mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
Added missing files.
This commit is contained in:
James Goppert
parent
b0a1721199
commit
ed850d4e0c
3
.gitignore
vendored
3
.gitignore
vendored
@ -3,3 +3,6 @@ Tools/ArdupilotMegaPlanner/bin/Release/logs/
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ArduCopter/Debug/
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ArduCopter/Debug/
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config.mk
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config.mk
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serialsent.raw
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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(${FIRMWARE_NAME}_SKETCHES
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#GCS_Standard.pde
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#GCS_Standard.pde
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#GCS_Xplane.pde
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#GCS_Xplane.pde
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#heli.pde
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#heli.pde
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HIL_Xplane.pde
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#HIL_Xplane.pde
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#leds.pde
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#leds.pde
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Log.pde
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Log.pde
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#motors_hexa.pde
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#motors_hexa.pde
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@ -92,12 +92,12 @@ set(${FIRMWARE_NAME}_SRCS
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set(${FIRMWARE_NAME}_HDRS
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set(${FIRMWARE_NAME}_HDRS
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APM_Config.h
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APM_Config.h
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APM_Config_mavlink_hil.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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config.h
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defines.h
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defines.h
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GCS.h
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GCS.h
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HIL.h
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#HIL.h
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Mavlink_Common.h
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#Mavlink_Common.h
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Parameters.h
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Parameters.h
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) # Firmware sources
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) # Firmware sources
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@ -1,10 +1,510 @@
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|
||||||
|
AP_ADC: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 AP_ADC
|
||||||
|
.PHONY : AP_ADC
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
AP_ADC/fast:
|
||||||
|
$(MAKE) -f libs/AP_ADC/CMakeFiles/AP_ADC.dir/build.make libs/AP_ADC/CMakeFiles/AP_ADC.dir/build
|
||||||
|
.PHONY : AP_ADC/fast
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
# Target rules for targets named AP_IMU
|
||||||
|
|
||||||
|
# Build rule for target.
|
||||||
|
AP_IMU: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 AP_IMU
|
||||||
|
.PHONY : AP_IMU
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
AP_IMU/fast:
|
||||||
|
$(MAKE) -f libs/AP_IMU/CMakeFiles/AP_IMU.dir/build.make libs/AP_IMU/CMakeFiles/AP_IMU.dir/build
|
||||||
|
.PHONY : AP_IMU/fast
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
# Target rules for targets named AP_RangeFinder
|
||||||
|
|
||||||
|
# Build rule for target.
|
||||||
|
AP_RangeFinder: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 AP_RangeFinder
|
||||||
|
.PHONY : AP_RangeFinder
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
AP_RangeFinder/fast:
|
||||||
|
$(MAKE) -f libs/AP_RangeFinder/CMakeFiles/AP_RangeFinder.dir/build.make libs/AP_RangeFinder/CMakeFiles/AP_RangeFinder.dir/build
|
||||||
|
.PHONY : AP_RangeFinder/fast
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
# Target rules for targets named APM_RC
|
||||||
|
|
||||||
|
# Build rule for target.
|
||||||
|
APM_RC: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 APM_RC
|
||||||
|
.PHONY : APM_RC
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
APM_RC/fast:
|
||||||
|
$(MAKE) -f libs/APM_RC/CMakeFiles/APM_RC.dir/build.make libs/APM_RC/CMakeFiles/APM_RC.dir/build
|
||||||
|
.PHONY : APM_RC/fast
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
# Target rules for targets named APM_BMP085
|
||||||
|
|
||||||
|
# Build rule for target.
|
||||||
|
APM_BMP085: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 APM_BMP085
|
||||||
|
.PHONY : APM_BMP085
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
APM_BMP085/fast:
|
||||||
|
$(MAKE) -f libs/APM_BMP085/CMakeFiles/APM_BMP085.dir/build.make libs/APM_BMP085/CMakeFiles/APM_BMP085.dir/build
|
||||||
|
.PHONY : APM_BMP085/fast
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
# Target rules for targets named mega_Wire
|
||||||
|
|
||||||
|
# Build rule for target.
|
||||||
|
mega_Wire: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 mega_Wire
|
||||||
|
.PHONY : mega_Wire
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
mega_Wire/fast:
|
||||||
|
$(MAKE) -f libs/APM_BMP085/CMakeFiles/mega_Wire.dir/build.make libs/APM_BMP085/CMakeFiles/mega_Wire.dir/build
|
||||||
|
.PHONY : mega_Wire/fast
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
# Target rules for targets named FastSerial
|
||||||
|
|
||||||
|
# Build rule for target.
|
||||||
|
FastSerial: cmake_check_build_system
|
||||||
|
$(MAKE) -f CMakeFiles/Makefile2 FastSerial
|
||||||
|
.PHONY : FastSerial
|
||||||
|
|
||||||
|
# fast build rule for target.
|
||||||
|
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$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
|
||||||
|
.PHONY : cmake_check_build_system
|
||||||
|
|
||||||
include ../libraries/AP_Common/Arduino.mk
|
|
||||||
|
|||||||
@ -7,24 +7,18 @@
|
|||||||
#====================================================================#
|
#====================================================================#
|
||||||
# Settings #
|
# Settings #
|
||||||
#====================================================================#
|
#====================================================================#
|
||||||
set(FIRMWARE_NAME ardupilotone)
|
set(FIRMWARE_NAME apo)
|
||||||
|
|
||||||
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
|
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
|
||||||
|
|
||||||
set(${FIRMWARE_NAME}_SKETCHES
|
set(${FIRMWARE_NAME}_SKETCHES
|
||||||
ardupilotone.pde
|
apo.pde
|
||||||
) # Firmware sketches
|
) # Firmware sketches
|
||||||
|
|
||||||
set(${FIRMWARE_NAME}_SRCS
|
set(${FIRMWARE_NAME}_SRCS
|
||||||
) # Firmware sources
|
) # Firmware sources
|
||||||
|
|
||||||
set(${FIRMWARE_NAME}_HDRS
|
set(${FIRMWARE_NAME}_HDRS
|
||||||
BoatGeneric.h
|
|
||||||
CarStampede.h
|
|
||||||
#CNIRover.h
|
|
||||||
#CNIBoat.h
|
|
||||||
ControllerBoat.h
|
|
||||||
ControllerCar.h
|
|
||||||
ControllerPlane.h
|
ControllerPlane.h
|
||||||
ControllerQuad.h
|
ControllerQuad.h
|
||||||
PlaneEasystar.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
|
// Libraries
|
||||||
#include <FastSerial.h>
|
#include <FastSerial.h>
|
||||||
#include <AP_Common.h>
|
#include <AP_Common.h>
|
||||||
@ -23,162 +14,8 @@
|
|||||||
#include <ModeFilter.h>
|
#include <ModeFilter.h>
|
||||||
#include <APO.h>
|
#include <APO.h>
|
||||||
|
|
||||||
FastSerialPort0(Serial);
|
|
||||||
FastSerialPort1(Serial1);
|
|
||||||
FastSerialPort2(Serial2);
|
|
||||||
FastSerialPort3(Serial3);
|
|
||||||
|
|
||||||
// Vehicle Configuration
|
// Vehicle Configuration
|
||||||
#include "PlaneEasystar.h"
|
#include "PlaneEasystar.h"
|
||||||
|
|
||||||
/*
|
// ArduPilotOne Default Setup
|
||||||
* Required Global Declarations
|
#include "APO_DefaultSetup.h"
|
||||||
*/
|
|
||||||
|
|
||||||
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();
|
|
||||||
}
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user