mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 09:58:28 -04:00
ArduCopter: first pass at AP_HAL porting
* changed all the byte types to uint8_t * fixed up much of the serial stuff
This commit is contained in:
Pat Hickey
Andrew Tridgell
parent
304afd45e1
commit
d9e0bbbbab
@ -54,64 +54,44 @@
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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// AVR runtime
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#include <avr/io.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <avr/wdt.h>
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#include <math.h>
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// Libraries
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#include <FastSerial.h>
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// Common dependencies
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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// AP_HAL
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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// Application dependencies
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <I2C.h> // Arduino I2C lib
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#include <SPI.h> // Arduino SPI lib
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#include <SPI3.h> // SPI3 library
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#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_AnalogSource.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_PeriodicProcess.h> // Parent header of Timer
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// (only included for makefile libpath to work)
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#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
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#include <AP_AHRS.h>
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#include <APM_PI.h> // PI library
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#include <AC_PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Motors.h> // AP Motors library
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#include <AP_MotorsQuad.h> // AP Motors library for Quad
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#include <AP_MotorsTri.h> // AP Motors library for Tri
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#include <AP_MotorsHexa.h> // AP Motors library for Hexa
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#include <AP_MotorsY6.h> // AP Motors library for Y6
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#include <AP_MotorsOcta.h> // AP Motors library for Octa
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#include <AP_MotorsOctaQuad.h> // AP Motors library for OctaQuad
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#include <AP_MotorsHeli.h> // AP Motors library for Heli
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#include <AP_MotorsMatrix.h> // AP Motors library for Heli
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#include <AP_RangeFinder.h> // Range finder library
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#include <AP_OpticalFlow.h> // Optical Flow library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <ModeFilter.h> // Mode Filter from Filter library
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#include <AverageFilter.h> // Mode Filter from Filter library
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#include <AP_LeadFilter.h> // GPS Lead filter
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#include <LowPassFilter.h> // Low Pass Filter library
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#include <AP_Relay.h> // APM relay
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#include <AP_Camera.h> // Photo or video camera
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
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#include <DigitalWriteFast.h> // faster digital write for LEDs
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <AP_Limits.h>
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#include <memcheck.h>
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// Configuration
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@ -119,43 +99,24 @@
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#include "config.h"
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#include "config_channels.h"
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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// Local modules
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#include "Parameters.h"
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#include "GCS.h"
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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// Limits library - Puts limits on the vehicle, and takes recovery actions
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#include <AP_Limits.h>
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#include <AP_Limit_GPSLock.h> // a limits library module
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#include <AP_Limit_Geofence.h> // a limits library module
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#include <AP_Limit_Altitude.h> // a limits library module
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////////////////////////////////////////////////////////////////////////////////
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// Serial ports
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// AP_HAL instance
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////////////////////////////////////////////////////////////////////////////////
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//
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// Note that FastSerial port buffers are allocated at ::begin time,
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// so there is not much of a penalty to defining ports that we don't
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// use.
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//
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FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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const AP_HAL::HAL& hal = AP_HAL_AVR_SITL;
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#include <SITL.h>
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SITL sitl;
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#endif
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// port to use for command line interface
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static FastSerial *cliSerial = &Serial;
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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// variables
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AP_Param param_loader(var_info, WP_START_BYTE);
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Arduino_Mega_ISR_Registry isr_registry;
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AP_HAL::BetterStream* cliSerial;
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////////////////////////////////////////////////////////////////////////////////
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// Parameters
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@ -168,26 +129,16 @@ static Parameters g;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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////////////////////////////////////////////////////////////////////////////////
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static void update_events(void);
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////////////////////////////////////////////////////////////////////////////////
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// RC Hardware
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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APM_RC_APM2 APM_RC;
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#else
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APM_RC_APM1 APM_RC;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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AP_Semaphore spi_semaphore;
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AP_Semaphore spi3_semaphore;
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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DataFlash_APM2 DataFlash(&spi3_semaphore);
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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DataFlash_APM2 DataFlash;
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#else
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DataFlash_APM1 DataFlash(&spi_semaphore);
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DataFlash_APM1 DataFlash;
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#endif
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@ -213,7 +164,7 @@ static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor:
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static GPS *g_gps;
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// flight modes convenience array
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static AP_Int8 *flight_modes = &g.flight_mode1;
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static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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@ -222,15 +173,13 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
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AP_ADC_ADS7844 adc;
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#endif
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#ifdef DESKTOP_BUILD
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#if CONFIG_HIL_BOARD == HIL_BOARD_AVR_SITL
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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#include <SITL.h>
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SITL sitl;
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#else
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#if CONFIG_BARO == AP_BARO_BMP085
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# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_Baro_BMP085 barometer(true);
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# else
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AP_Baro_BMP085 barometer(false);
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@ -243,7 +192,7 @@ AP_Compass_HMC5843 compass;
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#endif
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#if OPTFLOW == ENABLED
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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#else
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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@ -254,22 +203,22 @@ AP_OpticalFlow optflow;
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// real GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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AP_GPS_Auto g_gps_driver(hal.uartB, &g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver(&Serial1);
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AP_GPS_NMEA g_gps_driver(hal.uartB);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver(&Serial1);
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AP_GPS_SIRF g_gps_driver(hal.uartB);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver(&Serial1);
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AP_GPS_UBLOX g_gps_driver(hal.uartB);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver(&Serial1);
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AP_GPS_MTK g_gps_driver(hal.uartB);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
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AP_GPS_MTK16 g_gps_driver(&Serial1);
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AP_GPS_MTK16 g_gps_driver(hal.uartB);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver(NULL);
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@ -288,14 +237,14 @@ AP_InertialSensor_Oilpan ins(&adc);
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// a NULL GPS object pointer
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static GPS *g_gps_null;
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#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#if DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2
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#else
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#endif
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// ahrs2 object is the secondary ahrs to allow running DMP in parallel with DCM
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#if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
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#endif
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@ -320,25 +269,18 @@ AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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#if OPTFLOW == ENABLED
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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#else
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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#endif // CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#endif // OPTFLOW == ENABLED
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#ifdef DESKTOP_BUILD
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#include <SITL.h>
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SITL sitl;
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#endif // DESKTOP_BUILD
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static int32_t gps_base_alt;
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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// we always have a timer scheduler
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AP_TimerProcess timer_scheduler;
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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@ -443,7 +385,7 @@ static int16_t y_rate_error;
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static int8_t control_mode = STABILIZE;
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// Used to maintain the state of the previous control switch position
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// This is set to -1 when we need to re-read the switch
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static byte oldSwitchPosition;
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static uint8_t oldSwitchPosition;
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// receiver RSSI
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static uint8_t receiver_rssi;
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@ -475,11 +417,11 @@ static uint8_t receiver_rssi;
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#endif
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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#else
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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@ -507,11 +449,11 @@ float tuning_value;
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////////////////////////////////////////////////////////////////////////////////
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// This is current status for the LED lights state machine
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// setting this value changes the output of the LEDs
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static byte led_mode = NORMAL_LEDS;
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static uint8_t led_mode = NORMAL_LEDS;
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// Blinking indicates GPS status
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static byte copter_leds_GPS_blink;
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static uint8_t copter_leds_GPS_blink;
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// Blinking indicates battery status
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static byte copter_leds_motor_blink;
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static uint8_t copter_leds_motor_blink;
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// Navigation confirmation blinks
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static int8_t copter_leds_nav_blink;
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@ -552,7 +494,7 @@ union float_int {
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static int32_t wp_bearing;
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// Status of the Waypoint tracking mode. Options include:
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// NO_NAV_MODE, WP_MODE, LOITER_MODE, CIRCLE_MODE
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static byte wp_control;
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static uint8_t wp_control;
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// Register containing the index of the current navigation command in the mission script
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static int16_t command_nav_index;
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// Register containing the index of the previous navigation command in the mission script
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@ -824,7 +766,7 @@ static int16_t yaw_look_at_heading_slew;
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// Repeat Mission Scripting Command
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////////////////////////////////////////////////////////////////////////////////
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// The type of repeating event - Toggle a servo channel, Toggle the APM1 relay, etc
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static byte event_id;
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static uint8_t event_id;
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// Used to manage the timimng of repeating events
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static uint32_t event_timer;
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// How long to delay the next firing of event in millis
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@ -872,11 +814,11 @@ static uint32_t fast_loopTimer;
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// Time in microseconds of 50hz control loop
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static uint32_t fiftyhz_loopTimer;
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// Counters for branching from 10 hz control loop
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static byte medium_loopCounter;
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static uint8_t medium_loopCounter;
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// Counters for branching from 3 1/3hz control loop
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static byte slow_loopCounter;
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static uint8_t slow_loopCounter;
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// Counters for branching at 1 hz
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static byte counter_one_herz;
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static uint8_t counter_one_herz;
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// Counter of main loop executions. Used for performance monitoring and failsafe processing
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static uint16_t mainLoop_count;
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// Delta Time in milliseconds for navigation computations, updated with every good GPS read
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@ -1017,7 +959,7 @@ void loop()
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}
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}
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} else {
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#ifdef DESKTOP_BUILD
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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usleep(1000);
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#endif
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if (timer - fast_loopTimer < 9) {
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@ -1412,7 +1354,7 @@ static void update_optical_flow(void)
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static void update_GPS(void)
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{
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// A counter that is used to grab at least 10 reads before commiting the Home location
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static byte ground_start_count = 10;
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static uint8_t ground_start_count = 10;
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g_gps->update();
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update_GPS_light();
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@ -1739,7 +1681,7 @@ void update_roll_pitch_mode(void)
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// new radio frame is used to make sure we only call this at 50hz
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void update_simple_mode(void)
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{
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static byte simple_counter = 0; // State machine counter for Simple Mode
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static uint8_t simple_counter = 0; // State machine counter for Simple Mode
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static float simple_sin_y=0, simple_cos_x=0;
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// used to manage state machine
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@ -7,11 +7,8 @@
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#ifndef __GCS_H
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#define __GCS_H
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_HAL.h>
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#include <GPS.h>
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#include <Stream.h>
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#include <stdint.h>
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///
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/// @class GCS
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@ -40,7 +37,7 @@ public:
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///
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/// @param port The stream over which messages are exchanged.
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///
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void init(FastSerial *port) {
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void init(AP_HAL::UARTDriver *port) {
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_port = port;
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initialised = true;
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last_gps_satellites = 255;
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@ -91,7 +88,7 @@ public:
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protected:
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/// The stream we are communicating over
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FastSerial * _port;
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AP_HAL::UARTDriver * _port;
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};
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||||
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||||
//
|
||||
@ -110,7 +107,7 @@ class GCS_MAVLINK : public GCS_Class
|
||||
public:
|
||||
GCS_MAVLINK();
|
||||
void update(void);
|
||||
void init(FastSerial *port);
|
||||
void init(AP_HAL::UARTDriver *port);
|
||||
void send_message(enum ap_message id);
|
||||
void send_text(gcs_severity severity, const char *str);
|
||||
void send_text(gcs_severity severity, const prog_char_t *str);
|
||||
|
||||
@ -761,10 +761,10 @@ GCS_MAVLINK::GCS_MAVLINK() :
|
||||
}
|
||||
|
||||
void
|
||||
GCS_MAVLINK::init(FastSerial * port)
|
||||
GCS_MAVLINK::init(AP_HAL::UARTDriver* port)
|
||||
{
|
||||
GCS_Class::init(port);
|
||||
if (port == &Serial) {
|
||||
if (port == hal.uartA) {
|
||||
mavlink_comm_0_port = port;
|
||||
chan = MAVLINK_COMM_0;
|
||||
}else{
|
||||
|
||||
@ -228,7 +228,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
|
||||
|
||||
// print_latlon - prints an latitude or longitude value held in an int32_t
|
||||
// probably this should be moved to AP_Common
|
||||
void print_latlon(BetterStream *s, int32_t lat_or_lon)
|
||||
void print_latlon(AL_HAL::BetterStream *s, int32_t lat_or_lon)
|
||||
{
|
||||
int32_t dec_portion, frac_portion;
|
||||
int32_t abs_lat_or_lon = labs(lat_or_lon);
|
||||
@ -703,7 +703,7 @@ static void Log_Read_Performance()
|
||||
}
|
||||
|
||||
// Write a command processing packet. Total length : 21 bytes
|
||||
static void Log_Write_Cmd(byte num, struct Location *wp)
|
||||
static void Log_Write_Cmd(uint8_t num, struct Location *wp)
|
||||
{
|
||||
DataFlash.WriteByte(HEAD_BYTE1);
|
||||
DataFlash.WriteByte(HEAD_BYTE2);
|
||||
@ -851,7 +851,7 @@ static void Log_Read_INAV()
|
||||
}
|
||||
|
||||
// Write a mode packet. Total length : 7 bytes
|
||||
static void Log_Write_Mode(byte mode)
|
||||
static void Log_Write_Mode(uint8_t mode)
|
||||
{
|
||||
DataFlash.WriteByte(HEAD_BYTE1);
|
||||
DataFlash.WriteByte(HEAD_BYTE2);
|
||||
@ -1131,8 +1131,8 @@ static void Log_Read(int16_t start_page, int16_t end_page)
|
||||
// Read the DataFlash log memory : Packet Parser
|
||||
static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
|
||||
{
|
||||
byte data;
|
||||
byte log_step = 0;
|
||||
uint8_t data;
|
||||
uint8_t log_step = 0;
|
||||
int16_t page = start_page;
|
||||
int16_t packet_count = 0;
|
||||
|
||||
@ -1257,9 +1257,9 @@ static void Log_Read_Startup() {
|
||||
}
|
||||
static void Log_Read(int16_t start_page, int16_t end_page) {
|
||||
}
|
||||
static void Log_Write_Cmd(byte num, struct Location *wp) {
|
||||
static void Log_Write_Cmd(uint8_t num, struct Location *wp) {
|
||||
}
|
||||
static void Log_Write_Mode(byte mode) {
|
||||
static void Log_Write_Mode(uint8_t mode) {
|
||||
}
|
||||
static void Log_Write_Raw() {
|
||||
}
|
||||
|
||||
@ -5,7 +5,7 @@ static void read_control_switch()
|
||||
{
|
||||
static uint8_t switch_counter = 0;
|
||||
|
||||
byte switchPosition = readSwitch();
|
||||
uint8_t switchPosition = readSwitch();
|
||||
|
||||
if (oldSwitchPosition != switchPosition) {
|
||||
switch_counter++;
|
||||
|
||||
@ -67,7 +67,7 @@ static void update_motor_light(void)
|
||||
|
||||
static void dancing_light()
|
||||
{
|
||||
static byte step;
|
||||
static uint8_t step;
|
||||
|
||||
if (step++ == 3)
|
||||
step = 0;
|
||||
@ -368,4 +368,4 @@ void piezo_beep(){
|
||||
piezo_off();
|
||||
}
|
||||
|
||||
#endif //COPTER_LEDS
|
||||
#endif //COPTER_LEDS
|
||||
|
||||
@ -68,7 +68,7 @@ static void init_rc_out()
|
||||
motors.set_min_throttle(g.throttle_min);
|
||||
motors.set_max_throttle(g.throttle_max);
|
||||
|
||||
for(byte i = 0; i < 5; i++) {
|
||||
for(uint8_t i = 0; i < 5; i++) {
|
||||
delay(20);
|
||||
read_radio();
|
||||
}
|
||||
@ -199,7 +199,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
|
||||
|
||||
static void trim_radio()
|
||||
{
|
||||
for (byte i = 0; i < 30; i++) {
|
||||
for (uint8_t i = 0; i < 30; i++) {
|
||||
read_radio();
|
||||
}
|
||||
|
||||
|
||||
@ -316,8 +316,8 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
|
||||
static int8_t
|
||||
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
byte _switchPosition = 0;
|
||||
byte _oldSwitchPosition = 0;
|
||||
uint8_t _switchPosition = 0;
|
||||
uint8_t _oldSwitchPosition = 0;
|
||||
int8_t mode = 0;
|
||||
|
||||
cliSerial->printf_P(PSTR("\nMode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
|
||||
@ -780,10 +780,10 @@ static void report_batt_monitor()
|
||||
print_blanks(2);
|
||||
}
|
||||
|
||||
static void report_wp(byte index = 255)
|
||||
static void report_wp(uint8_t index = 255)
|
||||
{
|
||||
if(index == 255) {
|
||||
for(byte i = 0; i < g.command_total; i++) {
|
||||
for(uint8_t i = 0; i < g.command_total; i++) {
|
||||
struct Location temp = get_cmd_with_index(i);
|
||||
print_wp(&temp, i);
|
||||
}
|
||||
@ -966,7 +966,7 @@ print_radio_values()
|
||||
}
|
||||
|
||||
static void
|
||||
print_switch(byte p, byte m, bool b)
|
||||
print_switch(uint8_t p, uint8_t m, bool b)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("Pos %d:\t"),p);
|
||||
print_flight_mode(m);
|
||||
@ -986,7 +986,7 @@ print_done()
|
||||
|
||||
static void zero_eeprom(void)
|
||||
{
|
||||
byte b = 0;
|
||||
uint8_t b = 0;
|
||||
|
||||
cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
|
||||
|
||||
@ -1038,8 +1038,8 @@ heli_get_servo(int16_t servo_num){
|
||||
|
||||
// Used to read integer values from the serial port
|
||||
static int16_t read_num_from_serial() {
|
||||
byte index = 0;
|
||||
byte timeout = 0;
|
||||
uint8_t index = 0;
|
||||
uint8_t timeout = 0;
|
||||
char data[5] = "";
|
||||
|
||||
do {
|
||||
@ -1118,7 +1118,7 @@ init_esc()
|
||||
}
|
||||
}
|
||||
|
||||
static void print_wp(struct Location *cmd, byte index)
|
||||
static void print_wp(struct Location *cmd, uint8_t index)
|
||||
{
|
||||
//float t1 = (float)cmd->lat / t7;
|
||||
//float t2 = (float)cmd->lng / t7;
|
||||
|
||||
@ -48,7 +48,7 @@ static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
|
||||
}
|
||||
|
||||
// the user wants the CLI. It never exits
|
||||
static void run_cli(FastSerial *port)
|
||||
static void run_cli(AP_HAL::UARTDriver *port)
|
||||
{
|
||||
cliSerial = port;
|
||||
Menu::set_port(port);
|
||||
@ -393,7 +393,7 @@ static void startup_ground(void)
|
||||
}
|
||||
|
||||
// set_mode - change flight mode and perform any necessary initialisation
|
||||
static void set_mode(byte mode)
|
||||
static void set_mode(uint8_t mode)
|
||||
{
|
||||
// Switch to stabilize mode if requested mode requires a GPS lock
|
||||
if(!ap.home_is_set) {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user