diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..1d314f6281 --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +.metadata/ +Tools/ArdupilotMegaPlanner/bin/Release/logs/ +config.mk diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 31d427146a..6ad4e24031 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -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 diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index effcf76bc2..8a9512664d 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -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; } diff --git a/ArduCopter/HIL_Xplane.pde b/ArduCopter/HIL_Xplane.pde index 8f9a748e74..311b9da649 100644 --- a/ArduCopter/HIL_Xplane.pde +++ b/ArduCopter/HIL_Xplane.pde @@ -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 diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index d67fabf2a8..9f1ef3a578 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -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 diff --git a/ArduCopter/Mavlink_Common.h b/ArduCopter/Mavlink_Common.h index f401d048ef..a04ffecd4c 100644 --- a/ArduCopter/Mavlink_Common.h +++ b/ArduCopter/Mavlink_Common.h @@ -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; } diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index c8b8037991..c2680f856e 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -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")), diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde index 10d5fb31f3..ec1da8f3ff 100644 --- a/ArduCopter/commands.pde +++ b/ArduCopter/commands.pde @@ -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(¤t_loc, &next_WP); wp_distance = wp_totalDistance; target_bearing = get_bearing(¤t_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; } diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde index f544719c45..68dbce1c55 100644 --- a/ArduCopter/commands_logic.pde +++ b/ArduCopter/commands_logic.pde @@ -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"); } /********************************************************************************/ diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 664ab801c9..144c8f650d 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -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 diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 6b485b146a..9bd0fb9f88 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -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 /* ************************************************************** */ diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde index 4e64316376..5a4d0e3e9a 100644 --- a/ArduCopter/motors.pde +++ b/ArduCopter/motors.pde @@ -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 diff --git a/ArduCopter/motors_hexa.pde b/ArduCopter/motors_hexa.pde index d1dde00eee..066e7c2d17 100644 --- a/ArduCopter/motors_hexa.pde +++ b/ArduCopter/motors_hexa.pde @@ -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); } */ diff --git a/ArduCopter/motors_octa.pde b/ArduCopter/motors_octa.pde index c798014c16..a89669ba06 100644 --- a/ArduCopter/motors_octa.pde +++ b/ArduCopter/motors_octa.pde @@ -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 diff --git a/ArduCopter/motors_octa_quad.pde b/ArduCopter/motors_octa_quad.pde index 37398ed21f..7866c7d3ab 100644 --- a/ArduCopter/motors_octa_quad.pde +++ b/ArduCopter/motors_octa_quad.pde @@ -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 - diff --git a/ArduCopter/motors_quad.pde b/ArduCopter/motors_quad.pde index dc6b36ee06..d5af159ad4 100644 --- a/ArduCopter/motors_quad.pde +++ b/ArduCopter/motors_quad.pde @@ -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]); diff --git a/ArduCopter/motors_tri.pde b/ArduCopter/motors_tri.pde index 0fbff12ab7..ec9c747b41 100644 --- a/ArduCopter/motors_tri.pde +++ b/ArduCopter/motors_tri.pde @@ -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]); diff --git a/ArduCopter/motors_y6.pde b/ArduCopter/motors_y6.pde index ede41a0fba..23f51218a2 100644 --- a/ArduCopter/motors_y6.pde +++ b/ArduCopter/motors_y6.pde @@ -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]); diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 6cddf96010..a40ef79f27 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -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(¤t_loc, &next_WP); // Used for track following } - +*/ static long get_altitude_above_home(void) { // This is the altitude above the home location diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde index 21e6758962..4025730e8c 100644 --- a/ArduCopter/radio.pde +++ b/ArduCopter/radio.pde @@ -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() diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde index 9b618dcadb..529297aa2d 100644 --- a/ArduCopter/setup.pde +++ b/ArduCopter/setup.pde @@ -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); +} diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index c2cf31502e..6eb3c83e8f 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -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; diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 3baaf3cc08..895b41d55b 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -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() { diff --git a/ArduPlane/APM_Config.h b/ArduPlane/APM_Config.h index 3a8bbb504f..40fcc180a9 100644 --- a/ArduPlane/APM_Config.h +++ b/ArduPlane/APM_Config.h @@ -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. diff --git a/ArduPlane/APM_Config.h.reference b/ArduPlane/APM_Config.h.reference index 6d8685b3e3..4c560ef062 100644 --- a/ArduPlane/APM_Config.h.reference +++ b/ArduPlane/APM_Config.h.reference @@ -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 // ////////////////////////////////////////////////////////////////////////////// diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index 9a0da7d2e8..1c71b6b5be 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -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: diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde index 3305927fa4..4847f86e76 100644 --- a/ArduPlane/Attitude.pde +++ b/ArduPlane/Attitude.pde @@ -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 } diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index 570c38800a..70976ce887 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -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! diff --git a/ArduPlane/config.h b/ArduPlane/config.h index bc1056e55f..d48b4cb73d 100644 --- a/ArduPlane/config.h +++ b/ArduPlane/config.h @@ -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 diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h index b48deed2da..5c5b01b10f 100644 --- a/ArduPlane/defines.h +++ b/ArduPlane/defines.h @@ -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 diff --git a/ArduPlane/events.pde b/ArduPlane/events.pde index acd60e9cfc..faa0e0dc69 100644 --- a/ArduPlane/events.pde +++ b/ArduPlane/events.pde @@ -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); } diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde index 748b7a9228..674c096e25 100644 --- a/ArduPlane/radio.pde +++ b/ArduPlane/radio.pde @@ -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(); } - diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt index d8f061f4bc..d84d3fb9ee 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt @@ -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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 00000090 t dump_log(unsigned char, Menu::arg const*) +00000092 t test_tuning(unsigned char, Menu::arg const*) +00000092 t report_tuning() 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,12 +554,12 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() 000000de t test_adc(unsigned char, Menu::arg const*) +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -586,27 +591,28 @@ 00000172 t update_nav_wp() 000001a0 t init_home() 000001a8 t print_radio_values() +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() 000001fc t setup_motors(unsigned char, Menu::arg const*) -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 00000220 t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000384 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00002000 T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001fa2 T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt index d6992b33c3..da96f935e5 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt @@ -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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 0000008e t dump_log(unsigned char, Menu::arg const*) +00000090 t report_tuning() +00000092 t test_tuning(unsigned char, Menu::arg const*) 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,12 +554,12 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000dc t test_adc(unsigned char, Menu::arg const*) 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -586,27 +591,28 @@ 00000172 t update_nav_wp() 000001a0 t init_home() 000001a8 t print_radio_values() +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() 000001fc t setup_motors(unsigned char, Menu::arg const*) -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 0000021c t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000382 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001ffe T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001fa0 T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log index f9ac117a10..48387c886f 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log @@ -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 +/root/apm/ardupilot-mega/ArduCopter/test.pde:991: warning: 'void print_motor_out()' defined but not used +/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 +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:373: warning: 'ground_pressure' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:374: warning: 'ground_temperature' defined but not used +/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 +/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 /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 ." -%% 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 ." -/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 ." -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 ." -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 ." -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 ." -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 ." -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 ." -%% arduino/core.a -%% ArduCopter.elf -%% ArduCopter.eep -%% ArduCopter.hex +make: *** [/tmp/ArduCopter.build/ArduCopter.o] Error 1 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt index 49251a6ae6..e69de29bb2 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt @@ -1,600 +0,0 @@ -00000001 b wp_control -00000001 b GPS_enabled -00000001 b home_is_set -00000001 b motor_armed -00000001 b motor_light -00000001 b control_mode -00000001 b simple_timer -00000001 d yaw_tracking -00000001 b land_complete -00000001 b throttle_mode -00000001 b command_may_ID -00000001 b wp_verify_byte -00000001 b xtrack_enabled -00000001 d altitude_sensor -00000001 b command_must_ID -00000001 b command_yaw_dir -00000001 b roll_pitch_mode -00000001 b counter_one_herz -00000001 b delta_ms_fiftyhz -00000001 b did_ground_start -00000001 b in_mavlink_delay -00000001 b invalid_throttle -00000001 b motor_auto_armed -00000001 b old_control_mode -00000001 b slow_loopCounter -00000001 b takeoff_complete -00000001 b command_may_index -00000001 b 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/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 +/root/apm/ardupilot-mega/ArduCopter/test.pde:991: warning: 'void print_motor_out()' defined but not used +/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 +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:373: warning: 'ground_pressure' defined but not used +/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:374: warning: 'ground_temperature' defined but not used +/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 +/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 /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 ." -%% 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 ." -/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 ." -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 ." -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 ." -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 ." -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 ." -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 ." -%% arduino/core.a -%% ArduCopter.elf -%% ArduCopter.eep -%% ArduCopter.hex +make: *** [/tmp/ArduCopter.build/ArduCopter.o] Error 1 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt index 77b38118ab..e69de29bb2 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt @@ -1,600 +0,0 @@ -00000001 b wp_control -00000001 b GPS_enabled -00000001 b home_is_set -00000001 b motor_armed -00000001 b motor_light -00000001 b control_mode -00000001 b simple_timer -00000001 d yaw_tracking -00000001 b land_complete -00000001 b throttle_mode -00000001 b command_may_ID -00000001 b wp_verify_byte -00000001 b xtrack_enabled -00000001 d altitude_sensor -00000001 b command_must_ID -00000001 b command_yaw_dir -00000001 b roll_pitch_mode -00000001 b counter_one_herz -00000001 b delta_ms_fiftyhz -00000001 b did_ground_start -00000001 b in_mavlink_delay -00000001 b invalid_throttle -00000001 b motor_auto_armed -00000001 b old_control_mode -00000001 b slow_loopCounter -00000001 b takeoff_complete -00000001 b command_may_index -00000001 b oldSwitchPosition -00000001 b command_must_index -00000001 b delta_ms_fast_loop -00000001 d ground_start_count -00000001 b medium_loopCounter -00000001 b command_yaw_relative -00000001 b delta_ms_medium_loop -00000001 b event_id -00000001 b led_mode -00000001 b yaw_mode -00000001 b GPS_light -00000001 b alt_timer -00000001 b loop_step -00000001 b trim_flag -00000001 b dancing_light()::step -00000001 b update_motor_leds()::blink -00000001 b radio_input_switch()::bouncer -00000001 b 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mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001494 T GCS_MAVLINK::handleMessage(__mavlink_message*) -00001948 T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt index d880bfc7ae..c058444df4 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt @@ -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 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/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 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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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt index d06cc7853f..ccc1134565 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt @@ -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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 0000008e t dump_log(unsigned char, Menu::arg const*) +00000090 t report_tuning() +00000092 t test_tuning(unsigned char, Menu::arg const*) 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,12 +554,12 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000dc t test_adc(unsigned char, Menu::arg const*) 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -587,26 +592,27 @@ 000001a0 t init_home() 000001a8 t print_radio_values() 000001b6 t setup_motors(unsigned char, Menu::arg const*) +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 0000021c t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000382 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001ecc T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001e6e T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.size.txt index 0ab5cc71b9..189044ca08 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.size.txt @@ -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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 00000090 t dump_log(unsigned char, Menu::arg const*) +00000092 t test_tuning(unsigned char, Menu::arg const*) +00000092 t report_tuning() 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,13 +554,13 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t setup_motors(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() 000000de t test_adc(unsigned char, Menu::arg const*) +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -587,26 +592,27 @@ 00000172 t update_nav_wp() 000001a0 t init_home() 000001a8 t print_radio_values() +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 00000220 t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000384 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001e2e T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001dd0 T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.size.txt index 28a12d499f..0a4a5f04fa 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.size.txt @@ -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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 0000008e t dump_log(unsigned char, Menu::arg const*) +00000090 t report_tuning() +00000092 t test_tuning(unsigned char, Menu::arg const*) 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,13 +554,13 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t setup_motors(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000dc t test_adc(unsigned char, Menu::arg const*) 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -587,26 +592,27 @@ 00000172 t update_nav_wp() 000001a0 t init_home() 000001a8 t print_radio_values() +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 0000021c t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000382 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001e2c T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001dce T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt index b765d03870..1e082c332d 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt @@ -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 report_frame()::__c 0000000a r start_new_log()::__c 0000000a r print_log_menu()::__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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 00000090 t dump_log(unsigned char, Menu::arg const*) +00000092 t test_tuning(unsigned char, Menu::arg const*) +00000092 t report_tuning() 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,12 +554,12 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() 000000de t test_adc(unsigned char, Menu::arg const*) +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -587,26 +592,27 @@ 00000172 t update_nav_wp() 000001a0 t init_home() 000001a8 t print_radio_values() +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 00000220 t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000384 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001f0e T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001eb0 T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log index 6d390dc9bd..ff07e834d3 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log @@ -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 diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt index a70917bb1a..09fc850668 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt +++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt @@ -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 report_frame()::__c 0000000a r start_new_log()::__c 0000000a r print_log_menu()::__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::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 00000044 t setup_show(unsigned char, Menu::arg const*) 00000044 W AP_VarT::AP_VarT(int, unsigned int, prog_char_t const*, unsigned char) 0000004a W AP_VarT::AP_VarT(AP_Var_group*, unsigned int, int, prog_char_t const*, unsigned char) @@ -485,7 +489,6 @@ 00000056 t readSwitch() 00000056 t dancing_light() 00000057 r help_log(unsigned char, Menu::arg const*)::__c -00000058 t test_tuning(unsigned char, Menu::arg const*) 00000058 t Log_Write_Attitude() 0000005a t read_control_switch() 0000005c t get_num_logs() @@ -517,6 +520,8 @@ 0000008c t print_gyro_offsets() 0000008c t print_accel_offsets() 0000008e t dump_log(unsigned char, Menu::arg const*) +00000090 t report_tuning() +00000092 t test_tuning(unsigned char, Menu::arg const*) 00000095 r init_ardupilot()::__c 00000096 t map_baudrate(signed char, unsigned long) 00000096 t print_wp(Location*, unsigned char) @@ -549,12 +554,12 @@ 000000ca t init_barometer() 000000cc t read_radio() 000000d0 t get_bearing(Location*, Location*) -000000d0 r setup_menu_commands 000000d8 t test_radio(unsigned char, Menu::arg const*) 000000d8 t read_barometer() 000000dc t test_adc(unsigned char, Menu::arg const*) 000000de t Log_Read_Performance() 000000de t Log_Read_Control_Tuning() +000000e0 r setup_menu_commands 000000e0 b mavlink_parse_char::m_mavlink_message 000000e4 t test_radio_pwm(unsigned char, Menu::arg const*) 000000e4 t Log_Read_Optflow() @@ -587,26 +592,27 @@ 00000172 t update_nav_wp() 000001a0 t init_home() 000001a8 t print_radio_values() +000001b8 t test_imu(unsigned char, Menu::arg const*) 000001be T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int) +000001ca t arm_motors() 000001ca t mavlink_delay(unsigned long) 000001ce t start_new_log() -000001e2 t arm_motors() -00000200 t set_mode(unsigned char) +00000202 t set_mode(unsigned char) 0000021c t test_wp(unsigned char, Menu::arg const*) 00000228 t setup_radio(unsigned char, Menu::arg const*) -00000286 t test_imu(unsigned char, Menu::arg const*) -0000031e t read_battery() +000002ea t tuning() 00000330 t calc_nav_rate(int, int, int, int) 00000358 T update_throttle_mode() 00000382 t print_log_menu() +000003be t read_battery() 000003dc T update_yaw_mode() 000004b2 t mavlink_parse_char 000005ea T update_roll_pitch_mode() 0000062e t init_ardupilot() -00000798 t __static_initialization_and_destruction_0(int, int) -000007c1 b g -000007d6 W Parameters::Parameters() +000007a8 t __static_initialization_and_destruction_0(int, int) +000007dc b g +0000083c W Parameters::Parameters() 000008e4 t process_next_command() 000011d8 T GCS_MAVLINK::handleMessage(__mavlink_message*) -000017d0 t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) -00001f0c T loop +000017ac t mavlink_try_send_message(mavlink_channel_t, unsigned char, unsigned int) +00001eae T loop diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml index 4f556adf34..14b7ec0c09 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml +++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml @@ -58,7 +58,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex - ArduCopter 2.0.40 Beta Quad + ArduCopter 2.0.42 Beta Quad #define FRAME_CONFIG QUAD_FRAME #define FRAME_ORIENTATION X_FRAME @@ -69,7 +69,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex - ArduCopter 2.0.40 Beta Tri + ArduCopter 2.0.42 Beta Tri #define FRAME_CONFIG TRI_FRAME #define FRAME_ORIENTATION X_FRAME @@ -80,7 +80,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex - ArduCopter 2.0.40 Beta Hexa + ArduCopter 2.0.42 Beta Hexa #define FRAME_CONFIG HEXA_FRAME #define FRAME_ORIENTATION X_FRAME @@ -91,7 +91,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex - ArduCopter 2.0.40 Beta Y6 + ArduCopter 2.0.42 Beta Y6 #define FRAME_CONFIG Y6_FRAME #define FRAME_ORIENTATION X_FRAME @@ -102,7 +102,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex - ArduCopter 2.0.40 Beta Heli (2560 only) + ArduCopter 2.0.42 Beta Heli (2560 only) #define AUTO_RESET_LOITER 0 #define FRAME_CONFIG HELI_FRAME @@ -149,7 +149,7 @@ http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex - ArduCopter 2.0.40 Beta Quad Hil + ArduCopter 2.0.42 Beta Quad Hil #define FRAME_CONFIG QUAD_FRAME #define FRAME_ORIENTATION PLUS_FRAME diff --git a/Tools/ArdupilotMegaPlanner/Firmware/git.log b/Tools/ArdupilotMegaPlanner/Firmware/git.log index 2a7bfed917..eb1aa83247 100644 --- a/Tools/ArdupilotMegaPlanner/Firmware/git.log +++ b/Tools/ArdupilotMegaPlanner/Firmware/git.log @@ -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(-) diff --git a/libraries/APM_RC/APM_RC.h b/libraries/APM_RC/APM_RC.h index 236f85593d..bcac692abe 100644 --- a/libraries/APM_RC/APM_RC.h +++ b/libraries/APM_RC/APM_RC.h @@ -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 class APM_RC_Class diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.h b/libraries/AP_ADC/AP_ADC_ADS7844.h index 532dfd97de..ca748e4e1f 100644 --- a/libraries/AP_ADC/AP_ADC_ADS7844.h +++ b/libraries/AP_ADC/AP_ADC_ADS7844.h @@ -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 diff --git a/libraries/AP_Camera/Camera.cpp b/libraries/AP_Camera/Camera.cpp deleted file mode 100644 index 2c9bb928fd..0000000000 --- a/libraries/AP_Camera/Camera.cpp +++ /dev/null @@ -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 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(¤t_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 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(¤t_loc,&camera_target)); - Serial.print(", bearing: "); - Serial.print(get_bearing(¤t_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; - } - } -} diff --git a/libraries/AP_Camera/Camera.h b/libraries/AP_Camera/Camera.h deleted file mode 100644 index 88dc792748..0000000000 --- a/libraries/AP_Camera/Camera.h +++ /dev/null @@ -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 - -/// @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 */ diff --git a/libraries/AP_Common/Arduino.mk b/libraries/AP_Common/Arduino.mk index ae3f3e572e..f84f06a237 100644 --- a/libraries/AP_Common/Arduino.mk +++ b/libraries/AP_Common/Arduino.mk @@ -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. diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp index 6e297ca49e..b6dcaaf4b1 100644 --- a/libraries/AP_DCM/AP_DCM.cpp +++ b/libraries/AP_DCM/AP_DCM.cpp @@ -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 diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h index bd705da8f8..8e8af7cb36 100644 --- a/libraries/AP_DCM/AP_DCM.h +++ b/libraries/AP_DCM/AP_DCM.h @@ -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 diff --git a/libraries/AP_Mount/keywords.txt b/libraries/AP_Mount/keywords.txt deleted file mode 100644 index 68fe325f17..0000000000 --- a/libraries/AP_Mount/keywords.txt +++ /dev/null @@ -1,9 +0,0 @@ -AP_Mount KEYWORD1 -SetGPSTarget KEYWORD2 -SetAssisted KEYWORD2 -SetAntenna KEYWORD2 -SetMountFPV KEYWORD2 -SetMountLanding KEYWORD2 -UpDateMount KEYWORD2 -SetMode KEYWORD2 - diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index 24fae0f5ea..aa189dff15 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -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; diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h index aec2ebc998..132e9146f3 100644 --- a/libraries/RC_Channel/RC_Channel.h +++ b/libraries/RC_Channel/RC_Channel.h @@ -7,12 +7,11 @@ #define RC_Channel_h #include -#include /// @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 - - - - diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp new file mode 100644 index 0000000000..1ff7b45326 --- /dev/null +++ b/libraries/RC_Channel/RC_Channel_aux.cpp @@ -0,0 +1,55 @@ +// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- + +#include +#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); +} diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h new file mode 100644 index 0000000000..7e091bf18f --- /dev/null +++ b/libraries/RC_Channel/RC_Channel_aux.h @@ -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_ */