
break;
case CH6_TRAVERSE_SPEED:
g.rc_6.set_range(0,1000);
g.waypoint_speed_max = g.rc_6.control_in;
break;
//Altitude Hold
#elif CHANNEL_6_TUNING == CH6_THROTTLE_KP
g.pi_throttle.kP((float)g.rc_6.control_in / 1000.0); // 0 to 1
#elif CHANNEL_6_TUNING == CH6_THROTTLE_KD
g.pi_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1
//Extras
#elif CHANNEL_6_TUNING == CH6_TOP_BOTTOM_RATIO
g.top_bottom_ratio = (float)g.rc_6.control_in / 1000.0;
#elif CHANNEL_6_TUNING == CH6_TRAVERSE_SPEED
g.waypoint_speed_max = (float)g.rc_6.control_in / 1000.0;
#elif CHANNEL_6_TUNING == CH6_PMAX
g.pitch_max.set(g.rc_6.control_in * 2); // 0 to 2000
// Simple relay control
#elif CHANNEL_6_TUNING == CH6_RELAY
if(g.rc_6.control_in <= 600) relay_on();
if(g.rc_6.control_in >= 400) relay_off();
#endif
case CH6_NAV_P:
g.rc_6.set_range(0,6000);
g.pi_nav_lat.kP(tuning_value);
g.pi_nav_lon.kP(tuning_value);
break;
}
}
static void update_nav_wp()
{
// XXX Guided mode!!!
if(wp_control == LOITER_MODE){
// calc a pitch to the target

2
ArduCopter/Attitude.pde
View File

@ -102,7 +102,7 @@ get_nav_throttle(long z_error, int target_speed)
rate_error = constrain(rate_error, -110, 110);
throttle = g.pi_throttle.get_pi(rate_error, delta_ms_medium_loop);
return g.throttle_cruise + rate_error;
return g.throttle_cruise + throttle;
}

2
ArduCopter/HIL_Xplane.pde
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@ -12,7 +12,7 @@ void HIL_XPLANE::output_HIL(void)
output_int((int)(g.rc_3.servo_out)); // 2 bytes 4, 5
output_int((int)(g.rc_4.servo_out)); // 3 bytes 6, 7
output_int((int)wp_distance); // 4 bytes 8,9
output_int((int)bearing_error); // 5 bytes 10,11
//output_int((int)bearing_error); // 5 bytes 10,11
output_int((int)altitude_error); // 6 bytes 12, 13
output_int((int)energy_error); // 7 bytes 14,15
output_byte((int)g.waypoint_index); // 8 bytes 16

6
ArduCopter/Log.pde
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@ -537,9 +537,8 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteInt((int)wp_distance); // 1
DataFlash.WriteByte(wp_verify_byte); // 2
DataFlash.WriteInt((int)(target_bearing/100)); // 3
DataFlash.WriteInt((int)(nav_bearing/100)); // 4
DataFlash.WriteInt((int)long_error); // 5
DataFlash.WriteInt((int)lat_error); // 6
DataFlash.WriteInt((int)long_error); // 4
DataFlash.WriteInt((int)lat_error); // 5
/*
@ -568,7 +567,6 @@ static void Log_Read_Nav_Tuning()
DataFlash.ReadInt(), // distance
DataFlash.ReadByte(), // wp_verify_byte
DataFlash.ReadInt(), // target_bearing
DataFlash.ReadInt(), // nav_bearing
DataFlash.ReadInt(), // long_error
DataFlash.ReadInt()); // lat_error

14
ArduCopter/Mavlink_Common.h
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@ -87,7 +87,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
mode,
nav_mode,
status,
load * 1000,
0,
battery_voltage * 1000,
battery_remaining,
packet_drops);
@ -142,7 +142,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
chan,
nav_roll / 1.0e2,
nav_pitch / 1.0e2,
nav_bearing / 1.0e2,
target_bearing / 1.0e2,
target_bearing / 1.0e2,
wp_distance,
altitude_error / 1.0e2,
@ -294,14 +294,14 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
Vector3f mag_offsets = compass.get_offsets();
mavlink_msg_sensor_offsets_send(chan,
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.RawPress,
barometer.RawPress,
barometer.RawTemp,
imu.gx(), imu.gy(), imu.gz(),
imu.gx(), imu.gy(), imu.gz(),
imu.ax(), imu.ay(), imu.az());
break;
}
@ -353,8 +353,8 @@ static void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint16_t pa
// see if we can send the deferred messages, if any
while (q->num_deferred_messages != 0) {
if (!mavlink_try_send_message(chan,
q->deferred_messages[q->next_deferred_message],
if (!mavlink_try_send_message(chan,
q->deferred_messages[q->next_deferred_message],
packet_drops)) {
break;
}

7
ArduCopter/Parameters.h
View File

@ -77,6 +77,7 @@ public:
k_param_frame_orientation,
k_param_top_bottom_ratio,
k_param_optflow_enabled,
k_param_input_voltage,
//
// 160: Navigation parameters
@ -105,6 +106,7 @@ public:
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_esc_calibrate,
k_param_radio_tuning,
#if FRAME_CONFIG == HELI_FRAME
@ -231,9 +233,12 @@ public:
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 compass_enabled;
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int8 frame_orientation;
AP_Float top_bottom_ratio;
AP_Int8 optflow_enabled;
AP_Float input_voltage;
#if FRAME_CONFIG == HELI_FRAME
// Heli
@ -296,6 +301,7 @@ public:
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")),
waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")),
@ -324,6 +330,7 @@ public:
log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")),
frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
top_bottom_ratio (TOP_BOTTOM_RATIO, k_param_top_bottom_ratio, PSTR("TB_RATIO")),

46
ArduCopter/commands.pde
View File

@ -1,5 +1,18 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*static void init_auto()
{
//if (g.waypoint_index == g.waypoint_total) {
// do_RTL();
//}
// initialize commands
// -------------------
init_commands();
}
*/
static void init_commands()
{
// zero is home, but we always load the next command (1), in the code.
@ -20,18 +33,6 @@ static void clear_command_queue(){
next_command.id = NO_COMMAND;
}
static void init_auto()
{
//if (g.waypoint_index == g.waypoint_total) {
// Serial.println("ia_f");
// do_RTL();
//}
// initialize commands
// -------------------
init_commands();
}
// Getters
// -------
static struct Location get_command_with_index(int i)
@ -41,8 +42,6 @@ static struct Location get_command_with_index(int i)
// Find out proper location in memory by using the start_byte position + the index
// --------------------------------------------------------------------------------
if (i > g.waypoint_total) {
Serial.println("XCD");
// we do not have a valid command to load
// return a WP with a "Blank" id
temp.id = CMD_BLANK;
@ -51,7 +50,6 @@ static struct Location get_command_with_index(int i)
return temp;
}else{
//Serial.println("LD");
// we can load a command, we don't process it yet
// read WP position
long mem = (WP_START_BYTE) + (i * WP_SIZE);
@ -75,10 +73,9 @@ static struct Location get_command_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 & WP_OPTION_ALT_RELATIVE){
//temp.alt += home.alt;
}
//Serial.println("ADD ALT");
//}
if(temp.options & WP_OPTION_RELATIVE){
// If were relative, just offset from home
@ -190,7 +187,6 @@ static void set_next_WP(struct Location *wp)
wp_totalDistance = get_distance(&current_loc, &next_WP);
wp_distance = wp_totalDistance;
target_bearing = get_bearing(&current_loc, &next_WP);
nav_bearing = target_bearing;
// to check if we have missed the WP
// ----------------------------
@ -198,7 +194,7 @@ static void set_next_WP(struct Location *wp)
// set a new crosstrack bearing
// ----------------------------
crosstrack_bearing = target_bearing; // Used for track following
//crosstrack_bearing = target_bearing; // Used for track following
gcs.print_current_waypoints();
}
@ -218,14 +214,12 @@ static void init_home()
home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7
//home.alt = max(g_gps->altitude, 0); // we sometimes get negatives from GPS, not valid
home.alt = 0; // this is a test
home.alt = 0; // Home is always 0
home_is_set = true;
// to point yaw towards home until we set it with Mavlink
target_WP = home;
//Serial.printf_P(PSTR("gps alt: %ld\n"), home.alt);
// Save Home to EEPROM
// -------------------
// no need to save this to EPROM
@ -234,8 +228,14 @@ static void init_home()
// Save prev loc this makes the calcs look better before commands are loaded
prev_WP = home;
// this is dangerous since we can get GPS lock at any time.
//next_WP = home;
// Load home for a default guided_WP
// -------------
guided_WP = home;
guided_WP.alt += g.RTL_altitude;
}

11
ArduCopter/commands_logic.pde
View File

@ -105,17 +105,14 @@ static void handle_process_now()
static void handle_no_commands()
{
// we don't want to RTL yet. Maybe this will change in the future. RTL is kinda dangerous.
// use landing commands
/*
switch (control_mode){
default:
//set_mode(RTL);
set_mode(RTL);
break;
}
return;
*/
Serial.println("Handle No CMDs");
}*/
//return;
//Serial.println("Handle No CMDs");
}
/********************************************************************************/

10
ArduCopter/config.h
View File

@ -345,7 +345,7 @@
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_HOLD
# define CIRCLE_YAW YAW_AUTO
#endif
#ifndef CIRCLE_RP
@ -482,10 +482,10 @@
# define NAV_P 2.0 // for 4.5 ms error = 13.5 pitch
#endif
#ifndef NAV_I
# define NAV_I 0.1 // this
# define NAV_I 0.12 // this
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 16 // degrees
# define NAV_IMAX 20 // degrees
#endif
/*
@ -513,7 +513,7 @@
// Throttle control gains
//
#ifndef THROTTLE_P
# define THROTTLE_P 0.35 //
# define THROTTLE_P 0.6 //
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
@ -522,7 +522,7 @@
//# define THROTTLE_D 0.6 // upped with filter
//#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 150
# define THROTTLE_IMAX 300
#endif

39
ArduCopter/defines.h
View File

@ -87,14 +87,6 @@
// Note channels are from 0!
//
// 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_11 10 //PE3
@ -138,13 +130,6 @@
#define CIRCLE 8 // AUTO control
#define NUM_MODES 9
// YAW debug
// ---------
#define YAW_HOLD 0
#define YAW_BRAKE 1
#define YAW_RATE 2
// CH_6 Tuning
// -----------
#define CH6_NONE 0
@ -152,20 +137,18 @@
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_YAW_KP 3
#define CH6_YAW_KD 4
// Rate
#define CH6_RATE_KP 5
#define CH6_RATE_KI 6
#define CH6_YAW_RATE_KP 7
#define CH6_YAW_RATE_KD 8
#define CH6_RATE_KP 4
#define CH6_RATE_KI 5
#define CH6_YAW_RATE_KP 6
// Altitude
#define CH6_THROTTLE_KP 9
#define CH6_THROTTLE_KD 10
#define CH6_THROTTLE_KP 7
// Extras
#define CH6_TOP_BOTTOM_RATIO 11
#define CH6_PMAX 12
#define CH6_RELAY 13
#define CH6_TRAVERSE_SPEED 14
#define CH6_TOP_BOTTOM_RATIO 8
#define CH6_RELAY 9
#define CH6_TRAVERSE_SPEED 10
#define CH6_NAV_P 11
// nav byte mask
// -------------
@ -322,8 +305,8 @@
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
#define CURRENT_AMPS(x) ((x*(INPUT_VOLTAGE/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*VOLT_DIV_RATIO
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
//#define BARO_FILTER_SIZE 8
/* ************************************************************** */

9
ArduCopter/motors.pde
View File

@ -34,8 +34,9 @@ static void arm_motors()
// Tune down DCM
// -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.030000);
dcm.ki_roll_pitch(0.000006);
dcm.kp_roll_pitch(0.030000);
dcm.ki_roll_pitch(0.00001278), // 50 hz I term
//dcm.ki_roll_pitch(0.000006);
#endif
// tune down compass
@ -95,8 +96,8 @@ static void arm_motors()
// Tune down DCM
// -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.12); // higher for quads
dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop
dcm.kp_roll_pitch(0.12); // higher for fast recovery
//dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop
#endif
// tune up compass

36
ArduCopter/motors_hexa.pde
View File

@ -138,21 +138,21 @@ static void output_motor_test()
// 31
// 24
if(g.rc_1.control_in > 3000){ // right
motor_out[CH_1] += 50;
motor_out[CH_1] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[CH_2] += 50;
motor_out[CH_2] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[CH_8] += 50;
motor_out[CH_4] += 50;
motor_out[CH_8] += 100;
motor_out[CH_4] += 100;
}
if(g.rc_2.control_in < -3000){ // front
motor_out[CH_7] += 50;
motor_out[CH_3] += 50;
motor_out[CH_7] += 100;
motor_out[CH_3] += 100;
}
}else{
@ -160,21 +160,21 @@ static void output_motor_test()
// 2 1
// 4
if(g.rc_1.control_in > 3000){ // right
motor_out[CH_4] += 50;
motor_out[CH_8] += 50;
motor_out[CH_4] += 100;
motor_out[CH_8] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[CH_7] += 50;
motor_out[CH_3] += 50;
motor_out[CH_7] += 100;
motor_out[CH_3] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[CH_2] += 50;
motor_out[CH_2] += 100;
}
if(g.rc_2.control_in < -3000){ // front
motor_out[CH_1] += 50;
motor_out[CH_1] += 100;
}
}
@ -189,27 +189,27 @@ static void output_motor_test()
/*
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000);
}
*/

86
ArduCopter/motors_octa.pde
View File

@ -182,37 +182,75 @@ static void output_motors_disarmed()
static void output_motor_test()
{
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50);
delay(1000);
if( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME )
{
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
}
if( g.frame_orientation == V_FRAME )
{
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
}
}
#endif

31
ArduCopter/motors_octa_quad.pde
View File

@ -149,8 +149,37 @@ static void output_motors_disarmed()
static void output_motor_test()
{
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
delay(1000);
}
#endif

24
ArduCopter/motors_quad.pde
View File

@ -139,23 +139,23 @@ static void output_motor_test()
// 31
// 24
if(g.rc_1.control_in > 3000){
motor_out[CH_1] += 50;
motor_out[CH_4] += 50;
motor_out[CH_1] += 100;
motor_out[CH_4] += 100;
}
if(g.rc_1.control_in < -3000){
motor_out[CH_2] += 50;
motor_out[CH_3] += 50;
motor_out[CH_2] += 100;
motor_out[CH_3] += 100;
}
if(g.rc_2.control_in > 3000){
motor_out[CH_2] += 50;
motor_out[CH_4] += 50;
motor_out[CH_2] += 100;
motor_out[CH_4] += 100;
}
if(g.rc_2.control_in < -3000){
motor_out[CH_1] += 50;
motor_out[CH_3] += 50;
motor_out[CH_1] += 100;
motor_out[CH_3] += 100;
}
}else{
@ -163,16 +163,16 @@ static void output_motor_test()
// 2 1
// 4
if(g.rc_1.control_in > 3000)
motor_out[CH_1] += 50;
motor_out[CH_1] += 100;
if(g.rc_1.control_in < -3000)
motor_out[CH_2] += 50;
motor_out[CH_2] += 100;
if(g.rc_2.control_in > 3000)
motor_out[CH_4] += 50;
motor_out[CH_4] += 100;
if(g.rc_2.control_in < -3000)
motor_out[CH_3] += 50;
motor_out[CH_3] += 100;
}
APM_RC.OutputCh(CH_1, motor_out[CH_1]);

6
ArduCopter/motors_tri.pde
View File

@ -96,15 +96,15 @@ static void output_motor_test()
if(g.rc_1.control_in > 3000){ // right
motor_out[CH_1] += 50;
motor_out[CH_1] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[CH_2] += 50;
motor_out[CH_2] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[CH_4] += 50;
motor_out[CH_4] += 100;
}
APM_RC.OutputCh(CH_1, motor_out[CH_1]);

12
ArduCopter/motors_y6.pde
View File

@ -144,18 +144,18 @@ static void output_motor_test()
if(g.rc_1.control_in > 3000){ // right
motor_out[CH_1] += 50;
motor_out[CH_7] += 50;
motor_out[CH_1] += 100;
motor_out[CH_7] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[CH_2] += 50;
motor_out[CH_3] += 50;
motor_out[CH_2] += 100;
motor_out[CH_3] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[CH_8] += 50;
motor_out[CH_4] += 50;
motor_out[CH_8] += 100;
motor_out[CH_4] += 100;
}
APM_RC.OutputCh(CH_1, motor_out[CH_1]);

35
ArduCopter/navigation.pde
View File

@ -34,11 +34,12 @@ static void navigate()
// nav_bearing will include xtrac correction
// -----------------------------------------
//xtrack_enabled = false;
if(xtrack_enabled){
nav_bearing = wrap_360(target_bearing + get_crosstrack_correction());
}else{
nav_bearing = target_bearing;
}
//if(xtrack_enabled){
// crosstrack_correction = get_crosstrack_correction();
//}else {
// crosstrack_correction = 0;
//}
}
static bool check_missed_wp()
@ -101,18 +102,20 @@ static void calc_nav_rate(int x_error, int y_error, int max_speed, int min_speed
}
// find the rates:
float temp = radians((float)g_gps->ground_course/100.0);
// calc the cos of the error to tell how fast we are moving towards the target in cm
y_actual_speed = (float)g_gps->ground_speed * cos(radians((float)g_gps->ground_course/100.0));
y_actual_speed = (float)g_gps->ground_speed * cos(temp);
y_rate_error = y_target_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum
y_rate_error = constrain(y_rate_error, -600, 600); // added a rate error limit to keep pitching down to a minimum
nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
//Serial.printf("yr: %d, nav_lat: %d, int:%d \n",y_rate_error, nav_lat, g.pi_nav_lat.get_integrator());
// calc the sin of the error to tell how fast we are moving laterally to the target in cm
x_actual_speed = (float)g_gps->ground_speed * sin(radians((float)g_gps->ground_course/100.0));
x_actual_speed = (float)g_gps->ground_speed * sin(temp);
x_rate_error = x_target_speed - x_actual_speed;
x_rate_error = constrain(x_rate_error, -250, 250);
x_rate_error = constrain(x_rate_error, -600, 600);
nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
}
@ -128,11 +131,11 @@ static void calc_nav_pitch_roll()
}
// ------------------------------
static void calc_bearing_error()
/*static void calc_bearing_error()
{
bearing_error = nav_bearing - dcm.yaw_sensor;
bearing_error = wrap_180(bearing_error);
}
}*/
static long get_altitude_error()
{
@ -189,6 +192,7 @@ static long wrap_180(long error)
return error;
}
/*
static long get_crosstrack_correction(void)
{
// Crosstrack Error
@ -206,19 +210,20 @@ static long get_crosstrack_correction(void)
}
return 0;
}
*/
/*
static long cross_track_test()
{
long temp = wrap_180(target_bearing - crosstrack_bearing);
return abs(temp);
}
*/
/*
static void reset_crosstrack()
{
crosstrack_bearing = get_bearing(&current_loc, &next_WP); // Used for track following
}
*/
static long get_altitude_above_home(void)
{
// This is the altitude above the home location

24
ArduCopter/radio.pde
View File

@ -35,30 +35,6 @@ static void init_rc_in()
g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000);
#if CHANNEL_6_TUNING == CH6_RATE_KP
g.rc_6.set_range(0,300); // 0 t0 .3
#elif CHANNEL_6_TUNING == CH6_RATE_KI
g.rc_6.set_range(0,300); // 0 t0 .3
#elif CHANNEL_6_TUNING == CH6_STABILIZE_KP
g.rc_6.set_range(0,8000); // 0 t0 .3
#elif CHANNEL_6_TUNING == CH6_STABILIZE_KI
g.rc_6.set_range(0,300); // 0 t0 .3
#elif CHANNEL_6_TUNING == CH6_THROTTLE_KP
g.rc_6.set_range(0,800); // 0 to .8
#elif CHANNEL_6_TUNING == CH6_THROTTLE_KD
g.rc_6.set_range(0,500); // 0 to .5
#elif CHANNEL_6_TUNING == CH6_TOP_BOTTOM_RATIO
g.rc_6.set_range(800,1000); // .8 to 1
/* #elif CHANNEL_6_TUNING == CH6_RELAY
g.rc_6.set_range(0,1000); // 0 to 1 */
#endif
}
static void init_rc_out()

23
ArduCopter/setup.pde
View File

@ -13,6 +13,7 @@ static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
//static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_esc (uint8_t argc, const Menu::arg *argv);
@ -41,6 +42,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
{"battery", setup_batt_monitor},
{"sonar", setup_sonar},
{"compass", setup_compass},
{"tune", setup_tune},
// {"offsets", setup_mag_offset},
{"declination", setup_declination},
#ifdef OPTFLOW_ENABLED
@ -354,6 +356,15 @@ setup_declination(uint8_t argc, const Menu::arg *argv)
return 0;
}
static int8_t
setup_tune(uint8_t argc, const Menu::arg *argv)
{
g.radio_tuning.set_and_save(argv[1].i);
report_tuning();
return 0;
}
static int8_t
setup_erase(uint8_t argc, const Menu::arg *argv)
@ -1131,3 +1142,15 @@ static void report_version()
print_blanks(2);
}
static void report_tuning()
{
Serial.printf_P(PSTR("\nTUNE:\n"));
print_divider();
if (g.radio_tuning == 0){
print_enabled(g.radio_tuning.get());
}else{
Serial.printf_P(PSTR(" %d\n"),(int)g.radio_tuning.get());
}
print_blanks(2);
}

14
ArduCopter/system.pde
View File

@ -41,7 +41,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
};
// Create the top-level menu object.
MENU(main_menu, "ArduCopter 2.0.40 Beta", main_menu_commands);
MENU(main_menu, "ArduCopter 2.0.43 Beta", main_menu_commands);
#endif // CLI_ENABLED
@ -362,7 +362,7 @@ static void set_mode(byte mode)
led_mode = NORMAL_LEDS;
// most modes do not calculate crosstrack correction
xtrack_enabled = false;
//xtrack_enabled = false;
reset_nav_I();
switch(control_mode)
@ -407,11 +407,12 @@ static void set_mode(byte mode)
init_throttle_cruise();
// loads the commands from where we left off
init_auto();
//init_auto();
init_commands();
// do crosstrack correction
// XXX move to flight commands
xtrack_enabled = true;
//xtrack_enabled = true;
break;
case CIRCLE:
@ -437,9 +438,10 @@ static void set_mode(byte mode)
roll_pitch_mode = ROLL_PITCH_AUTO;
throttle_mode = THROTTLE_AUTO;
xtrack_enabled = true;
//xtrack_enabled = true;
init_throttle_cruise();
next_WP = current_loc;
set_next_WP(&guided_WP);
break;
case RTL:
@ -447,7 +449,7 @@ static void set_mode(byte mode)
roll_pitch_mode = RTL_RP;
throttle_mode = RTL_THR;
xtrack_enabled = true;
//xtrack_enabled = true;
init_throttle_cruise();
do_RTL();
break;

59
ArduCopter/test.pde
View File

@ -447,7 +447,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
accels.x, accels.y, accels.z,
gyros.x, gyros.y, gyros.z);
*/
///*
/*
Serial.printf_P(PSTR("cp: %1.2f, sp: %1.2f, cr: %1.2f, sr: %1.2f, cy: %1.2f, sy: %1.2f,\n"),
cos_pitch_x,
sin_pitch_y,
@ -636,59 +636,8 @@ test_tuning(uint8_t argc, const Menu::arg *argv)
while(1){
delay(200);
read_radio();
//Outer Loop : Attitude
#if CHANNEL_6_TUNING == CH6_NONE
Serial.printf_P(PSTR("disabled\n"));
#elif CHANNEL_6_TUNING == CH6_STABILIZE_KP
Serial.printf_P(PSTR("stab kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_STABILIZE_KI
Serial.printf_P(PSTR("stab kI: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_YAW_KP
Serial.printf_P(PSTR("yaw Hold kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0)); // range from 0 ~ 5.0
#elif CHANNEL_6_TUNING == CH6_YAW_KI
Serial.printf_P(PSTR("yaw Hold kI: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
//Inner Loop : Rate
#elif CHANNEL_6_TUNING == CH6_RATE_KP
Serial.printf_P(PSTR("rate kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_RATE_KI
Serial.printf_P(PSTR("rate kI: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_YAW_RATE_KP
Serial.printf_P(PSTR("yaw rate kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_YAW_RATE_KI
Serial.printf_P(PSTR("yaw rate kI: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
//Altitude Hold
#elif CHANNEL_6_TUNING == CH6_THROTTLE_KP
Serial.printf_P(PSTR("throttle kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_THROTTLE_KD
Serial.printf_P(PSTR("baro kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_TRAVERSE_SPEED
Serial.printf_P(PSTR("traverse: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
//Extras
#elif CHANNEL_6_TUNING == CH6_TOP_BOTTOM_RATIO
Serial.printf_P(PSTR("Y6: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
#elif CHANNEL_6_TUNING == CH6_PMAX
Serial.printf_P(PSTR("Y6: %d\n"), (g.rc_6.control_in * 2));
#elif CHANNEL_6_TUNING == CH6_RELAY
Serial.printf_P(PSTR(" %d\n"), (g.rc_6.control_in ));
#endif
tuning();
Serial.printf_P(PSTR("tune: %1.3f\n"), tuning_value);
if(Serial.available() > 0){
return (0);
@ -1009,10 +958,12 @@ test_mission(uint8_t argc, const Menu::arg *argv)
return (0);
}
*/
static void print_hit_enter()
{
Serial.printf_P(PSTR("Hit Enter to exit.\n\n"));
}
/*
static void fake_out_gps()
{

3
ArduPlane/APM_Config.h
View File

@ -1,5 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here.

17
ArduPlane/APM_Config.h.reference
View File

@ -304,19 +304,6 @@
//#define FLIGHT_MODE_6 MANUAL
//
//////////////////////////////////////////////////////////////////////////////
// RC_5_FUNCT OPTIONAL
// RC_6_FUNCT OPTIONAL
// RC_7_FUNCT OPTIONAL
// RC_8_FUNCT OPTIONAL
//
// The channel 5 through 8 function assignments allow configuration of those
// channels for use with differential ailerons, flaps, flaperons, or camera
// or intrument mounts
//
//#define RC_5_FUNCT RC_5_FUNCT_NONE
//etc.
//////////////////////////////////////////////////////////////////////////////
// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed
@ -411,9 +398,9 @@
// also means that you should avoid switching out of MANUAL while you have
// 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
//
//////////////////////////////////////////////////////////////////////////////

3
ArduPlane/ArduPlane.pde
View File

@ -415,6 +415,7 @@ static unsigned long nav_loopTimer; // used to track the elapsed time for GP
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
static float load; // % MCU cycles used
RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
@ -710,6 +711,8 @@ static void slow_loop()
// ----------------------------------
update_servo_switches();
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
break;
case 2:

36
ArduPlane/Attitude.pde
View File

@ -61,7 +61,7 @@ static void stabilize()
// Mix Stick input to allow users to override control surfaces
// -----------------------------------------------------------
if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B)) {
if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B && failsafe == FAILSAFE_NONE)) {
// TODO: use RC_Channel control_mix function?
@ -92,7 +92,7 @@ static void stabilize()
// stick mixing performed for rudder for all cases including FBW unless disabled for higher modes
// important for steering on the ground during landing
// -----------------------------------------------
if (control_mode <= FLY_BY_WIRE_B || ENABLE_STICK_MIXING == 1) {
if (control_mode <= FLY_BY_WIRE_B || (ENABLE_STICK_MIXING == 1 && failsafe == FAILSAFE_NONE)) {
ch4_inf = (float)g.channel_rudder.radio_in - (float)g.channel_rudder.radio_trim;
ch4_inf = fabs(ch4_inf);
ch4_inf = min(ch4_inf, 400.0);
@ -274,21 +274,16 @@ static void set_servos(void)
}
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_rudder.radio_out = g.channel_rudder.radio_in;
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.radio_out = g.rc_5.radio_in;
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.radio_out = g.rc_6.radio_in;
G_RC_AUX(k_aileron)->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
} else {
if (g.mix_mode == 0) {
g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm();
g.channel_rudder.calc_pwm();
if (g.rc_5_funct == RC_5_FUNCT_AILERON) {
g.rc_5.servo_out = g.channel_roll.servo_out;
g.rc_5.calc_pwm();
}
if (g.rc_6_funct == RC_6_FUNCT_AILERON) {
g.rc_6.servo_out = g.channel_roll.servo_out;
g.rc_6.calc_pwm();
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]->calc_pwm();
}
}else{
@ -320,8 +315,7 @@ static void set_servos(void)
}
if(control_mode <= FLY_BY_WIRE_B) {
if (g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.radio_out = g.rc_5.radio_in;
if (g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.radio_out = g.rc_6.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) {
if (g.airspeed_enabled == true) {
flapSpeedSource = g.airspeed_cruise;
@ -329,14 +323,11 @@ static void set_servos(void)
flapSpeedSource = g.throttle_cruise;
}
if ( flapSpeedSource > g.flap_1_speed) {
if(g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.servo_out = 0;
if(g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.servo_out = 0;
G_RC_AUX(k_flap_auto)->servo_out = 0;
} else if (flapSpeedSource > g.flap_2_speed) {
if(g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.servo_out = g.flap_1_percent;
if(g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.servo_out = g.flap_1_percent;
G_RC_AUX(k_flap_auto)->servo_out = g.flap_1_percent;
} else {
if(g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO) g.rc_5.servo_out = g.flap_2_percent;
if(g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO) g.rc_6.servo_out = g.flap_2_percent;
G_RC_AUX(k_flap_auto)->servo_out = g.flap_2_percent;
}
}
@ -347,8 +338,11 @@ static void set_servos(void)
APM_RC.OutputCh(CH_2, g.channel_pitch.radio_out); // send to Servos
APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos
APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos
APM_RC.OutputCh(CH_5, g.rc_5.radio_out); // send to Servos
APM_RC.OutputCh(CH_6, g.rc_6.radio_out); // send to Servos
// Route configurable aux. functions to their respective servos
g.rc_5.output_ch(CH_5);
g.rc_6.output_ch(CH_6);
g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8);
#endif
}

23
ArduPlane/Parameters.h
View File

@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 11;
static const uint16_t k_format_version = 12;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -134,11 +134,6 @@ public:
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_rc_5_funct,
k_param_rc_6_funct,
k_param_rc_7_funct,
k_param_rc_8_funct,
//
// 200: Feed-forward gains
@ -327,14 +322,10 @@ public:
RC_Channel channel_pitch;
RC_Channel channel_throttle;
RC_Channel channel_rudder;
RC_Channel rc_5;
RC_Channel rc_6;
RC_Channel rc_7;
RC_Channel rc_8;
AP_Int8 rc_5_funct;
AP_Int8 rc_6_funct;
AP_Int8 rc_7_funct;
AP_Int8 rc_8_funct;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
// PID controllers
//
@ -428,10 +419,6 @@ public:
inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),
airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")),
rc_5_funct (RC_5_FUNCT, k_param_rc_5_funct, PSTR("RC5_FUNCT")),
rc_6_funct (RC_6_FUNCT, k_param_rc_6_funct, PSTR("RC6_FUNCT")),
rc_7_funct (RC_7_FUNCT, k_param_rc_7_funct, PSTR("RC7_FUNCT")),
rc_8_funct (RC_8_FUNCT, k_param_rc_8_funct, PSTR("RC8_FUNCT")),
// Note - total parameter name length must be less than 14 characters for MAVLink compatibility!

15
ArduPlane/config.h
View File

@ -226,19 +226,6 @@
# define CH8_MAX 2000
#endif
//////////////////////////////////////////////////////////////////////////////
#ifndef RC_5_FUNCT
# define RC_5_FUNCT RC_5_FUNCT_NONE
#endif
#ifndef RC_6_FUNCT
# define RC_6_FUNCT RC_6_FUNCT_NONE
#endif
#ifndef RC_7_FUNCT
# define RC_7_FUNCT RC_7_FUNCT_NONE
#endif
#ifndef RC_8_FUNCT
# define RC_8_FUNCT RC_8_FUNCT_NONE
#endif
#ifndef FLAP_1_PERCENT
# define FLAP_1_PERCENT 0
@ -313,7 +300,7 @@
// AUTO_TRIM
//
#ifndef AUTO_TRIM
# define AUTO_TRIM ENABLED
# define AUTO_TRIM DISABLED
#endif

27
ArduPlane/defines.h
View File

@ -41,39 +41,12 @@
#define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7
// Radio channels
// Note channels are from 0!
//
// 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_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4
#define RC_5_FUNCT_NONE 0
#define RC_5_FUNCT_AILERON 1
#define RC_5_FUNCT_FLAP_AUTO 2
#define RC_5_FUNCT_FLAPERON 3
#define RC_6_FUNCT_NONE 0
#define RC_6_FUNCT_AILERON 1
#define RC_6_FUNCT_FLAP_AUTO 2
#define RC_6_FUNCT_FLAPERON 3
#define RC_7_FUNCT_NONE 0
#define RC_8_FUNCT_NONE 0
// HIL enumerations
#define HIL_PROTOCOL_XPLANE 1
#define HIL_PROTOCOL_MAVLINK 2

2
ArduPlane/events.pde
View File

@ -43,12 +43,12 @@ static void failsafe_long_on_event()
case STABILIZE:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
case CIRCLE:
set_mode(RTL);
break;
case AUTO:
case LOITER:
case CIRCLE:
if(g.long_fs_action == 1) {
set_mode(RTL);
}

34
ArduPlane/radio.pde
View File

@ -23,24 +23,7 @@ static void init_rc_in()
g.channel_throttle.dead_zone = 6;
//set auxiliary ranges
if (g.rc_5_funct == RC_5_FUNCT_AILERON) {
g.rc_5.set_angle(SERVO_MAX);
} else if (g.rc_5_funct == RC_5_FUNCT_FLAP_AUTO || g.rc_5_funct == RC_5_FUNCT_FLAPERON) {
g.rc_5.set_range(0,100);
} else {
g.rc_5.set_range(0,1000); // Insert proper init for camera mount, etc., here
}
if (g.rc_6_funct == RC_6_FUNCT_AILERON) {
g.rc_6.set_angle(SERVO_MAX);
} else if (g.rc_6_funct == RC_6_FUNCT_FLAP_AUTO || g.rc_6_funct == RC_6_FUNCT_FLAPERON) {
g.rc_6.set_range(0,100);
} else {
g.rc_6.set_range(0,1000); // Insert proper init for camera mount, etc., here
}
g.rc_7.set_range(0,1000); // Insert proper init for camera mount, etc., here
g.rc_8.set_range(0,1000);
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
}
static void init_rc_out()
@ -53,7 +36,7 @@ static void init_rc_out()
APM_RC.OutputCh(CH_5, g.rc_5.radio_trim);
APM_RC.OutputCh(CH_6, g.rc_6.radio_trim);
APM_RC.OutputCh(CH_7, g.rc_7.radio_trim);
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
APM_RC.Init(); // APM Radio initialization
@ -173,8 +156,7 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.radio_trim = g.rc_5.radio_in; // Second aileron channel
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.radio_trim = g.rc_6.radio_in; // Second aileron channel
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
}else{
elevon1_trim = ch1_temp;
@ -191,8 +173,7 @@ static void trim_control_surfaces()
g.channel_pitch.save_eeprom();
g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.save_eeprom();
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}
static void trim_radio()
@ -208,8 +189,7 @@ static void trim_radio()
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.radio_trim = g.rc_5.radio_in; // Second aileron channel
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.radio_trim = g.rc_6.radio_in; // Second aileron channel
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
} else {
elevon1_trim = ch1_temp;
@ -225,7 +205,5 @@ static void trim_radio()
g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
if (g.rc_5_funct == RC_5_FUNCT_AILERON) g.rc_5.save_eeprom();
if (g.rc_6_funct == RC_6_FUNCT_AILERON) g.rc_6.save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}

21
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log
View File

@ -3,7 +3,6 @@
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:1398: warning: 'void tuning()' defined but not used
autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined
autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined
autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined
@ -31,8 +30,8 @@ autogenerated:250: warning: 'void calc_altitude_smoothing_error()' declared 'sta
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:217: warning: 'void reset_crosstrack()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:222: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:243: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:155: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:212: warning: 'void trim_yaw()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:131: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:188: warning: 'void trim_yaw()' defined but not used
autogenerated:268: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:269: warning: 'void parseCommand(char*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
@ -44,14 +43,14 @@ autogenerated:287: warning: 'void report_gyro()' declared 'static' but never def
autogenerated:295: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:296: warning: 'int read_num_from_serial()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/system.pde:465: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:310: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:318: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1040: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:442: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:448: warning: 'condition_rate' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:462: warning: 'simple_WP' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:467: warning: 'optflow_offset' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:468: warning: 'new_location' defined but not used
autogenerated:311: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:991: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:443: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:449: warning: 'condition_rate' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:463: warning: 'simple_WP' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:468: warning: 'optflow_offset' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:469: warning: 'new_location' defined but not used
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o

34
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt
View File

@ -134,7 +134,6 @@
00000004 b command_yaw_start_time
00000004 b initial_simple_bearing
00000004 d G_Dt
00000004 b load
00000004 b dTnav
00000004 b nav_lat
00000004 b nav_lon
@ -166,6 +165,7 @@
00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
00000004 B tuning_value
00000005 r __menu_name__test_menu
00000005 r report_imu()::__c
00000005 r select_logs(unsigned char, Menu::arg const*)::__c
@ -173,6 +173,7 @@
00000005 r select_logs(unsigned char, Menu::arg const*)::__c
00000005 r Log_Read_Raw()::__c
00000005 r Log_Read_Mode()::__c
00000005 r report_tuning()::__c
00000005 r print_log_menu()::__c
00000005 r print_log_menu()::__c
00000005 r print_log_menu()::__c
@ -186,6 +187,7 @@
00000005 V Parameters::Parameters()::__c
00000005 V Parameters::Parameters()::__c
00000005 V Parameters::Parameters()::__c
00000005 V Parameters::Parameters()::__c
00000005 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
00000005 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
00000005 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
@ -222,6 +224,7 @@
00000008 r report_frame()::__c
00000008 r report_frame()::__c
00000008 r report_frame()::__c
00000008 r report_tuning()::__c
00000008 r print_log_menu()::__c
00000008 r report_batt_monitor()::__c
00000008 r report_batt_monitor()::__c
@ -230,6 +233,7 @@
00000008 V Parameters::Parameters()::__c
00000008 V Parameters::Parameters()::__c
00000008 V Parameters::Parameters()::__c
00000008 V Parameters::Parameters()::__c
00000008 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
00000009 r print_switch(unsigned char, unsigned char)::__c
00000009 r print_log_menu()::__c
@ -256,7 +260,6 @@
00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
0000000a r test_relay(unsigned char, Menu::arg const*)::__c
0000000a r test_tuning(unsigned char, Menu::arg const*)::__c
0000000a r start_new_log()::__c
0000000a r print_log_menu()::__c
0000000a r Log_Read_Startup()::__c
@ -284,6 +287,7 @@
0000000c V Parameters::Parameters()::__c
0000000d r verify_RTL()::__c
0000000d r select_logs(unsigned char, Menu::arg const*)::__c
0000000d r test_tuning(unsigned char, Menu::arg const*)::__c
0000000d r test_battery(unsigned char, Menu::arg const*)::__c
0000000d r startup_ground()::__c
0000000d r test_wp(unsigned char, Menu::arg const*)::__c
@ -384,6 +388,7 @@
00000016 r GCS_MAVLINK::update()::__c
00000016 B sonar
00000017 r __menu_name__main_menu
00000018 t setup_tune(unsigned char, Menu::arg const*)
00000018 t setup_accel(unsigned char, Menu::arg const*)
00000018 W AP_VarT<int>::serialize(void*, unsigned int) const
00000018 b mavlink_get_channel_status::m_mavlink_status
@ -464,7 +469,6 @@
00000040 t byte_swap_8
00000040 t crc_accumulate
00000042 t report_sonar()
00000043 r test_imu(unsigned char, Menu::arg const*)::__c
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log
View File

@ -3,7 +3,6 @@
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined
autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined
autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined
@ -31,8 +30,8 @@ autogenerated:250: warning: 'void calc_altitude_smoothing_error()' declared 'sta
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autogenerated:310: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:318: warning: 'void fake_out_gps()' declared 'static' but never defined
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o

34
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt
View File

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Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log
View File

@ -3,7 +3,9 @@
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_PI/APM_PI.o
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%% libraries/AP_Common/c++.o
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%% libraries/AP_GPS/AP_GPS_HIL.o
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%% libraries/AP_GPS/AP_GPS_MTK16.o
%% libraries/AP_GPS/AP_GPS_MTK.o
%% libraries/AP_GPS/AP_GPS_NMEA.o
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%% libraries/AP_GPS/AP_GPS_UBLOX.o
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In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:20:1: warning: this is the location of the previous definition
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/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:221: warning: suggest parentheses around arithmetic in operand of |
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'bool AP_OpticalFlow_ADNS3080::get_frame_rate_auto()':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:257: warning: suggest parentheses around comparison in operand of &
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:361: warning: suggest parentheses around arithmetic in operand of |
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)':
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/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'int AP_OpticalFlow_ADNS3080::print_pixel_data(Stream*)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:441: warning: suggest parentheses around comparison in operand of &
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: control reaches end of non-void function
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: control reaches end of non-void function
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'virtual bool AP_OpticalFlow_ADNS3080::init(bool)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:80: warning: control reaches end of non-void function
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual void AP_OpticalFlow::get_position(float, float, float, float)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:88: warning: unused variable 'i'
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: control reaches end of non-void function
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: control reaches end of non-void function
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
%% libraries/AP_RangeFinder/RangeFinder.o
%% libraries/DataFlash/DataFlash.o
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
%% libraries/FastSerial/BetterStream.o
%% libraries/FastSerial/FastSerial.o
%% libraries/FastSerial/vprintf.o
%% libraries/GCS_MAVLink/GCS_MAVLink.o
%% libraries/ModeFilter/ModeFilter.o
%% libraries/RC_Channel/RC_Channel.o
%% libraries/memcheck/memcheck.o
%% libraries/FastSerial/ftoa_engine.o
%% libraries/FastSerial/ultoa_invert.o
%% libraries/SPI/SPI.o
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
%% libraries/Wire/Wire.o
%% libraries/Wire/utility/twi.o
cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
%% arduino/HardwareSerial.o
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
%% arduino/main.o
%% arduino/Print.o
%% arduino/Tone.o
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
%% arduino/WMath.o
%% arduino/WString.o
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
%% arduino/core.a
%% ArduCopter.elf
%% ArduCopter.eep
%% ArduCopter.hex
make: *** [/tmp/ArduCopter.build/ArduCopter.o] Error 1

600
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt
View File

@ -1,600 +0,0 @@
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Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log
View File

@ -3,7 +3,9 @@
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:1398: warning: 'void tuning()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde: In function 'void read_AHRS()':
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:1301: error: 'class AP_DCM_HIL' has no member named 'update_DCM_fast'
autogenerated: At global scope:
autogenerated:34: warning: 'int alt_hold_velocity()' declared 'static' but never defined
autogenerated:86: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined
autogenerated:87: warning: 'void send_message(byte)' declared 'static' but never defined
@ -34,8 +36,8 @@ autogenerated:250: warning: 'void calc_altitude_smoothing_error()' declared 'sta
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:217: warning: 'void reset_crosstrack()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:222: warning: 'long int get_altitude_above_home()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:243: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:155: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:212: warning: 'void trim_yaw()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:131: warning: 'void throttle_failsafe(uint16_t)' defined but not used
/root/apm/ardupilot-mega/ArduCopter/radio.pde:188: warning: 'void trim_yaw()' defined but not used
autogenerated:268: warning: 'void readCommands()' declared 'static' but never defined
autogenerated:269: warning: 'void parseCommand(char*)' declared 'static' but never defined
autogenerated:270: warning: 'void ReadSCP1000()' declared 'static' but never defined
@ -49,169 +51,19 @@ autogenerated:287: warning: 'void report_gyro()' declared 'static' but never def
autogenerated:295: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
autogenerated:296: warning: 'int read_num_from_serial()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/system.pde:465: warning: 'void set_failsafe(boolean)' defined but not used
autogenerated:310: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:318: warning: 'void fake_out_gps()' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:1040: warning: 'void print_motor_out()' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:353: warning: 'old_altitude' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:371: warning: 'abs_pressure' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:372: warning: 'ground_pressure' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:373: warning: 'ground_temperature' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:378: warning: 'baro_alt' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:442: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:448: warning: 'condition_rate' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:462: warning: 'simple_WP' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:467: warning: 'optflow_offset' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:468: warning: 'new_location' defined but not used
autogenerated:311: warning: 'void init_optflow()' declared 'static' but never defined
autogenerated:319: warning: 'void fake_out_gps()' declared 'static' but never defined
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/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:354: warning: 'old_altitude' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:372: warning: 'abs_pressure' defined but not used
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/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:379: warning: 'baro_alt' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:443: warning: 'undo_event' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:449: warning: 'condition_rate' defined but not used
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:463: warning: 'simple_WP' defined but not used
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/root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined
/root/apm/ardupilot-mega/ArduCopter/test.pde:24: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o
%% libraries/AP_ADC/AP_ADC.o
%% libraries/AP_ADC/AP_ADC_HIL.o
%% libraries/AP_Common/AP_Common.o
%% libraries/AP_Common/AP_Loop.o
%% libraries/AP_Common/AP_MetaClass.o
%% libraries/AP_Common/AP_Var.o
%% libraries/AP_Common/AP_Var_menufuncs.o
%% libraries/AP_Common/c++.o
%% libraries/AP_Common/menu.o
%% libraries/AP_Compass/AP_Compass_HIL.o
%% libraries/AP_Compass/AP_Compass_HMC5843.o
%% libraries/AP_Compass/Compass.o
%% libraries/AP_DCM/AP_DCM.o
%% libraries/AP_DCM/AP_DCM_HIL.o
%% libraries/AP_GPS/AP_GPS_406.o
%% libraries/AP_GPS/AP_GPS_Auto.o
%% libraries/AP_GPS/AP_GPS_HIL.o
%% libraries/AP_GPS/AP_GPS_IMU.o
%% libraries/AP_GPS/AP_GPS_MTK16.o
%% libraries/AP_GPS/AP_GPS_MTK.o
%% libraries/AP_GPS/AP_GPS_NMEA.o
%% libraries/AP_GPS/AP_GPS_SIRF.o
%% libraries/AP_GPS/AP_GPS_UBLOX.o
%% libraries/AP_GPS/GPS.o
%% libraries/AP_IMU/AP_IMU_Oilpan.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:20:1: warning: this is the location of the previous definition
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_led_always_on(bool)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:221: warning: suggest parentheses around arithmetic in operand of |
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'bool AP_OpticalFlow_ADNS3080::get_frame_rate_auto()':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:257: warning: suggest parentheses around comparison in operand of &
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'void AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:361: warning: suggest parentheses around arithmetic in operand of |
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'int AP_OpticalFlow_ADNS3080::print_pixel_data(Stream*)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:441: warning: suggest parentheses around comparison in operand of &
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:456: warning: control reaches end of non-void function
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'unsigned int AP_OpticalFlow_ADNS3080::set_shutter_speed(unsigned int)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:408: warning: control reaches end of non-void function
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp: In member function 'virtual bool AP_OpticalFlow_ADNS3080::init(bool)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:80: warning: control reaches end of non-void function
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: no return statement in function returning non-void
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual void AP_OpticalFlow::get_position(float, float, float, float)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:88: warning: unused variable 'i'
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual byte AP_OpticalFlow::read_register(byte)':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:44: warning: control reaches end of non-void function
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp: In member function 'virtual int AP_OpticalFlow::read()':
/root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp:38: warning: control reaches end of non-void function
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
%% libraries/AP_RangeFinder/RangeFinder.o
%% libraries/DataFlash/DataFlash.o
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
%% libraries/FastSerial/BetterStream.o
%% libraries/FastSerial/FastSerial.o
%% libraries/FastSerial/vprintf.o
%% libraries/GCS_MAVLink/GCS_MAVLink.o
%% libraries/ModeFilter/ModeFilter.o
%% libraries/RC_Channel/RC_Channel.o
%% libraries/memcheck/memcheck.o
%% libraries/FastSerial/ftoa_engine.o
%% libraries/FastSerial/ultoa_invert.o
%% libraries/SPI/SPI.o
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
%% libraries/Wire/Wire.o
%% libraries/Wire/utility/twi.o
cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
%% arduino/HardwareSerial.o
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
%% arduino/main.o
%% arduino/Print.o
%% arduino/Tone.o
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
%% arduino/WMath.o
%% arduino/WString.o
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
%% arduino/core.a
%% ArduCopter.elf
%% ArduCopter.eep
%% ArduCopter.hex
make: *** [/tmp/ArduCopter.build/ArduCopter.o] Error 1

600
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt
View File

@ -1,600 +0,0 @@
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log
View File

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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
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%% libraries/APM_BMP085/APM_BMP085.o
%% libraries/APM_PI/APM_PI.o
%% libraries/APM_RC/APM_RC.o

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log
View File

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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
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View File

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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
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View File

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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log
View File

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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:53:
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log
View File

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View File

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@ -173,6 +173,7 @@
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@ -186,6 +187,7 @@
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00000005 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
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@ -222,6 +224,7 @@
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00000008 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
00000009 r print_switch(unsigned char, unsigned char)::__c
00000009 r print_log_menu()::__c
@ -256,7 +260,6 @@
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00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
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@ -284,6 +287,7 @@
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12
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -58,7 +58,7 @@
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<name>ArduCopter 2.0.40 Beta Quad</name>
<name>ArduCopter 2.0.42 Beta Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME
@ -69,7 +69,7 @@
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<name>ArduCopter 2.0.40 Beta Tri</name>
<name>ArduCopter 2.0.42 Beta Tri</name>
<desc>
#define FRAME_CONFIG TRI_FRAME
#define FRAME_ORIENTATION X_FRAME
@ -80,7 +80,7 @@
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<name>ArduCopter 2.0.40 Beta Hexa</name>
<name>ArduCopter 2.0.42 Beta Hexa</name>
<desc>
#define FRAME_CONFIG HEXA_FRAME
#define FRAME_ORIENTATION X_FRAME
@ -91,7 +91,7 @@
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<name>ArduCopter 2.0.40 Beta Y6</name>
<name>ArduCopter 2.0.42 Beta Y6</name>
<desc>
#define FRAME_CONFIG Y6_FRAME
#define FRAME_ORIENTATION X_FRAME
@ -102,7 +102,7 @@
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
<name>ArduCopter 2.0.40 Beta Heli (2560 only)</name>
<name>ArduCopter 2.0.42 Beta Heli (2560 only)</name>
<desc>
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
@ -149,7 +149,7 @@
<Firmware>
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<name>ArduCopter 2.0.40 Beta Quad Hil</name>
<name>ArduCopter 2.0.42 Beta Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME

7
Tools/ArdupilotMegaPlanner/Firmware/git.log
View File

@ -1 +1,6 @@
Already up-to-date.
From https://code.google.com/p/ardupilot-mega
a543a5c..fe617ae master -> origin/master
Updating a543a5c..fe617ae
Fast-forward
ArduCopter/config.h | 2 +-
1 files changed, 1 insertions(+), 1 deletions(-)

11
libraries/APM_RC/APM_RC.h
View File

@ -5,6 +5,17 @@
#define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100
// Radio channels
// Note channels are from 0!
#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
#include <inttypes.h>
class APM_RC_Class

2
libraries/AP_ADC/AP_ADC_ADS7844.h
View File

@ -9,7 +9,7 @@
#define ADC_DATAIN 50 // MISO
#define ADC_SPICLOCK 52 // SCK
#define ADC_CHIP_SELECT 33 // PC4 9 // PH6 Puerto:0x08 Bit mask : 0x40
#define ADC_FILTER_SIZE 6
#define ADC_FILTER_SIZE 3
#include "AP_ADC.h"
#include <inttypes.h>

277
libraries/AP_Camera/Camera.cpp
View File

@ -1,277 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include "Camera.h"
#include "../RC_Channel/RC_Channel.h"
void
Camera::move()
{
Vector3<float> target_vector(0,0,1); // x, y, z to target before rotating to planes axis, values are in meters
//decide what happens to camera depending on camera mode
switch(mode)
{
case 0:
//do nothing, i.e lock camera in place
return;
break;
case 1:
//stabilize
target_vector.x=0; //east to west gives +tive value (i.e. longitude)
target_vector.y=0; //south to north gives +tive value (i.e. latitude)
target_vector.z=100; //downwards is +tive
break;
case 2:
//track target
if(g_gps->fix)
{
target_vector=get_location_vector(&current_loc,&camera_target);
}
break;
case 3: // radio manual control
case 4: // test (level the camera and point north)
break; // see code 25 lines bellow
}
Matrix3f m = dcm.get_dcm_transposed();
Vector3<float> targ = m*target_vector; //to do: find out notion of x y convention
switch(gimbal_type)
{
case 0: // pitch & roll (tilt & roll)
cam_pitch = degrees(atan2(-targ.x, targ.z)); //pitch
cam_roll = degrees(atan2(targ.y, targ.z)); //roll
break;
case 1: // yaw & pitch (pan & tilt)
cam_pitch = atan2((sqrt(sq(targ.y) + sq(targ.x)) * .01113195), targ.z) * -1;
cam_yaw = 9000 + atan2(-targ.y, targ.x) * 5729.57795;
break;
/* case 2: // pitch, roll & yaw - not started
cam_ritch = 0;
cam_yoll = 0;
cam_paw = 0;
break; */
}
//some camera modes overwrite the gimbal_type calculations
switch(mode)
{
case 3: // radio manual control
if (rc_function[CAM_PITCH])
cam_pitch = map(rc_function[CAM_PITCH]->radio_in,
rc_function[CAM_PITCH]->radio_min,
rc_function[CAM_PITCH]->radio_max,
rc_function[CAM_PITCH]->angle_min,
rc_function[CAM_PITCH]->radio_max);
if (rc_function[CAM_ROLL])
cam_roll = map(rc_function[CAM_ROLL]->radio_in,
rc_function[CAM_ROLL]->radio_min,
rc_function[CAM_ROLL]->radio_max,
rc_function[CAM_ROLL]->angle_min,
rc_function[CAM_ROLL]->radio_max);
if (rc_function[CAM_YAW])
cam_yaw = map(rc_function[CAM_YAW]->radio_in,
rc_function[CAM_YAW]->radio_min,
rc_function[CAM_YAW]->radio_max,
rc_function[CAM_YAW]->angle_min,
rc_function[CAM_YAW]->radio_max);
break;
case 4: // test (level the camera and point north)
cam_pitch = -dcm.pitch_sensor;
cam_yaw = dcm.yaw_sensor; // do not invert because the servo is mounted upside-down on my system
// TODO: the "trunk" code can invert using parameters, but this branch still can't
cam_roll = -dcm.roll_sensor;
break;
}
#if CAM_DEBUG == ENABLED
//for debugging purposes
Serial.println();
Serial.print("current_loc: lat: ");
Serial.print(current_loc.lat);
Serial.print(", lng: ");
Serial.print(current_loc.lng);
Serial.print(", alt: ");
Serial.print(current_loc.alt);
Serial.println();
Serial.print("target_loc: lat: ");
Serial.print(camera_target.lat);
Serial.print(", lng: ");
Serial.print(camera_target.lng);
Serial.print(", alt: ");
Serial.print(camera_target.alt);
Serial.print(", distance: ");
Serial.print(get_distance(&current_loc,&camera_target));
Serial.print(", bearing: ");
Serial.print(get_bearing(&current_loc,&camera_target));
Serial.println();
Serial.print("dcm_angles: roll: ");
Serial.print(degrees(dcm.roll));
Serial.print(", pitch: ");
Serial.print(degrees(dcm.pitch));
Serial.print(", yaw: ");
Serial.print(degrees(dcm.yaw));
Serial.println();
Serial.print("target_vector: x: ");
Serial.print(target_vector.x,2);
Serial.print(", y: ");
Serial.print(target_vector.y,2);
Serial.print(", z: ");
Serial.print(target_vector.z,2);
Serial.println();
Serial.print("rotated_target_vector: x: ");
Serial.print(targ.x,2);
Serial.print(", y: ");
Serial.print(targ.y,2);
Serial.print(", z: ");
Serial.print(targ.z,2);
Serial.println();
Serial.print("gimbal type 0: roll: ");
Serial.print(roll);
Serial.print(", pitch: ");
Serial.print(pitch);
Serial.println();
/* Serial.print("gimbal type 1: pitch: ");
Serial.print(pan);
Serial.print(", roll: ");
Serial.print(tilt);
Serial.println(); */
/* Serial.print("gimbal type 2: pitch: ");
Serial.print(ritch);
Serial.print(", roll: ");
Serial.print(yoll);
Serial.print(", yaw: ");
Serial.print(paw);
Serial.println(); */
#endif
}
void
Camera::set_target(struct Location target)
{
camera_target = target;
}
void
Camera::update_camera_gimbal_type()
{
// Auto detect the camera gimbal type depending on the functions assigned to the servos
if ((rc_function[CAM_YAW] == NULL) && (rc_function[CAM_PITCH] != NULL) && (rc_function[CAM_ROLL] != NULL))
{
gimbal_type = 0;
}
if ((rc_function[CAM_YAW] != NULL) && (rc_function[CAM_PITCH] != NULL) && (rc_function[CAM_ROLL] == NULL))
{
gimbal_type = 1;
}
if ((rc_function[CAM_YAW] != NULL) && (rc_function[CAM_PITCH] != NULL) && (rc_function[CAM_ROLL] != NULL))
{
gimbal_type = 2;
}
}
void
Camera::servo_pic() // Servo operated camera
{
if (rc_function[CAM_TRIGGER])
{
cam_trigger = rc_function[CAM_TRIGGER]->radio_max;
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
}
}
void
Camera::relay_pic() // basic relay activation
{
relay_on();
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
}
void
Camera::throttle_pic() // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
{
g.channel_throttle.radio_out = g.throttle_min;
if (thr_pic == 10){
servo_pic(); // triggering method
thr_pic = 0;
g.channel_throttle.radio_out = g.throttle_cruise;
}
thr_pic++;
}
void
Camera::distance_pic() // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
{
g.channel_throttle.radio_out = g.throttle_min;
if (wp_distance < 3){
servo_pic(); // triggering method
g.channel_throttle.radio_out = g.throttle_cruise;
}
}
void
Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output.
{
// To Do: Assign pin spare pin for output
digitalWrite(camtrig, HIGH);
keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
}
// single entry point to take pictures
void
Camera::trigger_pic()
{
switch (trigger_type)
{
case 0:
servo_pic(); // Servo operated camera
break;
case 1:
relay_pic(); // basic relay activation
break;
case 2:
throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
break;
case 3:
distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
break;
case 4:
NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
break;
}
}
// de-activate the trigger after some delay, but without using a delay() function
void
Camera::trigger_pic_cleanup()
{
if (keep_cam_trigg_active_cycles)
{
keep_cam_trigg_active_cycles --;
}
else
{
switch (trigger_type)
{
case 0:
case 2:
case 3:
if (rc_function[CAM_TRIGGER])
{
cam_trigger = rc_function[CAM_TRIGGER]->radio_min;
}
break;
case 1:
relay_off();
break;
case 4:
digitalWrite(camtrig, LOW);
break;
}
}
}

71
libraries/AP_Camera/Camera.h
View File

@ -1,71 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file Camera.h
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
#ifndef CAMERA_H
#define CAMERA_H
#include <AP_Common.h>
/// @class Camera
/// @brief Object managing a Photo or video camera
class Camera{
protected:
AP_Var_group _group; // must be before all vars to keep ctor init order correct
public:
/// Constructor
///
/// @param key EEPROM storage key for the camera configuration parameters.
/// @param name Optional name for the group.
///
Camera(AP_Var::Key key, const prog_char_t *name) :
_group(key, name),
mode (&_group, 0, 0, name ? PSTR("MODE") : 0), // suppress name if group has no name
trigger_type(&_group, 1, 0, name ? PSTR("TRIGGER_MODE") : 0),
picture_time (0), // waypoint trigger variable
thr_pic (0), // timer variable for throttle_pic
camtrig (83), // PK6 chosen as it not near anything so safer for soldering
// camera_target (home), // use test target for now
gimbal_type (1),
keep_cam_trigg_active_cycles (0)
{}
// move the camera depending on the camera mode
void move();
// single entry point to take pictures
void trigger_pic();
// de-activate the trigger after some delay, but without using a delay() function
void trigger_pic_cleanup();
// call this from time to time to make sure the correct gimbal type gets choosen
void update_camera_gimbal_type();
// set camera orientation target
void set_target(struct Location target);
int picture_time; // waypoint trigger variable
private:
uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
struct Location camera_target; // point of interest for the camera to track
// struct Location GPS_mark; // GPS POI for position based triggering
int thr_pic; // timer variable for throttle_pic
int camtrig; // PK6 chosen as it not near anything so safer for soldering
AP_Int8 mode; // 0=do nothing, 1=stabilize, 2=track target, 3=manual, 4=simple stabilize test
AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
uint8_t gimbal_type; // 0=pitch & roll (tilt & roll), 1=yaw & pitch(pan & tilt), 2=pitch, roll & yaw (to be added)
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
};
#endif /* CAMERA_H */

6
libraries/AP_Common/Arduino.mk
View File

@ -259,7 +259,11 @@ SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)
# make.
#
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.

71
libraries/AP_DCM/AP_DCM.cpp
View File

@ -41,7 +41,7 @@ AP_DCM::set_compass(Compass *compass)
/**************************************************/
void
AP_DCM::update_DCM(float _G_Dt)
AP_DCM::update_DCM_fast(float _G_Dt)
{
_imu->update();
_gyro_vector = _imu->get_gyro(); // Get current values for IMU sensors
@ -49,13 +49,48 @@ AP_DCM::update_DCM(float _G_Dt)
matrix_update(_G_Dt); // Integrate the DCM matrix
//if(_toggle){
normalize(); // Normalize the DCM matrix
//}else{
drift_correction(); // Perform drift correction
//}
//_toggle = !_toggle;
switch(_toggle++){
case 0:
normalize(); // Normalize the DCM matrix
break;
case 1:
//drift_correction(); // Normalize the DCM matrix
euler_rp(); // Calculate pitch, roll, yaw for stabilization and navigation
break;
case 2:
drift_correction(); // Normalize the DCM matrix
break;
case 3:
//drift_correction(); // Normalize the DCM matrix
euler_rp(); // Calculate pitch, roll, yaw for stabilization and navigation
break;
case 4:
euler_yaw();
break;
default:
euler_rp(); // Calculate pitch, roll, yaw for stabilization and navigation
_toggle = 0;
//drift_correction(); // Normalize the DCM matrix
break;
}
}
/**************************************************/
void
AP_DCM::update_DCM(float _G_Dt)
{
_imu->update();
_gyro_vector = _imu->get_gyro(); // Get current values for IMU sensors
_accel_vector = _imu->get_accel(); // Get current values for IMU sensors
matrix_update(_G_Dt); // Integrate the DCM matrix
normalize(); // Normalize the DCM matrix
drift_correction(); // Perform drift correction
euler_angles(); // Calculate pitch, roll, yaw for stabilization and navigation
}
@ -83,11 +118,12 @@ AP_DCM::matrix_update(float _G_Dt)
Matrix3f temp_matrix;
//Record when you saturate any of the gyros.
/*
if( (fabs(_gyro_vector.x) >= radians(300)) ||
(fabs(_gyro_vector.y) >= radians(300)) ||
(fabs(_gyro_vector.z) >= radians(300))){
gyro_sat_count++;
}
}*/
_omega_integ_corr = _gyro_vector + _omega_I; // Used for _centripetal correction (theoretically better than _omega)
_omega = _omega_integ_corr + _omega_P; // Equation 16, adding proportional and integral correction terms
@ -335,6 +371,25 @@ AP_DCM::euler_angles(void)
yaw_sensor += 36000;
}
void
AP_DCM::euler_rp(void)
{
pitch = -asin(_dcm_matrix.c.x);
roll = atan2(_dcm_matrix.c.y, _dcm_matrix.c.z);
roll_sensor = degrees(roll) * 100;
pitch_sensor = degrees(pitch) * 100;
}
void
AP_DCM::euler_yaw(void)
{
yaw = atan2(_dcm_matrix.b.x, _dcm_matrix.a.x);
yaw_sensor = degrees(yaw) * 100;
if (yaw_sensor < 0)
yaw_sensor += 36000;
}
/**************************************************/
float

9
libraries/AP_DCM/AP_DCM.h
View File

@ -1,7 +1,7 @@
#ifndef AP_DCM_h
#define AP_DCM_h
// teporarily include all other classes here
// temporarily include all other classes here
// since this naming is a bit off from the
// convention and the AP_DCM should be the top
// header file
@ -50,6 +50,7 @@ public:
// Methods
void update_DCM(float _G_Dt);
void update_DCM_fast(float _G_Dt);
float get_health(void);
@ -98,6 +99,10 @@ private:
void drift_correction(void);
void euler_angles(void);
void euler_rp(void);
void euler_yaw(void);
// members
Compass * _compass;
@ -122,7 +127,7 @@ private:
float _course_over_ground_y; // Course overground Y axis
float _health;
bool _centripetal;
bool _toggle;
uint8_t _toggle;
};
#endif

9
libraries/AP_Mount/keywords.txt
View File

@ -1,9 +0,0 @@
AP_Mount KEYWORD1
SetGPSTarget KEYWORD2
SetAssisted KEYWORD2
SetAntenna KEYWORD2
SetMountFPV KEYWORD2
SetMountLanding KEYWORD2
UpDateMount KEYWORD2
SetMode KEYWORD2

2
libraries/RC_Channel/RC_Channel.cpp
View File

@ -120,7 +120,7 @@ RC_Channel::calc_pwm(void)
{
if(_type == RC_CHANNEL_RANGE){
pwm_out = range_to_pwm();
radio_out = pwm_out + radio_min;
radio_out = (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out);
}else if(_type == RC_CHANNEL_ANGLE_RAW){
pwm_out = (float)servo_out * .1;

10
libraries/RC_Channel/RC_Channel.h
View File

@ -7,12 +7,11 @@
#define RC_Channel_h
#include <AP_Common.h>
#include <stdint.h>
/// @class RC_Channel
/// @brief Object managing one RC channel
class RC_Channel{
private:
protected:
AP_Var_group _group; // must be before all vars to keep ctor init order correct
public:
@ -103,8 +102,7 @@ class RC_Channel{
int16_t _low;
};
// This is ugly, but it fixes compilation on arduino
#include "RC_Channel_aux.h"
#endif

55
libraries/RC_Channel/RC_Channel_aux.cpp Normal file
View File

@ -0,0 +1,55 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include <APM_RC.h>
#include "RC_Channel_aux.h"
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(unsigned char ch_nr)
{
// take care or two corner cases
switch(function)
{
case k_none: // disabled
return;
break;
case k_manual: // manual
radio_out = radio_in;
break;
}
APM_RC.OutputCh(ch_nr, radio_out);
}
// Update the g_rc_function array of pointers to rc_x channels
// 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
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)
{
// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
// Assume that no auxiliary function is used
for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
g_rc_function[aux_servo_function[CH_5]] = rc_5;
g_rc_function[aux_servo_function[CH_6]] = rc_6;
g_rc_function[aux_servo_function[CH_7]] = rc_7;
g_rc_function[aux_servo_function[CH_8]] = rc_8;
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(4500);
G_RC_AUX(k_flaperon)->set_range(0,100);
}

48
libraries/RC_Channel/RC_Channel_aux.h Normal file
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@ -0,0 +1,48 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file RC_Channel_aux.h
/// @brief RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants.
/// @author Amilcar Lucas
#ifndef RC_CHANNEL_AUX_H_
#define RC_CHANNEL_AUX_H_
#include "RC_Channel.h"
// Macro to simplify accessing the auxiliary servos
#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
/// @class RC_Channel_aux
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
class RC_Channel_aux : public RC_Channel{
public:
/// Constructor
///
/// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
///
RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
RC_Channel(key, name),
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0) // suppress name if group has no name
{}
typedef enum
{
k_none = 0, // disabled
k_manual = 1, // manual, just pass-thru the RC in signal
k_flap = 2, // flap
k_flap_auto = 3, // flap automated
k_aileron = 4, // aileron
k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t;
AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
};
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);
#endif /* RC_CHANNEL_AUX_H_ */