mirror of https://github.com/ArduPilot/ardupilot
Copter: alphabetise order of cli setup menu
This commit is contained in:
Randy Mackay
parent
a0c8bf238e
commit
e2495b7a49
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@ -3,54 +3,54 @@
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#if CLI_ENABLED == ENABLED
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// Functions called from the setup menu
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compassmot (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_range (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
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#if FRAME_CONFIG == HELI_FRAME
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static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_range (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_set (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
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// Command/function table for the setup menu
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const struct Menu::command setup_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"erase", setup_erase},
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{"reset", setup_factory},
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{"radio", setup_radio},
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{"frame", setup_frame},
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{"level", setup_accel},
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{"accel", setup_accel_scale},
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{"modes", setup_flightmodes},
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{"battery", setup_batt_monitor},
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{"sonar", setup_sonar},
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{"compass", setup_compass},
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{"compassmot", setup_compassmot},
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{"tune", setup_tune},
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{"range", setup_range},
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{"declination", setup_declination},
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{"optflow", setup_optflow},
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{"declination", setup_declination},
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{"erase", setup_erase},
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{"frame", setup_frame},
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#if FRAME_CONFIG == HELI_FRAME
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{"heli", setup_heli},
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{"gyro", setup_gyro},
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{"heli", setup_heli},
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#endif
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{"level", setup_accel},
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{"modes", setup_flightmodes},
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{"optflow", setup_optflow},
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{"radio", setup_radio},
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{"range", setup_range},
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{"reset", setup_factory},
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{"set", setup_set},
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{"show", setup_show},
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{"set", setup_set}
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{"sonar", setup_sonar},
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{"tune", setup_tune}
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};
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// Create the setup menu object.
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@ -75,179 +75,6 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
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return 0;
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}
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// Print the current configuration.
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// Called by the setup menu 'show' command.
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static int8_t
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setup_show(uint8_t argc, const Menu::arg *argv)
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{
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AP_Param *param;
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ap_var_type type;
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//If a parameter name is given as an argument to show, print only that parameter
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if(argc>=2)
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{
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param=AP_Param::find(argv[1].str, &type);
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if(!param)
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{
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cliSerial->printf_P(PSTR("Parameter not found: '%s'\n"), argv[1]);
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return 0;
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}
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AP_Param::show(param, argv[1].str, type, cliSerial);
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return 0;
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}
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// clear the area
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print_blanks(8);
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report_version();
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report_radio();
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report_frame();
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report_batt_monitor();
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report_sonar();
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report_flight_modes();
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report_ins();
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report_compass();
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report_optflow();
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#if FRAME_CONFIG == HELI_FRAME
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report_heli();
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report_gyro();
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#endif
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AP_Param::show_all(cliSerial);
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return(0);
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}
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// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
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// Called by the setup menu 'factoryreset' command.
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static int8_t
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setup_factory(uint8_t argc, const Menu::arg *argv)
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{
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int16_t c;
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cliSerial->printf_P(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
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do {
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c = cliSerial->read();
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} while (-1 == c);
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if (('y' != c) && ('Y' != c))
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return(-1);
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AP_Param::erase_all();
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cliSerial->printf_P(PSTR("\nReboot APM"));
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delay(1000);
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for (;; ) {
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}
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// note, cannot actually return here
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return(0);
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}
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// Perform radio setup.
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// Called by the setup menu 'radio' command.
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static int8_t
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setup_radio(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->println_P(PSTR("\n\nRadio Setup:"));
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uint8_t i;
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for(i = 0; i < 100; i++) {
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delay(20);
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read_radio();
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}
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if(g.rc_1.radio_in < 500) {
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while(1) {
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//cliSerial->printf_P(PSTR("\nNo radio; Check connectors."));
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delay(1000);
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// stop here
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}
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}
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g.rc_1.radio_min = g.rc_1.radio_in;
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g.rc_2.radio_min = g.rc_2.radio_in;
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g.rc_3.radio_min = g.rc_3.radio_in;
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g.rc_4.radio_min = g.rc_4.radio_in;
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g.rc_5.radio_min = g.rc_5.radio_in;
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g.rc_6.radio_min = g.rc_6.radio_in;
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g.rc_7.radio_min = g.rc_7.radio_in;
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g.rc_8.radio_min = g.rc_8.radio_in;
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g.rc_1.radio_max = g.rc_1.radio_in;
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g.rc_2.radio_max = g.rc_2.radio_in;
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g.rc_3.radio_max = g.rc_3.radio_in;
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g.rc_4.radio_max = g.rc_4.radio_in;
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g.rc_5.radio_max = g.rc_5.radio_in;
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g.rc_6.radio_max = g.rc_6.radio_in;
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g.rc_7.radio_max = g.rc_7.radio_in;
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g.rc_8.radio_max = g.rc_8.radio_in;
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g.rc_1.radio_trim = g.rc_1.radio_in;
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g.rc_2.radio_trim = g.rc_2.radio_in;
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g.rc_4.radio_trim = g.rc_4.radio_in;
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// 3 is not trimed
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g.rc_5.radio_trim = 1500;
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g.rc_6.radio_trim = 1500;
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g.rc_7.radio_trim = 1500;
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g.rc_8.radio_trim = 1500;
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cliSerial->printf_P(PSTR("\nMove all controls to extremes. Enter to save: "));
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while(1) {
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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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g.rc_1.update_min_max();
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g.rc_2.update_min_max();
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g.rc_3.update_min_max();
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g.rc_4.update_min_max();
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g.rc_5.update_min_max();
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g.rc_6.update_min_max();
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g.rc_7.update_min_max();
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g.rc_8.update_min_max();
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if(cliSerial->available() > 0) {
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delay(20);
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while (cliSerial->read() != -1); /* flush */
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g.rc_1.save_eeprom();
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g.rc_2.save_eeprom();
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g.rc_3.save_eeprom();
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g.rc_4.save_eeprom();
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g.rc_5.save_eeprom();
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g.rc_6.save_eeprom();
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g.rc_7.save_eeprom();
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g.rc_8.save_eeprom();
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print_done();
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break;
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}
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}
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report_radio();
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return(0);
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}
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static int8_t
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setup_accel(uint8_t argc, const Menu::arg *argv)
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{
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins.init_accel(flash_leds);
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ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
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report_ins();
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return(0);
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}
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static int8_t
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setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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{
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@ -268,131 +95,19 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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}
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static int8_t
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setup_frame(uint8_t argc, const Menu::arg *argv)
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setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("x"))) {
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g.frame_orientation.set_and_save(X_FRAME);
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} else if (!strcmp_P(argv[1].str, PSTR("p"))) {
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g.frame_orientation.set_and_save(PLUS_FRAME);
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} else if (!strcmp_P(argv[1].str, PSTR("+"))) {
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g.frame_orientation.set_and_save(PLUS_FRAME);
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} else if (!strcmp_P(argv[1].str, PSTR("v"))) {
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g.frame_orientation.set_and_save(V_FRAME);
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}else{
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cliSerial->printf_P(PSTR("\nOp:[x,+,v]\n"));
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report_frame();
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return 0;
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if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.battery_monitoring.set_and_save(0);
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} else if(argv[1].i > 0 && argv[1].i <= 4) {
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g.battery_monitoring.set_and_save(argv[1].i);
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} else {
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cliSerial->printf_P(PSTR("\nOp: off, 3-4"));
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}
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report_frame();
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return 0;
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}
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static int8_t
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setup_flightmodes(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t _switchPosition = 0;
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uint8_t _oldSwitchPosition = 0;
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int8_t mode = 0;
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cliSerial->printf_P(PSTR("\nMode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
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print_hit_enter();
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while(1) {
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delay(20);
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read_radio();
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_switchPosition = readSwitch();
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// look for control switch change
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if (_oldSwitchPosition != _switchPosition) {
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mode = flight_modes[_switchPosition];
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mode = constrain_int16(mode, 0, NUM_MODES-1);
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// update the user
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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// Remember switch position
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_oldSwitchPosition = _switchPosition;
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}
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// look for stick input
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if (abs(g.rc_1.control_in) > 3000) {
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mode++;
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if(mode >= NUM_MODES)
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mode = 0;
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// save new mode
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flight_modes[_switchPosition] = mode;
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// print new mode
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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delay(500);
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}
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// look for stick input
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if (g.rc_4.control_in > 3000) {
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g.simple_modes |= (1<<_switchPosition);
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// print new mode
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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delay(500);
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}
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// look for stick input
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if (g.rc_4.control_in < -3000) {
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g.simple_modes &= ~(1<<_switchPosition);
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// print new mode
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print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
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delay(500);
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}
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// escape hatch
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if(cliSerial->available() > 0) {
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for (mode = 0; mode < 6; mode++)
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flight_modes[mode].save();
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g.simple_modes.save();
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print_done();
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report_flight_modes();
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return (0);
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}
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}
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}
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static int8_t
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setup_declination(uint8_t argc, const Menu::arg *argv)
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{
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compass.set_declination(radians(argv[1].f));
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report_compass();
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return 0;
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}
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static int8_t
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setup_tune(uint8_t argc, const Menu::arg *argv)
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{
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g.radio_tuning.set_and_save(argv[1].i);
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report_tuning();
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return 0;
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}
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static int8_t
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setup_range(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR("\nCH 6 Ranges are divided by 1000: [low, high]\n"));
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g.radio_tuning_low.set_and_save(argv[1].i);
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g.radio_tuning_high.set_and_save(argv[2].i);
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report_tuning();
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return 0;
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}
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static int8_t
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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zero_eeprom();
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report_batt_monitor();
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return 0;
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}
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@ -404,7 +119,9 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
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init_compass();
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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clear_offsets();
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Vector3f mag_offsets(0,0,0);
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compass.set_offsets(mag_offsets);
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compass.save_offsets();
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g.compass_enabled.set_and_save(false);
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}else{
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@ -656,46 +373,71 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
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}
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static int8_t
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setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
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setup_declination(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.battery_monitoring.set_and_save(0);
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} else if(argv[1].i > 0 && argv[1].i <= 4) {
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g.battery_monitoring.set_and_save(argv[1].i);
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} else {
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cliSerial->printf_P(PSTR("\nOp: off, 3-4"));
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}
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report_batt_monitor();
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compass.set_declination(radians(argv[1].f));
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report_compass();
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return 0;
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}
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static int8_t
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setup_sonar(uint8_t argc, const Menu::arg *argv)
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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g.sonar_enabled.set_and_save(true);
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.sonar_enabled.set_and_save(false);
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} else if (argc > 1 && (argv[1].i >= 0 && argv[1].i <= 3)) {
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g.sonar_enabled.set_and_save(true); // if you set the sonar type, surely you want it on
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g.sonar_type.set_and_save(argv[1].i);
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}else{
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cliSerial->printf_P(PSTR("\nOp:[on, off, 0-3]\n"));
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report_sonar();
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return 0;
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}
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report_sonar();
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zero_eeprom();
|
||||
return 0;
|
||||
}
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
static int8_t
|
||||
setup_frame(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
if (!strcmp_P(argv[1].str, PSTR("x"))) {
|
||||
g.frame_orientation.set_and_save(X_FRAME);
|
||||
} else if (!strcmp_P(argv[1].str, PSTR("p"))) {
|
||||
g.frame_orientation.set_and_save(PLUS_FRAME);
|
||||
} else if (!strcmp_P(argv[1].str, PSTR("+"))) {
|
||||
g.frame_orientation.set_and_save(PLUS_FRAME);
|
||||
} else if (!strcmp_P(argv[1].str, PSTR("v"))) {
|
||||
g.frame_orientation.set_and_save(V_FRAME);
|
||||
}else{
|
||||
cliSerial->printf_P(PSTR("\nOp:[x,+,v]\n"));
|
||||
report_frame();
|
||||
return 0;
|
||||
}
|
||||
|
||||
report_frame();
|
||||
return 0;
|
||||
}
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
// setup for external tail gyro (for heli only)
|
||||
static int8_t
|
||||
setup_gyro(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
if (!strcmp_P(argv[1].str, PSTR("on"))) {
|
||||
motors.ext_gyro_enabled.set_and_save(true);
|
||||
|
||||
// optionally capture the gain
|
||||
if( argc >= 2 && argv[2].i >= 1000 && argv[2].i <= 2000 ) {
|
||||
motors.ext_gyro_gain = argv[2].i;
|
||||
motors.ext_gyro_gain.save();
|
||||
}
|
||||
|
||||
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
|
||||
motors.ext_gyro_enabled.set_and_save(false);
|
||||
|
||||
// capture gain if user simply provides a number
|
||||
} else if( argv[1].i >= 1000 && argv[1].i <= 2000 ) {
|
||||
motors.ext_gyro_enabled.set_and_save(true);
|
||||
motors.ext_gyro_gain = argv[1].i;
|
||||
motors.ext_gyro_gain.save();
|
||||
|
||||
}else{
|
||||
cliSerial->printf_P(PSTR("\nOp:[on, off] gain\n"));
|
||||
}
|
||||
|
||||
report_gyro();
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Perform heli setup.
|
||||
// Called by the setup menu 'radio' command.
|
||||
|
|
@ -911,44 +653,91 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
|
|||
|
||||
return(0);
|
||||
}
|
||||
#endif // FRAME_CONFIG == HELI
|
||||
|
||||
// setup for external tail gyro (for heli only)
|
||||
static int8_t
|
||||
setup_gyro(uint8_t argc, const Menu::arg *argv)
|
||||
setup_accel(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
if (!strcmp_P(argv[1].str, PSTR("on"))) {
|
||||
motors.ext_gyro_enabled.set_and_save(true);
|
||||
|
||||
// optionally capture the gain
|
||||
if( argc >= 2 && argv[2].i >= 1000 && argv[2].i <= 2000 ) {
|
||||
motors.ext_gyro_gain = argv[2].i;
|
||||
motors.ext_gyro_gain.save();
|
||||
}
|
||||
|
||||
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
|
||||
motors.ext_gyro_enabled.set_and_save(false);
|
||||
|
||||
// capture gain if user simply provides a number
|
||||
} else if( argv[1].i >= 1000 && argv[1].i <= 2000 ) {
|
||||
motors.ext_gyro_enabled.set_and_save(true);
|
||||
motors.ext_gyro_gain = argv[1].i;
|
||||
motors.ext_gyro_gain.save();
|
||||
|
||||
}else{
|
||||
cliSerial->printf_P(PSTR("\nOp:[on, off] gain\n"));
|
||||
}
|
||||
|
||||
report_gyro();
|
||||
return 0;
|
||||
ahrs.init();
|
||||
ins.init(AP_InertialSensor::COLD_START,
|
||||
ins_sample_rate,
|
||||
flash_leds);
|
||||
ins.init_accel(flash_leds);
|
||||
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
|
||||
report_ins();
|
||||
return(0);
|
||||
}
|
||||
|
||||
#endif // FRAME_CONFIG == HELI
|
||||
|
||||
static void clear_offsets()
|
||||
static int8_t
|
||||
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
Vector3f _offsets(0.0,0.0,0.0);
|
||||
compass.set_offsets(_offsets);
|
||||
compass.save_offsets();
|
||||
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"));
|
||||
print_hit_enter();
|
||||
|
||||
while(1) {
|
||||
delay(20);
|
||||
read_radio();
|
||||
_switchPosition = readSwitch();
|
||||
|
||||
|
||||
// look for control switch change
|
||||
if (_oldSwitchPosition != _switchPosition) {
|
||||
|
||||
mode = flight_modes[_switchPosition];
|
||||
mode = constrain_int16(mode, 0, NUM_MODES-1);
|
||||
|
||||
// update the user
|
||||
print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
|
||||
|
||||
// Remember switch position
|
||||
_oldSwitchPosition = _switchPosition;
|
||||
}
|
||||
|
||||
// look for stick input
|
||||
if (abs(g.rc_1.control_in) > 3000) {
|
||||
mode++;
|
||||
if(mode >= NUM_MODES)
|
||||
mode = 0;
|
||||
|
||||
// save new mode
|
||||
flight_modes[_switchPosition] = mode;
|
||||
|
||||
// print new mode
|
||||
print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
|
||||
delay(500);
|
||||
}
|
||||
|
||||
// look for stick input
|
||||
if (g.rc_4.control_in > 3000) {
|
||||
g.simple_modes |= (1<<_switchPosition);
|
||||
// print new mode
|
||||
print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
|
||||
delay(500);
|
||||
}
|
||||
|
||||
// look for stick input
|
||||
if (g.rc_4.control_in < -3000) {
|
||||
g.simple_modes &= ~(1<<_switchPosition);
|
||||
// print new mode
|
||||
print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
|
||||
delay(500);
|
||||
}
|
||||
|
||||
// escape hatch
|
||||
if(cliSerial->available() > 0) {
|
||||
for (mode = 0; mode < 6; mode++)
|
||||
flight_modes[mode].save();
|
||||
|
||||
g.simple_modes.save();
|
||||
print_done();
|
||||
report_flight_modes();
|
||||
return (0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static int8_t
|
||||
|
|
@ -974,6 +763,131 @@ setup_optflow(uint8_t argc, const Menu::arg *argv)
|
|||
return 0;
|
||||
}
|
||||
|
||||
// Perform radio setup.
|
||||
// Called by the setup menu 'radio' command.
|
||||
static int8_t
|
||||
setup_radio(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
cliSerial->println_P(PSTR("\n\nRadio Setup:"));
|
||||
uint8_t i;
|
||||
|
||||
for(i = 0; i < 100; i++) {
|
||||
delay(20);
|
||||
read_radio();
|
||||
}
|
||||
|
||||
if(g.rc_1.radio_in < 500) {
|
||||
while(1) {
|
||||
//cliSerial->printf_P(PSTR("\nNo radio; Check connectors."));
|
||||
delay(1000);
|
||||
// stop here
|
||||
}
|
||||
}
|
||||
|
||||
g.rc_1.radio_min = g.rc_1.radio_in;
|
||||
g.rc_2.radio_min = g.rc_2.radio_in;
|
||||
g.rc_3.radio_min = g.rc_3.radio_in;
|
||||
g.rc_4.radio_min = g.rc_4.radio_in;
|
||||
g.rc_5.radio_min = g.rc_5.radio_in;
|
||||
g.rc_6.radio_min = g.rc_6.radio_in;
|
||||
g.rc_7.radio_min = g.rc_7.radio_in;
|
||||
g.rc_8.radio_min = g.rc_8.radio_in;
|
||||
|
||||
g.rc_1.radio_max = g.rc_1.radio_in;
|
||||
g.rc_2.radio_max = g.rc_2.radio_in;
|
||||
g.rc_3.radio_max = g.rc_3.radio_in;
|
||||
g.rc_4.radio_max = g.rc_4.radio_in;
|
||||
g.rc_5.radio_max = g.rc_5.radio_in;
|
||||
g.rc_6.radio_max = g.rc_6.radio_in;
|
||||
g.rc_7.radio_max = g.rc_7.radio_in;
|
||||
g.rc_8.radio_max = g.rc_8.radio_in;
|
||||
|
||||
g.rc_1.radio_trim = g.rc_1.radio_in;
|
||||
g.rc_2.radio_trim = g.rc_2.radio_in;
|
||||
g.rc_4.radio_trim = g.rc_4.radio_in;
|
||||
// 3 is not trimed
|
||||
g.rc_5.radio_trim = 1500;
|
||||
g.rc_6.radio_trim = 1500;
|
||||
g.rc_7.radio_trim = 1500;
|
||||
g.rc_8.radio_trim = 1500;
|
||||
|
||||
|
||||
cliSerial->printf_P(PSTR("\nMove all controls to extremes. Enter to save: "));
|
||||
while(1) {
|
||||
|
||||
delay(20);
|
||||
// Filters radio input - adjust filters in the radio.pde file
|
||||
// ----------------------------------------------------------
|
||||
read_radio();
|
||||
|
||||
g.rc_1.update_min_max();
|
||||
g.rc_2.update_min_max();
|
||||
g.rc_3.update_min_max();
|
||||
g.rc_4.update_min_max();
|
||||
g.rc_5.update_min_max();
|
||||
g.rc_6.update_min_max();
|
||||
g.rc_7.update_min_max();
|
||||
g.rc_8.update_min_max();
|
||||
|
||||
if(cliSerial->available() > 0) {
|
||||
delay(20);
|
||||
while (cliSerial->read() != -1); /* flush */
|
||||
|
||||
g.rc_1.save_eeprom();
|
||||
g.rc_2.save_eeprom();
|
||||
g.rc_3.save_eeprom();
|
||||
g.rc_4.save_eeprom();
|
||||
g.rc_5.save_eeprom();
|
||||
g.rc_6.save_eeprom();
|
||||
g.rc_7.save_eeprom();
|
||||
g.rc_8.save_eeprom();
|
||||
|
||||
print_done();
|
||||
break;
|
||||
}
|
||||
}
|
||||
report_radio();
|
||||
return(0);
|
||||
}
|
||||
|
||||
static int8_t
|
||||
setup_range(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("\nCH 6 Ranges are divided by 1000: [low, high]\n"));
|
||||
|
||||
g.radio_tuning_low.set_and_save(argv[1].i);
|
||||
g.radio_tuning_high.set_and_save(argv[2].i);
|
||||
report_tuning();
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
|
||||
// Called by the setup menu 'factoryreset' command.
|
||||
static int8_t
|
||||
setup_factory(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
int16_t c;
|
||||
|
||||
cliSerial->printf_P(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
|
||||
|
||||
do {
|
||||
c = cliSerial->read();
|
||||
} while (-1 == c);
|
||||
|
||||
if (('y' != c) && ('Y' != c))
|
||||
return(-1);
|
||||
|
||||
AP_Param::erase_all();
|
||||
cliSerial->printf_P(PSTR("\nReboot APM"));
|
||||
|
||||
delay(1000);
|
||||
|
||||
for (;; ) {
|
||||
}
|
||||
// note, cannot actually return here
|
||||
return(0);
|
||||
}
|
||||
|
||||
//Set a parameter to a specified value. It will cast the value to the current type of the
|
||||
//parameter and make sure it fits in case of INT8 and INT16
|
||||
static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
|
||||
|
|
@ -1033,6 +947,83 @@ static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
|
|||
return 0;
|
||||
}
|
||||
|
||||
// Print the current configuration.
|
||||
// Called by the setup menu 'show' command.
|
||||
static int8_t
|
||||
setup_show(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
AP_Param *param;
|
||||
ap_var_type type;
|
||||
|
||||
//If a parameter name is given as an argument to show, print only that parameter
|
||||
if(argc>=2)
|
||||
{
|
||||
|
||||
param=AP_Param::find(argv[1].str, &type);
|
||||
|
||||
if(!param)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("Parameter not found: '%s'\n"), argv[1]);
|
||||
return 0;
|
||||
}
|
||||
AP_Param::show(param, argv[1].str, type, cliSerial);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// clear the area
|
||||
print_blanks(8);
|
||||
|
||||
report_version();
|
||||
report_radio();
|
||||
report_frame();
|
||||
report_batt_monitor();
|
||||
report_sonar();
|
||||
report_flight_modes();
|
||||
report_ins();
|
||||
report_compass();
|
||||
report_optflow();
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
report_heli();
|
||||
report_gyro();
|
||||
#endif
|
||||
|
||||
AP_Param::show_all(cliSerial);
|
||||
|
||||
return(0);
|
||||
}
|
||||
|
||||
static int8_t
|
||||
setup_sonar(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
if (!strcmp_P(argv[1].str, PSTR("on"))) {
|
||||
g.sonar_enabled.set_and_save(true);
|
||||
|
||||
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
|
||||
g.sonar_enabled.set_and_save(false);
|
||||
|
||||
} else if (argc > 1 && (argv[1].i >= 0 && argv[1].i <= 3)) {
|
||||
g.sonar_enabled.set_and_save(true); // if you set the sonar type, surely you want it on
|
||||
g.sonar_type.set_and_save(argv[1].i);
|
||||
|
||||
}else{
|
||||
cliSerial->printf_P(PSTR("\nOp:[on, off, 0-3]\n"));
|
||||
report_sonar();
|
||||
return 0;
|
||||
}
|
||||
|
||||
report_sonar();
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int8_t
|
||||
setup_tune(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
g.radio_tuning.set_and_save(argv[1].i);
|
||||
report_tuning();
|
||||
return 0;
|
||||
}
|
||||
|
||||
/***************************************************************************/
|
||||
// CLI reports
|
||||
/***************************************************************************/
|
||||
|
|
|
|||
Loading…
Reference in New Issue