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GCS: make the two GCS links gcs0 and gcs3

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the artifical separation between 'gcs' and 'hil' just leads to
confusion. This also simplifies the code a bit more, and saves us a
bit more text
This commit is contained in:
Andrew Tridgell 2011-09-18 14:00:49 +10:00
parent cc4bae4b42
commit de18df06b5
13 changed files with 61 additions and 56 deletions
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8
ArduPlane/ArduPlane.pde
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@ -164,8 +164,8 @@ AP_IMU_Shim imu; // never used
// GCS selection
////////////////////////////////////////////////////////////////////////////////
//
GCS_MAVLINK gcs(Parameters::k_param_streamrates_port3);
GCS_MAVLINK hil(Parameters::k_param_streamrates_port0);
GCS_MAVLINK gcs0(Parameters::k_param_streamrates_port0);
GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
////////////////////////////////////////////////////////////////////////////////
// SONAR selection
@ -516,8 +516,7 @@ static void fast_loop()
// XXX is it appropriate to be doing the comms below on the fast loop?
gcs.update();
hil.update();
gcs_update();
gcs_data_stream_send(45,1000);
}
@ -704,7 +703,6 @@ static void update_GPS(void)
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0) {
SendDebugln("!! bad loc");
ground_start_count = 5;
} else {

2
ArduPlane/Attitude.pde
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@ -349,7 +349,7 @@ static void set_servos(void)
static void demo_servos(byte i) {
while(i > 0){
gcs.send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
APM_RC.OutputCh(1, 1400);
mavlink_delay(400);

5
ArduPlane/GCS.h
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@ -82,11 +82,6 @@ public:
///
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) {}
/// Emit an update of the "current" waypoints, often previous, current and
/// next.
///
void print_current_waypoints() {}
//
// The following interfaces are not currently implemented as their counterparts
// are not called in the mainline code. XXX ripe for re-specification.

32
ArduPlane/GCS_Mavlink.pde
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@ -1115,8 +1115,7 @@ static void mavlink_delay(unsigned long t)
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs.update();
hil.update();
gcs_update();
}
delay(1);
} while (millis() - tstart < t);
@ -1129,8 +1128,8 @@ static void mavlink_delay(unsigned long t)
*/
static void gcs_send_message(enum ap_message id)
{
gcs.send_message(id);
hil.send_message(id);
gcs0.send_message(id);
gcs3.send_message(id);
}
/*
@ -1138,6 +1137,27 @@ static void gcs_send_message(enum ap_message id)
*/
static void gcs_data_stream_send(uint16_t freqMin, uint16_t freqMax)
{
gcs.data_stream_send(freqMin, freqMax);
hil.data_stream_send(freqMin, freqMax);
gcs0.data_stream_send(freqMin, freqMax);
gcs3.data_stream_send(freqMin, freqMax);
}
/*
look for incoming commands on the GCS links
*/
static void gcs_update(void)
{
gcs0.update();
gcs3.update();
}
static void gcs_send_text(uint8_t severity, const char *str)
{
gcs0.send_text(severity, str);
gcs3.send_text(severity, str);
}
static void gcs_send_text_P(uint8_t severity, const prog_char_t *str)
{
gcs0.send_text(severity, str);
gcs3.send_text(severity, str);
}

2
ArduPlane/Log.pde
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@ -262,7 +262,7 @@ static void start_new_log(byte num_existing_logs)
DataFlash.FinishWrite();
DataFlash.StartWrite(start_pages[num_existing_logs-1]);
}else{
gcs.send_text_P(SEVERITY_LOW,PSTR("<start_new_log> Logs full - logging discontinued"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<start_new_log> Logs full - logging discontinued"));
}
}

4
ArduPlane/commands.pde
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@ -135,7 +135,7 @@ It looks to see what the next command type is and finds the last command.
*/
static void set_next_WP(struct Location *wp)
{
//gcs.send_text_P(SEVERITY_LOW,PSTR("load WP"));
//gcs_send_text_P(SEVERITY_LOW,PSTR("load WP"));
SendDebug_P("MSG - wp_index: ");
SendDebugln(g.waypoint_index, DEC);
@ -178,8 +178,6 @@ static void set_next_WP(struct Location *wp)
// set a new crosstrack bearing
// ----------------------------
reset_crosstrack();
gcs.print_current_waypoints();
}
static void set_guided_WP(void)

16
ArduPlane/commands_logic.pde
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@ -63,7 +63,7 @@ handle_process_may()
break;
/* case MAV_CMD_NAV_LAND_OPTIONS: // TODO - Add the command or equiv to MAVLink (repair in verify_may() also)
gcs.send_text_P(SEVERITY_LOW,PSTR("Landing options set"));
gcs_send_text_P(SEVERITY_LOW,PSTR("Landing options set"));
// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
landing_pitch = next_command.lng * 100;
@ -160,7 +160,7 @@ static bool verify_must()
break;
default:
gcs.send_text_P(SEVERITY_HIGH,PSTR("verify_must: Invalid or no current Nav cmd"));
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_must: Invalid or no current Nav cmd"));
return false;
break;
}
@ -185,7 +185,7 @@ static bool verify_may()
break;
default:
gcs.send_text_P(SEVERITY_HIGH,PSTR("verify_may: Invalid or no current Condition cmd"));
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_may: Invalid or no current Condition cmd"));
break;
}
return false;
@ -320,13 +320,13 @@ static bool verify_nav_wp()
//SendDebugln(command_must_index,DEC);
char message[30];
sprintf(message,"Reached Waypoint #%i",command_must_index);
gcs.send_text(SEVERITY_LOW,message);
gcs_send_text(SEVERITY_LOW,message);
return true;
}
// add in a more complex case
// Doug to do
if(loiter_sum > 300){
gcs.send_text_P(SEVERITY_MEDIUM,PSTR("<verify_must: MAV_CMD_NAV_WAYPOINT> Missed WP"));
gcs_send_text_P(SEVERITY_MEDIUM,PSTR("<verify_must: MAV_CMD_NAV_WAYPOINT> Missed WP"));
return true;
}
return false;
@ -344,7 +344,7 @@ static bool verify_loiter_time()
update_loiter();
calc_bearing_error();
if ((millis() - loiter_time) > (unsigned long)loiter_time_max * 10000l) { // scale loiter_time_max from (sec*10) to milliseconds
gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
return true;
}
return false;
@ -356,7 +356,7 @@ static bool verify_loiter_turns()
calc_bearing_error();
if(loiter_sum > loiter_total) {
loiter_total = 0;
gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));
gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));
// clear the command queue;
return true;
}
@ -366,7 +366,7 @@ static bool verify_loiter_turns()
static bool verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
return true;
}else{
return false;

10
ArduPlane/commands_process.pde
View File

@ -6,7 +6,7 @@ static void change_command(uint8_t cmd_index)
{
struct Location temp = get_wp_with_index(cmd_index);
if (temp.id > MAV_CMD_NAV_LAST ){
gcs.send_text_P(SEVERITY_LOW,PSTR("Bad Request - cannot change to non-Nav cmd"));
gcs_send_text_P(SEVERITY_LOW,PSTR("Bad Request - cannot change to non-Nav cmd"));
} else {
command_must_index = NO_COMMAND;
next_command.id = NO_COMMAND;
@ -59,7 +59,7 @@ static void load_next_command_from_EEPROM()
// --------------------------------------------
if(next_command.id == NO_COMMAND){
// we are out of commands!
gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
gcs_send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
handle_no_commands();
}
}
@ -117,7 +117,7 @@ static void process_next_command()
/**************************************************/
static void process_must()
{
gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
gcs_send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
// clear May indexes
command_may_index = NO_COMMAND;
@ -133,7 +133,7 @@ static void process_must()
static void process_may()
{
gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
command_may_ID = next_command.id;
handle_process_may();
@ -151,6 +151,6 @@ static void process_now()
// -----------------------------------------
next_command.id = NO_COMMAND;
gcs.send_text(SEVERITY_LOW, "<process_now>");
gcs_send_text(SEVERITY_LOW, "<process_now>");
}

2
ArduPlane/events.pde
View File

@ -78,7 +78,7 @@ static void failsafe_short_off_event()
#if BATTERY_EVENT == ENABLED
static void low_battery_event(void)
{
gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE;
}

3
ArduPlane/navigation.pde
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@ -22,9 +22,8 @@ static void navigate()
wp_distance = get_distance(&current_loc, &next_WP);
if (wp_distance < 0){
gcs.send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
//Serial.println(wp_distance,DEC);
//print_current_waypoints();
return;
}

5
ArduPlane/planner.pde
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@ -25,14 +25,15 @@ planner_mode(uint8_t argc, const Menu::arg *argv)
static int8_t
planner_gcs(uint8_t argc, const Menu::arg *argv)
{
gcs.init(&Serial);
gcs0.init(&Serial);
gcs3.init(&Serial3);
int loopcount = 0;
while (1) {
if (millis()-fast_loopTimer > 19) {
fast_loopTimer = millis();
gcs.update();
gcs_update();
gcs_data_stream_send(45,1000);
if ((loopcount % 5) == 0) // 10 hz
gcs_data_stream_send(5,45);

2
ArduPlane/sensors.pde
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@ -50,7 +50,7 @@ static void init_barometer(void)
abs_pressure = ground_pressure;
Serial.printf_P(PSTR("abs_pressure %ld\n"), abs_pressure);
gcs.send_text_P(SEVERITY_MEDIUM, PSTR("barometer calibration complete."));
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("barometer calibration complete."));
}
static long read_barometer(void)

26
ArduPlane/system.pde
View File

@ -159,19 +159,13 @@ static void init_ardupilot()
g_gps->callback = mavlink_delay;
// init the GCS
#if GCS_PORT == 3
gcs.init(&Serial3);
#else
gcs.init(&Serial);
#endif
gcs0.init(&Serial);
gcs3.init(&Serial3);
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_FIXED_WING;
// init the HIL
hil.init(&Serial);
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
@ -218,7 +212,7 @@ static void init_ardupilot()
if (ENABLE_AIR_START == 1) {
// Perform an air start and get back to flying
gcs.send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
// Get necessary data from EEPROM
//----------------
@ -265,10 +259,10 @@ static void startup_ground(void)
{
set_mode(INITIALISING);
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
#if(GROUND_START_DELAY > 0)
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
delay(GROUND_START_DELAY * 1000);
#endif
@ -292,11 +286,11 @@ if (g.airspeed_enabled == true)
// initialize airspeed sensor
// --------------------------
zero_airspeed();
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
}
else
{
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
}
#endif
@ -327,7 +321,7 @@ else
// -----------------------
demo_servos(3);
gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
static void set_mode(byte mode)
@ -423,13 +417,13 @@ static void check_short_failsafe()
static void startup_IMU_ground(void)
{
#if HIL_MODE != HIL_MODE_ATTITUDE
gcs.send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
// -----------------------
demo_servos(2);
gcs.send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
mavlink_delay(1000);
imu.init(IMU::COLD_START, mavlink_delay);