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Copter: convert to using StorageManager

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This commit is contained in:
Andrew Tridgell 2014-08-13 14:44:31 +10:00
parent ce9b14f0c8
commit e260f1c569
3 changed files with 8 additions and 23 deletions
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10
ArduCopter/ArduCopter.pde
View File

@ -87,6 +87,7 @@
#include <AP_Progmem.h> #include <AP_Progmem.h>
#include <AP_Menu.h> #include <AP_Menu.h>
#include <AP_Param.h> #include <AP_Param.h>
#include <StorageManager.h>
// AP_HAL // AP_HAL
#include <AP_HAL.h> #include <AP_HAL.h>
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
@ -323,7 +324,7 @@ SITL sitl;
static bool start_command(const AP_Mission::Mission_Command& cmd); static bool start_command(const AP_Mission::Mission_Command& cmd);
static bool verify_command(const AP_Mission::Mission_Command& cmd); static bool verify_command(const AP_Mission::Mission_Command& cmd);
static void exit_mission(); static void exit_mission();
AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission, MISSION_START_BYTE, MISSION_END_BYTE); AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Optical flow sensor // Optical flow sensor
@ -716,7 +717,7 @@ AC_Fence fence(&inertial_nav);
// Rally library // Rally library
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#if AC_RALLY == ENABLED #if AC_RALLY == ENABLED
AP_Rally rally(ahrs, MAX_RALLYPOINTS, RALLY_START_BYTE); AP_Rally rally(ahrs);
#endif #endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -766,7 +767,7 @@ static void pre_arm_checks(bool display_failure);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// setup the var_info table // setup the var_info table
AP_Param param_loader(var_info, MISSION_START_BYTE); AP_Param param_loader(var_info);
#if MAIN_LOOP_RATE == 400 #if MAIN_LOOP_RATE == 400
/* /*
@ -912,6 +913,9 @@ void setup()
// Load the default values of variables listed in var_info[]s // Load the default values of variables listed in var_info[]s
AP_Param::setup_sketch_defaults(); AP_Param::setup_sketch_defaults();
// setup storage layout for copter
StorageManager::set_layout_copter();
init_ardupilot(); init_ardupilot();
// initialise the main loop scheduler // initialise the main loop scheduler

2
ArduCopter/GCS_Mavlink.pde
View File

@ -1329,7 +1329,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
if (packet.idx >= rally.get_rally_total() || if (packet.idx >= rally.get_rally_total() ||
packet.idx >= MAX_RALLYPOINTS) { packet.idx >= rally.get_rally_max()) {
send_text_P(SEVERITY_LOW,PSTR("bad rally point message ID")); send_text_P(SEVERITY_LOW,PSTR("bad rally point message ID"));
break; break;
} }

19
ArduCopter/defines.h
View File

@ -310,25 +310,6 @@ enum FlipState {
// Centi-degrees to radians // Centi-degrees to radians
#define DEGX100 5729.57795f #define DEGX100 5729.57795f
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
// rally points shoehorned between fence points and waypoints
#define MAX_RALLYPOINTS 6
#define RALLY_START_BYTE (FENCE_START_BYTE-(MAX_RALLYPOINTS*AC_RALLY_WP_SIZE))
#define RALLY_LIMIT_KM_DEFAULT 2.0 // we'll set a per-vehicle default for this
// parameters get the first 1536 bytes of EEPROM
// mission commands are stored between these params and the rally points, or fence points if rally disabled
#define MISSION_START_BYTE 0x600
#if AC_RALLY == ENABLED
#define MISSION_END_BYTE (RALLY_START_BYTE-1)
#else
#define MISSION_END_BYTE (FENCE_START_BYTE-1)
#endif
// mark a function as not to be inlined // mark a function as not to be inlined
#define NOINLINE __attribute__((noinline)) #define NOINLINE __attribute__((noinline))