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Plane: updates to support AP_HAL SITL

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This commit is contained in:
Andrew Tridgell 2012-12-13 09:00:17 +11:00
parent a78699113d
commit e82deca305
2 changed files with 29 additions and 22 deletions
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43
ArduPlane/ArduPlane.pde
View File

@ -69,25 +69,23 @@
#include "GCS.h" #include "GCS.h"
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
AP_HAL::BetterStream* cliSerial; AP_HAL::BetterStream* cliSerial;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2; const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#else #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1; const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
const AP_HAL::HAL& hal = AP_HAL_AVR_SITL;
#include <SITL.h>
SITL sitl;
#else
#error "Unknown CONFIG_HAL_BOARD type"
#endif #endif
////////////////////////////////////////////////////////////////////////////////
// AP_Param Loader
////////////////////////////////////////////////////////////////////////////////
// this sets up the parameter table, and sets the default values. This
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, WP_START_BYTE);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Outback Challenge Failsafe Support // Outback Challenge Failsafe Support
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -116,11 +114,14 @@ static void update_events(void);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// DataFlash // DataFlash
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
DataFlash_APM2 DataFlash;
#else
DataFlash_APM1 DataFlash; DataFlash_APM1 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
DataFlash_SITL DataFlash;
#endif #endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Sensors // Sensors
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -147,19 +148,13 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
static AP_ADC_ADS7844 adc; static AP_ADC_ADS7844 adc;
#endif #endif
#ifdef DESKTOP_BUILD # if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass; AP_Compass_HIL compass;
#include <SITL.h>
SITL sitl;
#else #else
#if CONFIG_BARO == AP_BARO_BMP085 #if CONFIG_BARO == AP_BARO_BMP085
# if CONFIG_HAL_BOARD == HAL_BOARD_APM2 static AP_Baro_BMP085 barometer;
static AP_Baro_BMP085 barometer(true);
# else
static AP_Baro_BMP085 barometer(false);
# endif
#elif CONFIG_BARO == AP_BARO_MS5611 #elif CONFIG_BARO == AP_BARO_MS5611
static AP_Baro_MS5611 barometer; static AP_Baro_MS5611 barometer;
#endif #endif
@ -650,6 +645,10 @@ AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
void setup() { void setup() {
cliSerial = hal.console; cliSerial = hal.console;
// setup the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults(var_info, WP_START_BYTE);
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE, 0.25); rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE, 0.25);
#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC #if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
@ -920,7 +919,7 @@ static void slow_loop()
case 1: case 1:
slow_loopCounter++; slow_loopCounter++;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
#else #else
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11); update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);

8
ArduPlane/config.h
View File

@ -131,6 +131,14 @@
#endif #endif
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1 # define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2 # define BATTERY_CURR_PIN 2 // Battery current on A2
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#endif #endif