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Copter: create GCS subclass, use inheritted methods

This commit is contained in:
Peter Barker 2017-02-14 13:14:55 +11:00 committed by Francisco Ferreira
parent b81e5a8562
commit d9b45cc202
9 changed files with 86 additions and 67 deletions
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9
ArduCopter/Copter.h
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@ -99,6 +99,7 @@
#include "config.h"
#include "GCS_Mavlink.h"
#include "GCS_Copter.h"
#include "AP_Rally.h" // Rally point library
#include "AP_Arming.h"
@ -136,6 +137,7 @@
class Copter : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK_Copter;
friend class GCS_Copter;
friend class AP_Rally_Copter;
friend class Parameters;
friend class ParametersG2;
@ -245,11 +247,8 @@ private:
// GCS selection
AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Copter gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
GCS _gcs; // avoid using this; use gcs()
GCS &gcs() { return _gcs; }
GCS_Copter _gcs; // avoid using this; use gcs()
GCS_Copter &gcs() { return _gcs; }
// User variables
#ifdef USERHOOK_VARIABLES

15
ArduCopter/GCS_Copter.cpp Normal file
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@ -0,0 +1,15 @@
#include "GCS_Copter.h"
#include "Copter.h"
bool GCS_Copter::cli_enabled() const
{
#if CLI_ENABLED == ENABLED
return copter.g.cli_enabled;
#else
return false;
#endif
}
AP_HAL::BetterStream* GCS_Copter::cliSerial() {
return copter.cliSerial;
}

27
ArduCopter/GCS_Copter.h Normal file
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@ -0,0 +1,27 @@
#pragma once
#include <GCS_MAVLink/GCS.h>
#include "GCS_Mavlink.h"
class GCS_Copter : public GCS
{
friend class Copter; // for access to _chan in parameter declarations
public:
// return the number of valid GCS objects
uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
// return GCS link at offset ofs
GCS_MAVLINK_Copter &chan(const uint8_t ofs) override {
return _chan[ofs];
};
private:
GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];
bool cli_enabled() const override;
AP_HAL::BetterStream* cliSerial() override;
};

33
ArduCopter/GCS_Mavlink.cpp
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@ -78,7 +78,7 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
// indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(get_frame_mav_type(),
gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(get_frame_mav_type(),
base_mode,
custom_mode,
system_status);
@ -2018,7 +2018,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
void Copter::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs_chan[0].initialised || in_mavlink_delay) return;
if (!gcs().chan(0).initialised || in_mavlink_delay) return;
in_mavlink_delay = true;
DataFlash.EnableWrites(false);
@ -2051,11 +2051,7 @@ void Copter::mavlink_delay_cb()
*/
void Copter::gcs_send_message(enum ap_message id)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].send_message(id);
}
}
gcs().send_message(id);
}
/*
@ -2063,12 +2059,7 @@ void Copter::gcs_send_message(enum ap_message id)
*/
void Copter::gcs_send_mission_item_reached_message(uint16_t mission_index)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].mission_item_reached_index = mission_index;
gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
}
}
gcs().send_mission_item_reached_message(mission_index);
}
/*
@ -2076,11 +2067,7 @@ void Copter::gcs_send_mission_item_reached_message(uint16_t mission_index)
*/
void Copter::gcs_data_stream_send(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].data_stream_send();
}
}
gcs().data_stream_send();
}
/*
@ -2088,15 +2075,7 @@ void Copter::gcs_data_stream_send(void)
*/
void Copter::gcs_check_input(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
#if CLI_ENABLED == ENABLED
gcs_chan[i].update(g.cli_enabled==1?FUNCTOR_BIND_MEMBER(&Copter::run_cli, void, AP_HAL::UARTDriver *):nullptr);
#else
gcs_chan[i].update(nullptr);
#endif
}
}
gcs().update();
}
void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)

4
ArduCopter/Log.cpp
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@ -937,9 +937,7 @@ void Copter::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
for (uint8_t i=0; i<num_gcs; i++) {
gcs_chan[i].reset_cli_timeout();
}
gcs().reset_cli_timeout();
}
#else // LOGGING_ENABLED

8
ArduCopter/Parameters.cpp
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@ -702,19 +702,19 @@ const AP_Param::Info Copter::var_info[] = {
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[0], gcs0, "SR0_", GCS_MAVLINK),
GOBJECTN(_gcs._chan[0], gcs0, "SR0_", GCS_MAVLINK),
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[1], gcs1, "SR1_", GCS_MAVLINK),
GOBJECTN(_gcs._chan[1], gcs1, "SR1_", GCS_MAVLINK),
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[2], gcs2, "SR2_", GCS_MAVLINK),
GOBJECTN(_gcs._chan[2], gcs2, "SR2_", GCS_MAVLINK),
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[3], gcs3, "SR3_", GCS_MAVLINK),
GOBJECTN(_gcs._chan[3], gcs3, "SR3_", GCS_MAVLINK),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

22
ArduCopter/compassmot.cpp
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@ -38,9 +38,11 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
interference_pct[i] = 0.0f;
}
GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
// check compass is enabled
if (!g.compass_enabled) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
ap.compass_mot = false;
return MAV_RESULT_TEMPORARILY_REJECTED;
}
@ -49,7 +51,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
compass.read();
for (uint8_t i=0; i<compass.get_count(); i++) {
if (!compass.healthy(i)) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Check compass");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Check compass");
ap.compass_mot = false;
return MAV_RESULT_TEMPORARILY_REJECTED;
}
@ -58,7 +60,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
// check if radio is calibrated
arming.pre_arm_rc_checks(true);
if (!ap.pre_arm_rc_check) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
ap.compass_mot = false;
return MAV_RESULT_TEMPORARILY_REJECTED;
}
@ -66,14 +68,14 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
// check throttle is at zero
read_radio();
if (channel_throttle->get_control_in() != 0) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
ap.compass_mot = false;
return MAV_RESULT_TEMPORARILY_REJECTED;
}
// check we are landed
if (!ap.land_complete) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Not landed");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Not landed");
ap.compass_mot = false;
return MAV_RESULT_TEMPORARILY_REJECTED;
}
@ -98,13 +100,13 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
AP_Notify::flags.esc_calibration = true;
// warn user we are starting calibration
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Starting calibration");
gcs_chan.send_text(MAV_SEVERITY_INFO, "Starting calibration");
// inform what type of compensation we are attempting
if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Current");
gcs_chan.send_text(MAV_SEVERITY_INFO, "Current");
} else{
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
gcs_chan.send_text(MAV_SEVERITY_INFO, "Throttle");
}
// disable throttle and battery failsafe
@ -250,10 +252,10 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
}
compass.save_motor_compensation();
// display success message
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration successful");
gcs_chan.send_text(MAV_SEVERITY_INFO, "Calibration successful");
} else {
// compensation vector never updated, report failure
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed");
gcs_chan.send_text(MAV_SEVERITY_NOTICE, "Failed");
compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
}

10
ArduCopter/motor_test.cpp
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@ -72,28 +72,30 @@ void Copter::motor_test_output()
// return true if tests can continue, false if not
bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
{
GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
// check board has initialised
if (!ap.initialised) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Board initialising");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Board initialising");
return false;
}
// check rc has been calibrated
arming.pre_arm_rc_checks(true);
if(check_rc && !ap.pre_arm_rc_check) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
return false;
}
// ensure we are landed
if (!ap.land_complete) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
return false;
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
return false;
}

25
ArduCopter/system.cpp
View File

@ -120,7 +120,15 @@ void Copter::init_ardupilot()
serial_manager.init();
// setup first port early to allow BoardConfig to report errors
gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
#if CLI_ENABLED == ENABLED
// specify callback function for CLI menu system
if (g.cli_enabled) {
gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Copter::run_cli, void, AP_HAL::UARTDriver *));
}
#endif
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
@ -154,9 +162,7 @@ void Copter::init_ardupilot()
check_usb_mux();
// setup telem slots with serial ports
for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
gcs().setup_uarts(serial_manager);
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky, and pass a number of parameters to the library
@ -249,16 +255,7 @@ void Copter::init_ardupilot()
#endif
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->printf("%s\n", msg);
if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
gcs_chan[1].get_uart()->printf("%s\n", msg);
}
if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
gcs_chan[2].get_uart()->printf("%s\n", msg);
}
}
gcs().handle_interactive_setup();
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED