mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 18:38:28 -04:00
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
Michael Oborne
commit
d89e944254
@ -1309,8 +1309,7 @@ static void update_nav_wp()
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if (loiter_delta < -180) loiter_delta += 360;
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// sum the angle around the WP
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loiter_sum += abs(loiter_delta);
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loiter_sum += loiter_delta;
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// create a virtual waypoint that circles the next_WP
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// Count the degrees we have circulated the WP
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@ -394,7 +394,6 @@ static void Log_Read_GPS()
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(uint16_t)DataFlash.ReadInt()); // 8 ground course
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}
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// Write an raw accel/gyro data packet. Total length : 28 bytes
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static void Log_Write_Raw()
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@ -733,6 +732,45 @@ static void Log_Read_Cmd()
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DataFlash.ReadLong(),
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DataFlash.ReadLong());
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}
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/*
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// Write an attitude packet. Total length : 10 bytes
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static void Log_Write_Attitude2()
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{
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Vector3f gyro = imu.get_gyro();
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Vector3f accel = imu.get_accel();
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_ATTITUDE_MSG);
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DataFlash.WriteInt((int)dcm.roll_sensor);
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DataFlash.WriteInt((int)dcm.pitch_sensor);
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DataFlash.WriteLong((long)(degrees(omega.x) * 100.0));
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DataFlash.WriteLong((long)(degrees(omega.y) * 100.0));
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DataFlash.WriteLong((long)(accel.x * 100000));
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DataFlash.WriteLong((long)(accel.y * 100000));
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//DataFlash.WriteLong((long)(accel.z * 100000));
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DataFlash.WriteByte(END_BYTE);
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}*/
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/*
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// Read an attitude packet
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static void Log_Read_Attitude2()
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{
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Serial.printf_P(PSTR("ATT, %d, %d, %ld, %ld, %1.4f, %1.4f\n"),
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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DataFlash.ReadLong(),
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DataFlash.ReadLong(),
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(float)DataFlash.ReadLong()/100000.0,
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(float)DataFlash.ReadLong()/100000.0 );
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}
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*/
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// Write an attitude packet. Total length : 10 bytes
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static void Log_Write_Attitude()
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@ -454,7 +454,7 @@ static bool verify_loiter_turns()
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{
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// have we rotated around the center enough times?
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// -----------------------------------------------
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if(loiter_sum > loiter_total) {
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if(abs(loiter_sum) > loiter_total) {
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loiter_total = 0;
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loiter_sum = 0;
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//gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));
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@ -6,61 +6,43 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
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/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
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||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'void do_loiter_turns()':
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/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:302: warning: statement has no effect
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/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'bool verify_nav_wp()':
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||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:413: warning: comparison between signed and unsigned integer expressions
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||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'bool verify_loiter_time()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:440: warning: comparison between signed and unsigned integer expressions
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'void do_jump()':
|
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/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:653: warning: unused variable 'temp'
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||||
autogenerated: At global scope:
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||||
autogenerated:83: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined
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||||
autogenerated:84: warning: 'void send_message(byte)' declared 'static' but never defined
|
||||
autogenerated:85: warning: 'void send_message(byte, long int)' declared 'static' but never defined
|
||||
autogenerated:79: warning: 'void send_message(byte, const char*)' declared 'static' but never defined
|
||||
autogenerated:88: warning: 'void print_current_waypoints()' declared 'static' but never defined
|
||||
autogenerated:91: warning: 'void print_attitude()' declared 'static' but never defined
|
||||
autogenerated:87: warning: 'void print_control_mode()' declared 'static' but never defined
|
||||
autogenerated:89: warning: 'void print_position()' declared 'static' but never defined
|
||||
autogenerated:93: warning: 'void print_waypoint(Location*, byte)' declared 'static' but never defined
|
||||
autogenerated:94: warning: 'void print_waypoints()' declared 'static' but never defined
|
||||
autogenerated:67: warning: 'long int convert_to_dec(float)' declared 'static' but never defined
|
||||
autogenerated:136: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
|
||||
autogenerated:146: warning: 'void decrement_WP_index()' declared 'static' but never defined
|
||||
autogenerated:107: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
|
||||
autogenerated:117: warning: 'void decrement_WP_index()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
|
||||
autogenerated:208: warning: 'void heli_init_swash()' declared 'static' but never defined
|
||||
autogenerated:209: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
|
||||
autogenerated:210: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
|
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autogenerated:233: warning: 'void debug_motors()' declared 'static' but never defined
|
||||
autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
|
||||
autogenerated:180: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
|
||||
autogenerated:181: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
|
||||
autogenerated:208: warning: 'void debug_motors()' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
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autogenerated:252: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
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autogenerated:253: warning: 'long int cross_track_test()' declared 'static' but never defined
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||||
autogenerated:254: warning: 'void reset_crosstrack()' declared 'static' but never defined
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||||
autogenerated:229: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
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autogenerated:230: warning: 'long int cross_track_test()' declared 'static' but never defined
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||||
autogenerated:231: warning: 'void reset_crosstrack()' declared 'static' but never defined
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/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
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/root/apm/ardupilot-mega/ArduCopter/navigation.pde:256: warning: 'long int get_alt_distance(Location*, Location*)' defined but not used
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/root/apm/ardupilot-mega/ArduCopter/radio.pde:129: warning: 'void throttle_failsafe(uint16_t)' defined but not used
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/root/apm/ardupilot-mega/ArduCopter/radio.pde:186: warning: 'void trim_yaw()' defined but not used
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||||
autogenerated:266: warning: 'void readCommands()' declared 'static' but never defined
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||||
autogenerated:267: warning: 'void parseCommand(char*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/radio.pde:187: warning: 'void trim_yaw()' defined but not used
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||||
autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
|
||||
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
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||||
autogenerated:270: warning: 'long int read_baro_filtered()' declared 'static' but never defined
|
||||
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
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||||
autogenerated:284: warning: 'void report_heli()' declared 'static' but never defined
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||||
autogenerated:285: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:292: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
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||||
autogenerated:293: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:459: warning: 'void set_failsafe(boolean)' defined but not used
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||||
autogenerated:307: warning: 'void init_optflow()' declared 'static' but never defined
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||||
autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never defined
|
||||
autogenerated:261: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:262: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:269: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:270: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
autogenerated:284: warning: 'void init_optflow()' declared 'static' but never defined
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||||
autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:450: warning: 'undo_event' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:456: warning: 'condition_rate' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:470: warning: 'simple_WP' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:475: warning: 'new_location' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:448: warning: 'simple_WP' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:453: warning: 'new_location' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
%% libraries/APM_PI/APM_PI.o
|
||||
@ -93,8 +75,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
|
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%% 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
|
||||
/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/AP_OpticalFlow/AP_OpticalFlow.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
|
||||
|
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@ -40,9 +40,7 @@
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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@ -70,7 +68,6 @@
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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@ -148,8 +145,6 @@
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -277,7 +272,7 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -300,6 +295,7 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -346,6 +342,7 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -355,6 +352,7 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -382,13 +380,11 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -400,6 +396,7 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -409,6 +406,7 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -438,17 +434,20 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -460,7 +459,7 @@
|
||||
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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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||||
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||||
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||||
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||||
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|
||||
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%% libraries/APM_BMP085/APM_BMP085.o
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%% libraries/APM_PI/APM_PI.o
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@ -93,8 +75,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
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||||
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@ -6,71 +6,60 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
|
||||
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||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:302: warning: statement has no effect
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
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||||
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|
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|
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/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
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|
||||
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|
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|
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|
||||
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|
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|
||||
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|
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||||
autogenerated:271: warning: 'long int read_barometer()' declared 'static' but never defined
|
||||
autogenerated:272: warning: 'void read_airspeed()' declared 'static' but never defined
|
||||
autogenerated:273: warning: 'void zero_airspeed()' declared 'static' but never defined
|
||||
autogenerated:284: warning: 'void report_heli()' declared 'static' but never defined
|
||||
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|
||||
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|
||||
autogenerated:293: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:459: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
autogenerated:307: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
|
||||
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|
||||
autogenerated:243: warning: 'void readCommands()' declared 'static' but never defined
|
||||
autogenerated:244: warning: 'void parseCommand(char*)' declared 'static' but never defined
|
||||
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|
||||
autogenerated:246: warning: 'void init_barometer()' declared 'static' but never defined
|
||||
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|
||||
autogenerated:248: warning: 'long int read_barometer()' declared 'static' but never defined
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:336: warning: 'old_altitude' defined but not used
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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@ -105,8 +94,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
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|
||||
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|
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|
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|
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|
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|
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|
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|
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@ -6,71 +6,60 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:390: warning: overflow in implicit constant conversion
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'void do_loiter_turns()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:302: warning: statement has no effect
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'bool verify_nav_wp()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:413: warning: comparison between signed and unsigned integer expressions
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'bool verify_loiter_time()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:440: warning: comparison between signed and unsigned integer expressions
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'void do_jump()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:653: warning: unused variable 'temp'
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
|
||||
autogenerated: At global scope:
|
||||
autogenerated:83: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined
|
||||
autogenerated:84: warning: 'void send_message(byte)' declared 'static' but never defined
|
||||
autogenerated:85: warning: 'void send_message(byte, long int)' declared 'static' but never defined
|
||||
autogenerated:79: warning: 'void send_message(byte, const char*)' declared 'static' but never defined
|
||||
autogenerated:88: warning: 'void print_current_waypoints()' declared 'static' but never defined
|
||||
autogenerated:91: warning: 'void print_attitude()' declared 'static' but never defined
|
||||
autogenerated:87: warning: 'void print_control_mode()' declared 'static' but never defined
|
||||
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|
||||
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|
||||
autogenerated:94: warning: 'void print_waypoints()' declared 'static' but never defined
|
||||
autogenerated:67: warning: 'long int convert_to_dec(float)' declared 'static' but never defined
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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autogenerated:179: warning: 'void heli_init_swash()' declared 'static' but never defined
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|
||||
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|
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/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
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/root/apm/ardupilot-mega/ArduCopter/system.pde:459: warning: 'void set_failsafe(boolean)' defined but not used
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||||
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||||
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||||
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||||
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
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||||
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||||
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||||
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||||
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@ -105,8 +94,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
|
||||
%% libraries/AP_IMU/AP_IMU_Oilpan.o
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%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
|
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|
||||
/usr/local/share/arduino/libraries/SPI/../SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
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||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
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/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
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|
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|
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|
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|
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|
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|
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||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
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||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
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||||
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||||
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|
||||
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|
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||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
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%% libraries/APM_BMP085/APM_BMP085.o
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@ -93,8 +75,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
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|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:450: warning: 'undo_event' defined but not used
|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:475: warning: 'new_location' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:448: warning: 'simple_WP' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:453: warning: 'new_location' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
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||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
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@ -93,8 +75,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
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||||
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|
||||
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||||
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||||
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||||
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||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
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@ -6,61 +6,43 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:413: warning: comparison between signed and unsigned integer expressions
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'bool verify_loiter_time()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:440: warning: comparison between signed and unsigned integer expressions
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde: In function 'void do_jump()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:653: warning: unused variable 'temp'
|
||||
autogenerated: At global scope:
|
||||
autogenerated:83: warning: 'void acknowledge(byte, byte, byte)' declared 'static' but never defined
|
||||
autogenerated:84: warning: 'void send_message(byte)' declared 'static' but never defined
|
||||
autogenerated:85: warning: 'void send_message(byte, long int)' declared 'static' but never defined
|
||||
autogenerated:79: warning: 'void send_message(byte, const char*)' declared 'static' but never defined
|
||||
autogenerated:88: warning: 'void print_current_waypoints()' declared 'static' but never defined
|
||||
autogenerated:91: warning: 'void print_attitude()' declared 'static' but never defined
|
||||
autogenerated:87: warning: 'void print_control_mode()' declared 'static' but never defined
|
||||
autogenerated:89: warning: 'void print_position()' declared 'static' but never defined
|
||||
autogenerated:93: warning: 'void print_waypoint(Location*, byte)' declared 'static' but never defined
|
||||
autogenerated:94: warning: 'void print_waypoints()' declared 'static' but never defined
|
||||
autogenerated:67: warning: 'long int convert_to_dec(float)' declared 'static' but never defined
|
||||
autogenerated:136: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
|
||||
autogenerated:146: warning: 'void decrement_WP_index()' declared 'static' but never defined
|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
autogenerated:208: warning: 'void debug_motors()' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:171: warning: 'int get_loiter_angle()' defined but not used
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:450: warning: 'undo_event' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:475: warning: 'new_location' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:448: warning: 'simple_WP' defined but not used
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||||
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/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
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||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
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||||
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||||
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/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
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%% libraries/APM_BMP085/APM_BMP085.o
|
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%% libraries/APM_PI/APM_PI.o
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@ -93,8 +75,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
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%% libraries/AP_IMU/AP_IMU_Oilpan.o
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|
||||
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|
||||
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||||
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%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
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@ -6,61 +6,43 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:235: warning: 'long int get_altitude_above_home()' defined but not used
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
autogenerated:247: warning: 'long int read_baro_filtered()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
|
||||
autogenerated:284: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:285: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:292: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:293: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:459: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
autogenerated:307: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never defined
|
||||
autogenerated:261: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:262: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:269: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:270: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:439: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
autogenerated:284: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
autogenerated:291: warning: 'void fake_out_gps()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:450: warning: 'undo_event' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:456: warning: 'condition_rate' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:470: warning: 'simple_WP' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:475: warning: 'new_location' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:428: warning: 'undo_event' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:434: warning: 'condition_rate' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:448: warning: 'simple_WP' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:453: warning: 'new_location' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
%% libraries/APM_PI/APM_PI.o
|
||||
@ -93,8 +75,8 @@ autogenerated:315: warning: 'void fake_out_gps()' declared 'static' but never de
|
||||
%% 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
|
||||
/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/AP_OpticalFlow/AP_OpticalFlow.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
|
||||
|
||||
@ -40,9 +40,7 @@
|
||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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|
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||||
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||||
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||||
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||||
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|
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|
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|
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|
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|
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|
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|
||||
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||||
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|
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
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|
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|
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||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
|
||||
@ -58,7 +58,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
|
||||
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|
||||
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|
||||
<name>ArduCopter V2.0.48 Beta Quad</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG QUAD_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -69,7 +69,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
|
||||
<name>ArduCopter V2.0.47 Beta Tri</name>
|
||||
<name>ArduCopter V2.0.48 Beta Tri</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG TRI_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -80,7 +80,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
|
||||
<name>ArduCopter V2.0.47 Beta Hexa</name>
|
||||
<name>ArduCopter V2.0.48 Beta Hexa</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG HEXA_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -91,7 +91,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
|
||||
<name>ArduCopter V2.0.47 Beta Y6</name>
|
||||
<name>ArduCopter V2.0.48 Beta Y6</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG Y6_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -148,7 +148,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
|
||||
<name>ArduCopter V2.0.47 Beta Quad Hil</name>
|
||||
<name>ArduCopter V2.0.48 Beta Quad Hil</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG QUAD_FRAME
|
||||
#define FRAME_ORIENTATION PLUS_FRAME
|
||||
|
||||
@ -1,12 +1,44 @@
|
||||
From https://code.google.com/p/ardupilot-mega
|
||||
2ceba2f..eb0b7eb master -> origin/master
|
||||
Updating 2ceba2f..eb0b7eb
|
||||
25b258c..a188536 APM_Camera -> origin/APM_Camera
|
||||
36e7d95..9f44a2e master -> origin/master
|
||||
Updating 36e7d95..9f44a2e
|
||||
Fast-forward
|
||||
ArduCopter/ArduCopter.pde | 6 +-
|
||||
Tools/ArdupilotMegaPlanner/ArdupilotMega.suo | Bin 83456 -> 0 bytes
|
||||
Tools/ArdupilotMegaPlanner/Capture.cs | 125 +-
|
||||
.../GCSViews/Configuration.Designer.cs | 114 +-
|
||||
.../ArdupilotMegaPlanner/GCSViews/Configuration.cs | 82 +-
|
||||
.../GCSViews/Configuration.resx | 1936 ++++++++++++++------
|
||||
6 files changed, 1573 insertions(+), 690 deletions(-)
|
||||
delete mode 100644 Tools/ArdupilotMegaPlanner/ArdupilotMega.suo
|
||||
ArduCopter/ArduCopter.pde | 11 +-
|
||||
ArduCopter/commands_logic.pde | 2 +-
|
||||
ArduCopter/config.h | 10 +-
|
||||
ArduCopter/motors.pde | 2 +-
|
||||
ArduCopter/motors_hexa.pde | 14 ++-
|
||||
ArduCopter/motors_octa.pde | 19 ++-
|
||||
ArduCopter/motors_octa_quad.pde | 13 +-
|
||||
ArduCopter/motors_quad.pde | 11 +
|
||||
ArduCopter/motors_tri.pde | 13 ++
|
||||
ArduCopter/motors_y6.pde | 14 ++-
|
||||
ArduCopter/radio.pde | 1 +
|
||||
ArduCopter/system.pde | 4 +-
|
||||
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj | 1 +
|
||||
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs | 222 ++++++++++++++++++++
|
||||
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs | 7 +-
|
||||
Tools/ArdupilotMegaPlanner/JoystickSetup.cs | 2 +-
|
||||
Tools/ArdupilotMegaPlanner/MainV2.cs | 7 +
|
||||
.../Properties/AssemblyInfo.cs | 2 +-
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/.gitignore | 3 +-
|
||||
.../ArdupilotMegaPlanner/bin/Release/ArduPlane.exe | Bin 0 -> 673167 bytes
|
||||
.../bin/Release/ArdupilotMegaPlanner.application | 2 +-
|
||||
.../bin/Release/ArdupilotMegaPlanner.exe | Bin 2186240 -> 2189824 bytes
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/Updater.exe | Bin 8192 -> 8192 bytes
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/cygwin1.dll | Bin 0 -> 2666500 bytes
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/resedit.exe | Bin 20480 -> 20480 bytes
|
||||
.../ru-RU/ArdupilotMegaPlanner.resources.dll | Bin 53248 -> 53248 bytes
|
||||
.../zh-Hans/ArdupilotMegaPlanner.resources.dll | Bin 380928 -> 380928 bytes
|
||||
apo/ControllerQuad.h | 91 ++++----
|
||||
apo/QuadArducopter.h | 32 ++--
|
||||
apo/apo.pde | 2 +-
|
||||
libraries/APO/APO_DefaultSetup.h | 17 +-
|
||||
libraries/APO/AP_Navigator.h | 3 +-
|
||||
libraries/APO/AP_RcChannel.h | 2 +-
|
||||
libraries/Desktop/Desktop.mk | 5 +-
|
||||
libraries/Desktop/support/Arduino.cpp | 24 ++-
|
||||
35 files changed, 438 insertions(+), 98 deletions(-)
|
||||
create mode 100644 Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
|
||||
create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/ArduPlane.exe
|
||||
create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/cygwin1.dll
|
||||
|
||||
@ -21,26 +21,27 @@ public:
|
||||
*/
|
||||
enum {
|
||||
CH_MODE = 0, // note scicoslab channels set mode, left, right, front, back order
|
||||
CH_LEFT, // this enum must match this
|
||||
CH_RIGHT,
|
||||
CH_LEFT,
|
||||
CH_FRONT,
|
||||
CH_BACK,
|
||||
CH_ROLL,
|
||||
CH_PITCH,
|
||||
CH_YAW,
|
||||
CH_THRUST
|
||||
CH_THRUST,
|
||||
CH_YAW
|
||||
};
|
||||
|
||||
// must match channel enum
|
||||
enum {
|
||||
k_chMode = k_radioChannelsStart,
|
||||
k_chLeft,
|
||||
k_chRight,
|
||||
k_chLeft,
|
||||
k_chFront,
|
||||
k_chBack,
|
||||
k_chRoll,
|
||||
k_chPitch,
|
||||
k_chYaw,
|
||||
k_chThr
|
||||
k_chThr,
|
||||
k_chYaw
|
||||
};
|
||||
|
||||
enum {
|
||||
@ -84,11 +85,12 @@ public:
|
||||
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
|
||||
1500, 1900, RC_MODE_IN, false));
|
||||
_hal->rc.push_back(
|
||||
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100,
|
||||
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 0, 1100,
|
||||
1100, 1900, RC_MODE_OUT, false));
|
||||
_hal->rc.push_back(
|
||||
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100,
|
||||
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 1, 1100,
|
||||
1100, 1900, RC_MODE_OUT, false));
|
||||
|
||||
_hal->rc.push_back(
|
||||
new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
|
||||
1100, 1900, RC_MODE_OUT, false));
|
||||
@ -102,11 +104,11 @@ public:
|
||||
new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
|
||||
1500, 1900, RC_MODE_IN, false));
|
||||
_hal->rc.push_back(
|
||||
new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 2, 1100, 1500,
|
||||
1900, RC_MODE_IN, false));
|
||||
_hal->rc.push_back(
|
||||
new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 3, 1100,
|
||||
new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 2, 1100,
|
||||
1100, 1900, RC_MODE_IN, false));
|
||||
_hal->rc.push_back(
|
||||
new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 3, 1100, 1500,
|
||||
1900, RC_MODE_IN, false));
|
||||
}
|
||||
|
||||
virtual void update(const float & dt) {
|
||||
@ -133,9 +135,7 @@ public:
|
||||
}
|
||||
|
||||
// manual mode
|
||||
float mixRemoteWeight = 0;
|
||||
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
|
||||
mixRemoteWeight = 1;
|
||||
_mode = MAV_MODE_MANUAL;
|
||||
} else {
|
||||
_mode = MAV_MODE_AUTO;
|
||||
@ -152,13 +152,10 @@ public:
|
||||
case MAV_MODE_MANUAL: {
|
||||
setAllRadioChannelsManually();
|
||||
// "mix manual"
|
||||
cmdRoll = 0.5 * _hal->rc[CH_ROLL]->getPosition()
|
||||
* mixRemoteWeight;
|
||||
cmdPitch = 0.5 * _hal->rc[CH_PITCH]->getPosition()
|
||||
* mixRemoteWeight;
|
||||
cmdYawRate = 0.5 * _hal->rc[CH_YAW]->getPosition()
|
||||
* mixRemoteWeight;
|
||||
thrustMix = _hal->rc[CH_THRUST]->getPosition() * mixRemoteWeight;
|
||||
cmdRoll = -1 * _hal->rc[CH_ROLL]->getPosition();
|
||||
cmdPitch = -1 * _hal->rc[CH_PITCH]->getPosition();
|
||||
cmdYawRate = -1 * _hal->rc[CH_YAW]->getPosition();
|
||||
thrustMix = _hal->rc[CH_THRUST]->getPosition();
|
||||
break;
|
||||
}
|
||||
|
||||
@ -166,6 +163,7 @@ public:
|
||||
|
||||
// XXX kills all commands,
|
||||
// auto not currently implemented
|
||||
setAllRadioChannelsToNeutral();
|
||||
|
||||
// position loop
|
||||
/*
|
||||
@ -203,36 +201,39 @@ public:
|
||||
}
|
||||
|
||||
// attitude loop
|
||||
// XXX negative sign added to nav roll, not sure why this is necessary
|
||||
// XXX negative sign added to nav roll rate, not sure why this is necessary
|
||||
float rollMix = pidRoll.update(cmdRoll + _nav->getRoll(),
|
||||
-_nav->getRollRate(), dt);
|
||||
// XXX negative sign added to cmdPitch, not sure why this is necessary
|
||||
float pitchMix = pidPitch.update(-cmdPitch - _nav->getPitch(),
|
||||
float rollMix = pidRoll.update(cmdRoll - _nav->getRoll(),
|
||||
_nav->getRollRate(), dt);
|
||||
float pitchMix = pidPitch.update(cmdPitch - _nav->getPitch(),
|
||||
_nav->getPitchRate(), dt);
|
||||
// XXX negative sign added to cmdYawRate, not sure why this is necessary
|
||||
float yawMix = pidYawRate.update(-cmdYawRate - _nav->getYawRate(), dt);
|
||||
float yawMix = pidYawRate.update(cmdYawRate - _nav->getYawRate(), dt);
|
||||
|
||||
_hal->rc[CH_LEFT]->setPosition(thrustMix + rollMix + yawMix);
|
||||
_hal->rc[CH_RIGHT]->setPosition(thrustMix - rollMix + yawMix);
|
||||
_hal->rc[CH_LEFT]->setPosition(thrustMix + rollMix + yawMix);
|
||||
_hal->rc[CH_FRONT]->setPosition(thrustMix + pitchMix - yawMix);
|
||||
_hal->rc[CH_BACK]->setPosition(thrustMix - pitchMix - yawMix);
|
||||
|
||||
// _hal->debug->printf("L: %f\t R: %f\t F: %f\t B: %f\n",
|
||||
// _hal->rc[CH_LEFT]->getPosition(),
|
||||
// _hal->rc[CH_RIGHT]->getPosition(),
|
||||
// _hal->rc[CH_FRONT]->getPosition(),
|
||||
// _hal->rc[CH_BACK]->getPosition());
|
||||
//_hal->debug->printf("R: %f\t L: %f\t F: %f\t B: %f\n",
|
||||
//_hal->rc[CH_RIGHT]->getPosition(),
|
||||
//_hal->rc[CH_LEFT]->getPosition(),
|
||||
//_hal->rc[CH_FRONT]->getPosition(),
|
||||
//_hal->rc[CH_BACK]->getPosition());
|
||||
|
||||
_hal->debug->printf(
|
||||
"rollMix: %f\t pitchMix: %f\t yawMix: %f\t thrustMix: %f\n",
|
||||
rollMix, pitchMix, yawMix, thrustMix);
|
||||
//_hal->debug->printf(
|
||||
// "rollMix: %f\t pitchMix: %f\t yawMix: %f\t thrustMix: %f\n",
|
||||
// rollMix, pitchMix, yawMix, thrustMix);
|
||||
|
||||
//_hal->debug->printf("cmdRoll: %f\t roll: %f\t rollMix: %f\n",
|
||||
// cmdRoll, _nav->getRoll(), rollMix);
|
||||
//_hal->debug->printf("cmdPitch: %f\t pitch: %f\t pitchMix: %f\n",
|
||||
// cmdPitch, _nav->getPitch(), pitchMix);
|
||||
//_hal->debug->printf("cmdYawRate: %f\t yawRate: %f\t yawMix: %f\n",
|
||||
// cmdYawRate, _nav->getYawRate(), yawMix);
|
||||
|
||||
// _hal->debug->printf("roll pwm: %d\t pitch pwm: %d\t yaw pwm: %d\t thrust pwm: %d\n",
|
||||
// _hal->rc[CH_ROLL]->readRadio(),
|
||||
// _hal->rc[CH_PITCH]->readRadio(),
|
||||
// _hal->rc[CH_YAW]->readRadio(),
|
||||
// _hal->rc[CH_THRUST]->readRadio());
|
||||
//_hal->debug->printf("roll pwm: %d\t pitch pwm: %d\t yaw pwm: %d\t thrust pwm: %d\n",
|
||||
//_hal->rc[CH_ROLL]->getRadioPwm(),
|
||||
//_hal->rc[CH_PITCH]->getRadioPwm(),
|
||||
//_hal->rc[CH_YAW]->getRadioPwm(),
|
||||
//_hal->rc[CH_THRUST]->getRadioPwm());
|
||||
}
|
||||
virtual MAV_MODE getMode() {
|
||||
return (MAV_MODE) _mode.get();
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
// vehicle options
|
||||
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
|
||||
static const apo::halMode_t halMode = apo::MODE_LIVE;
|
||||
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
|
||||
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
|
||||
static const uint8_t heartBeatTimeout = 3;
|
||||
|
||||
// algorithm selection
|
||||
@ -25,22 +25,26 @@ static const uint8_t heartBeatTimeout = 3;
|
||||
#define COMPASS_CLASS AP_Compass_HMC5843
|
||||
#define BARO_CLASS APM_BMP085_Class
|
||||
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
|
||||
#define DEBUG_BAUD 57600
|
||||
#define TELEM_BAUD 57600
|
||||
#define GPS_BAUD 38400
|
||||
#define HIL_BAUD 57600
|
||||
|
||||
// baud rates
|
||||
static uint32_t debugBaud = 57600;
|
||||
static uint32_t telemBaud = 57600;
|
||||
static uint32_t gpsBaud = 38400;
|
||||
static uint32_t hilBaud = 57600;
|
||||
|
||||
// optional sensors
|
||||
static bool gpsEnabled = false;
|
||||
static bool baroEnabled = true;
|
||||
static bool compassEnabled = true;
|
||||
static const bool gpsEnabled = false;
|
||||
static const bool baroEnabled = false;
|
||||
static const bool compassEnabled = true;
|
||||
static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
|
||||
// compass orientation: See AP_Compass_HMC5843.h for possible values
|
||||
|
||||
static bool rangeFinderFrontEnabled = true;
|
||||
static bool rangeFinderBackEnabled = true;
|
||||
static bool rangeFinderLeftEnabled = true;
|
||||
static bool rangeFinderRightEnabled = true;
|
||||
static bool rangeFinderUpEnabled = true;
|
||||
static bool rangeFinderDownEnabled = true;
|
||||
static const bool rangeFinderFrontEnabled = false;
|
||||
static const bool rangeFinderBackEnabled = false;
|
||||
static const bool rangeFinderLeftEnabled = false;
|
||||
static const bool rangeFinderRightEnabled = false;
|
||||
static const bool rangeFinderUpEnabled = false;
|
||||
static const bool rangeFinderDownEnabled = false;
|
||||
|
||||
// loop rates
|
||||
static const float loop0Rate = 150;
|
||||
|
||||
@ -17,7 +17,7 @@
|
||||
#include <WProgram.h>
|
||||
|
||||
// Vehicle Configuration
|
||||
#include "PlaneEasystar.h"
|
||||
#include "QuadArducopter.h"
|
||||
|
||||
// ArduPilotOne Default Setup
|
||||
#include "APO_DefaultSetup.h"
|
||||
|
||||
@ -27,7 +27,7 @@ void setup() {
|
||||
/*
|
||||
* Communications
|
||||
*/
|
||||
Serial.begin(DEBUG_BAUD, 128, 128); // debug
|
||||
Serial.begin(debugBaud, 128, 128); // debug
|
||||
|
||||
// hardware abstraction layer
|
||||
hal = new AP_HardwareAbstractionLayer(
|
||||
@ -47,7 +47,7 @@ void setup() {
|
||||
hal->adc->Init();
|
||||
|
||||
if (gpsEnabled) {
|
||||
Serial1.begin(GPS_BAUD, 128, 16); // gps
|
||||
Serial1.begin(gpsBaud, 128, 16); // gps
|
||||
hal->debug->println_P(PSTR("initializing gps"));
|
||||
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
|
||||
hal->gps = &gpsDriver;
|
||||
@ -62,9 +62,12 @@ void setup() {
|
||||
}
|
||||
|
||||
if (compassEnabled) {
|
||||
Wire.begin();
|
||||
hal->debug->println_P(PSTR("initializing compass"));
|
||||
hal->compass = new COMPASS_CLASS;
|
||||
hal->compass->set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);
|
||||
hal->compass->set_orientation(compassOrientation);
|
||||
hal->compass->set_offsets(0,0,0);
|
||||
hal->compass->set_declination(0.0);
|
||||
hal->compass->init();
|
||||
}
|
||||
|
||||
@ -139,12 +142,12 @@ void setup() {
|
||||
*/
|
||||
if (board==BOARD_ARDUPILOTMEGA_2)
|
||||
{
|
||||
Serial2.begin(TELEM_BAUD, 128, 128); // gcs
|
||||
Serial2.begin(telemBaud, 128, 128); // gcs
|
||||
hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial3.begin(TELEM_BAUD, 128, 128); // gcs
|
||||
Serial3.begin(telemBaud, 128, 128); // gcs
|
||||
hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
|
||||
}
|
||||
|
||||
@ -153,14 +156,14 @@ void setup() {
|
||||
*/
|
||||
if (hal->getMode() == MODE_HIL_CNTL) {
|
||||
Serial.println("HIL line setting up");
|
||||
Serial1.begin(HIL_BAUD, 128, 128);
|
||||
Serial1.begin(hilBaud, 128, 128);
|
||||
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
|
||||
}
|
||||
|
||||
/*
|
||||
* Start the autopilot
|
||||
*/
|
||||
hal->debug->printf_P(PSTR("initializing arduplane\n"));
|
||||
hal->debug->printf_P(PSTR("initializing autopilot\n"));
|
||||
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
|
||||
|
||||
autoPilot = new apo::AP_Autopilot(navigator, guide, controller, hal,
|
||||
|
||||
@ -348,8 +348,9 @@ public:
|
||||
|
||||
if (_hal->compass) {
|
||||
_hal->compass->read();
|
||||
_hal->compass->calculate(getRoll(), getPitch());
|
||||
_hal->compass->calculate(_dcm->get_dcm_matrix());
|
||||
_hal->compass->null_offsets(_dcm->get_dcm_matrix());
|
||||
//_hal->debug->printf_P(PSTR("heading: %f"), _hal->compass->heading);
|
||||
}
|
||||
}
|
||||
void updateGpsLight(void) {
|
||||
|
||||
@ -56,7 +56,7 @@ public:
|
||||
|
||||
// set
|
||||
void setUsingRadio() {
|
||||
setPwm(getRadioPwm());
|
||||
if (_rcMode != RC_MODE_OUT) setPwm(getRadioPwm());
|
||||
}
|
||||
void setPwm(uint16_t pwm);
|
||||
void setPosition(float position) {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user