mirror of https://github.com/ArduPilot/ardupilot
Added missing files.
This commit is contained in:
James Goppert
parent
b0a1721199
commit
ed850d4e0c
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@ -3,3 +3,6 @@ Tools/ArdupilotMegaPlanner/bin/Release/logs/
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ArduCopter/Debug/
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config.mk
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serialsent.raw
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CMakeFiles
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CMakeCache.txt
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cmake_install.cmake
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@ -62,7 +62,7 @@ set(${FIRMWARE_NAME}_SKETCHES
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#GCS_Standard.pde
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#GCS_Xplane.pde
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#heli.pde
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HIL_Xplane.pde
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#HIL_Xplane.pde
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#leds.pde
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Log.pde
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#motors_hexa.pde
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@ -92,12 +92,12 @@ set(${FIRMWARE_NAME}_SRCS
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set(${FIRMWARE_NAME}_HDRS
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APM_Config.h
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APM_Config_mavlink_hil.h
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APM_Config_xplane.h
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#APM_Config_xplane.h
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config.h
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defines.h
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GCS.h
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HIL.h
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Mavlink_Common.h
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#HIL.h
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#Mavlink_Common.h
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Parameters.h
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) # Firmware sources
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@ -1,10 +1,510 @@
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FastSerial/fast:
|
||||
$(MAKE) -f libs/FastSerial/CMakeFiles/FastSerial.dir/build.make libs/FastSerial/CMakeFiles/FastSerial.dir/build
|
||||
.PHONY : FastSerial/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named GCS_MAVLink
|
||||
|
||||
# Build rule for target.
|
||||
GCS_MAVLink: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 GCS_MAVLink
|
||||
.PHONY : GCS_MAVLink
|
||||
|
||||
# fast build rule for target.
|
||||
GCS_MAVLink/fast:
|
||||
$(MAKE) -f libs/GCS_MAVLink/CMakeFiles/GCS_MAVLink.dir/build.make libs/GCS_MAVLink/CMakeFiles/GCS_MAVLink.dir/build
|
||||
.PHONY : GCS_MAVLink/fast
|
||||
|
||||
ArduPlane.obj: ArduPlane.cpp.obj
|
||||
.PHONY : ArduPlane.obj
|
||||
|
||||
# target to build an object file
|
||||
ArduPlane.cpp.obj:
|
||||
$(MAKE) -f CMakeFiles/ArduPlane.dir/build.make CMakeFiles/ArduPlane.dir/ArduPlane.cpp.obj
|
||||
.PHONY : ArduPlane.cpp.obj
|
||||
|
||||
ArduPlane.i: ArduPlane.cpp.i
|
||||
.PHONY : ArduPlane.i
|
||||
|
||||
# target to preprocess a source file
|
||||
ArduPlane.cpp.i:
|
||||
$(MAKE) -f CMakeFiles/ArduPlane.dir/build.make CMakeFiles/ArduPlane.dir/ArduPlane.cpp.i
|
||||
.PHONY : ArduPlane.cpp.i
|
||||
|
||||
ArduPlane.s: ArduPlane.cpp.s
|
||||
.PHONY : ArduPlane.s
|
||||
|
||||
# target to generate assembly for a file
|
||||
ArduPlane.cpp.s:
|
||||
$(MAKE) -f CMakeFiles/ArduPlane.dir/build.make CMakeFiles/ArduPlane.dir/ArduPlane.cpp.s
|
||||
.PHONY : ArduPlane.cpp.s
|
||||
|
||||
# Help Target
|
||||
help:
|
||||
@echo "The following are some of the valid targets for this Makefile:"
|
||||
@echo "... all (the default if no target is provided)"
|
||||
@echo "... clean"
|
||||
@echo "... depend"
|
||||
@echo "... ArduPlane"
|
||||
@echo "... ArduPlane-serial"
|
||||
@echo "... ArduPlane-upload"
|
||||
@echo "... edit_cache"
|
||||
@echo "... rebuild_cache"
|
||||
@echo "... upload"
|
||||
@echo "... DataFlash"
|
||||
@echo "... mega_CORE"
|
||||
@echo "... mega_SPI"
|
||||
@echo "... AP_Math"
|
||||
@echo "... PID"
|
||||
@echo "... AP_Common"
|
||||
@echo "... RC_Channel"
|
||||
@echo "... AP_OpticalFlow"
|
||||
@echo "... ModeFilter"
|
||||
@echo "... memcheck"
|
||||
@echo "... APM_PI"
|
||||
@echo "... AP_GPS"
|
||||
@echo "... AP_DCM"
|
||||
@echo "... AP_Compass"
|
||||
@echo "... AP_ADC"
|
||||
@echo "... AP_IMU"
|
||||
@echo "... AP_RangeFinder"
|
||||
@echo "... APM_RC"
|
||||
@echo "... APM_BMP085"
|
||||
@echo "... mega_Wire"
|
||||
@echo "... FastSerial"
|
||||
@echo "... GCS_MAVLink"
|
||||
@echo "... ArduPlane.obj"
|
||||
@echo "... ArduPlane.i"
|
||||
@echo "... ArduPlane.s"
|
||||
.PHONY : help
|
||||
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# Special targets to cleanup operation of make.
|
||||
|
||||
# Special rule to run CMake to check the build system integrity.
|
||||
# No rule that depends on this can have commands that come from listfiles
|
||||
# because they might be regenerated.
|
||||
cmake_check_build_system:
|
||||
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
|
||||
.PHONY : cmake_check_build_system
|
||||
|
||||
include ../libraries/AP_Common/Arduino.mk
|
||||
|
|
|
|||
|
|
@ -7,24 +7,18 @@
|
|||
#====================================================================#
|
||||
# Settings #
|
||||
#====================================================================#
|
||||
set(FIRMWARE_NAME ardupilotone)
|
||||
set(FIRMWARE_NAME apo)
|
||||
|
||||
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
|
||||
|
||||
set(${FIRMWARE_NAME}_SKETCHES
|
||||
ardupilotone.pde
|
||||
apo.pde
|
||||
) # Firmware sketches
|
||||
|
||||
set(${FIRMWARE_NAME}_SRCS
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_HDRS
|
||||
BoatGeneric.h
|
||||
CarStampede.h
|
||||
#CNIRover.h
|
||||
#CNIBoat.h
|
||||
ControllerBoat.h
|
||||
ControllerCar.h
|
||||
ControllerPlane.h
|
||||
ControllerQuad.h
|
||||
PlaneEasystar.h
|
||||
|
|
|
|||
167
apo/apo.pde
167
apo/apo.pde
|
|
@ -1,12 +1,3 @@
|
|||
/*
|
||||
* ardupilotone
|
||||
*
|
||||
* Created on: Apr 30, 2011
|
||||
* Author: jgoppert
|
||||
*/
|
||||
|
||||
#define ENABLE_FASTSERIAL_DEBUG
|
||||
|
||||
// Libraries
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
|
|
@ -23,162 +14,8 @@
|
|||
#include <ModeFilter.h>
|
||||
#include <APO.h>
|
||||
|
||||
FastSerialPort0(Serial);
|
||||
FastSerialPort1(Serial1);
|
||||
FastSerialPort2(Serial2);
|
||||
FastSerialPort3(Serial3);
|
||||
|
||||
// Vehicle Configuration
|
||||
#include "PlaneEasystar.h"
|
||||
|
||||
/*
|
||||
* Required Global Declarations
|
||||
*/
|
||||
|
||||
static apo::AP_Autopilot * autoPilot;
|
||||
|
||||
void setup() {
|
||||
|
||||
using namespace apo;
|
||||
|
||||
AP_Var::load_all();
|
||||
|
||||
/*
|
||||
* Communications
|
||||
*/
|
||||
Serial.begin(DEBUG_BAUD, 128, 128); // debug
|
||||
if (board==BOARD_ARDUPILOTMEGA_2) Serial2.begin(TELEM_BAUD, 128, 128); // gcs
|
||||
else Serial3.begin(TELEM_BAUD, 128, 128); // gcs
|
||||
|
||||
// hardware abstraction layer
|
||||
AP_HardwareAbstractionLayer * hal = new AP_HardwareAbstractionLayer(
|
||||
halMode, board, vehicle, heartBeatTimeout);
|
||||
|
||||
// debug serial
|
||||
hal->debug = &Serial;
|
||||
hal->debug->println_P(PSTR("initializing debug line"));
|
||||
|
||||
/*
|
||||
* Initialize Comm Channels
|
||||
*/
|
||||
hal->debug->println_P(PSTR("initializing comm channels"));
|
||||
if (hal->getMode() == MODE_LIVE) {
|
||||
Serial1.begin(GPS_BAUD, 128, 16); // gps
|
||||
} else { // hil
|
||||
Serial1.begin(HIL_BAUD, 128, 128);
|
||||
}
|
||||
|
||||
/*
|
||||
* Sensor initialization
|
||||
*/
|
||||
if (hal->getMode() == MODE_LIVE) {
|
||||
hal->debug->println_P(PSTR("initializing adc"));
|
||||
hal->adc = new ADC_CLASS;
|
||||
hal->adc->Init();
|
||||
|
||||
if (gpsEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing gps"));
|
||||
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
|
||||
hal->gps = &gpsDriver;
|
||||
hal->gps->init();
|
||||
}
|
||||
|
||||
if (baroEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing baro"));
|
||||
hal->baro = new BARO_CLASS;
|
||||
hal->baro->Init();
|
||||
}
|
||||
|
||||
if (compassEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing compass"));
|
||||
hal->compass = new COMPASS_CLASS;
|
||||
hal->compass->set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);
|
||||
hal->compass->init();
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize ultrasonic sensors. If sensors are not plugged in, the navigator will not
|
||||
* initialize them and NULL will be assigned to those corresponding pointers.
|
||||
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
|
||||
* will not be executed by the navigator.
|
||||
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
|
||||
* In set_orientation, it is defind as (front/back,left/right,down,up)
|
||||
*/
|
||||
|
||||
if (rangeFinderFrontEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing front range finder"));
|
||||
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
|
||||
rangeFinder->set_analog_port(1);
|
||||
rangeFinder->set_orientation(1, 0, 0);
|
||||
hal->rangeFinders.push_back(rangeFinder);
|
||||
}
|
||||
|
||||
if (rangeFinderBackEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing back range finder"));
|
||||
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
|
||||
rangeFinder->set_analog_port(2);
|
||||
rangeFinder->set_orientation(-1, 0, 0);
|
||||
hal->rangeFinders.push_back(rangeFinder);
|
||||
}
|
||||
|
||||
if (rangeFinderLeftEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing left range finder"));
|
||||
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
|
||||
rangeFinder->set_analog_port(3);
|
||||
rangeFinder->set_orientation(0, -1, 0);
|
||||
hal->rangeFinders.push_back(rangeFinder);
|
||||
}
|
||||
|
||||
if (rangeFinderRightEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing right range finder"));
|
||||
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
|
||||
rangeFinder->set_analog_port(4);
|
||||
rangeFinder->set_orientation(0, 1, 0);
|
||||
hal->rangeFinders.push_back(rangeFinder);
|
||||
}
|
||||
|
||||
if (rangeFinderUpEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing up range finder"));
|
||||
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
|
||||
rangeFinder->set_analog_port(5);
|
||||
rangeFinder->set_orientation(0, 0, -1);
|
||||
hal->rangeFinders.push_back(rangeFinder);
|
||||
}
|
||||
|
||||
if (rangeFinderDownEnabled) {
|
||||
hal->debug->println_P(PSTR("initializing down range finder"));
|
||||
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
|
||||
rangeFinder->set_analog_port(6);
|
||||
rangeFinder->set_orientation(0, 0, 1);
|
||||
hal->rangeFinders.push_back(rangeFinder);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Select guidance, navigation, control algorithms
|
||||
*/
|
||||
AP_Navigator * navigator = new NAVIGATOR_CLASS(hal);
|
||||
AP_Guide * guide = new GUIDE_CLASS(navigator, hal);
|
||||
AP_Controller * controller = new CONTROLLER_CLASS(navigator, guide, hal);
|
||||
|
||||
/*
|
||||
* CommLinks
|
||||
*/
|
||||
if (board==BOARD_ARDUPILOTMEGA_2) hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
|
||||
else hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
|
||||
|
||||
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
|
||||
|
||||
/*
|
||||
* Start the autopilot
|
||||
*/
|
||||
hal->debug->printf_P(PSTR("initializing arduplane\n"));
|
||||
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
|
||||
autoPilot = new apo::AP_Autopilot(navigator, guide, controller, hal,
|
||||
loop0Rate, loop1Rate, loop2Rate, loop3Rate);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
autoPilot->update();
|
||||
}
|
||||
// ArduPilotOne Default Setup
|
||||
#include "APO_DefaultSetup.h"
|
||||
|
|
|
|||
Loading…
Reference in New Issue