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Rover: port rover code to PX4

This commit is contained in:
Andrew Tridgell 2013-01-02 22:14:35 +11:00
parent 94e3322e24
commit ef35aa63ce
3 changed files with 20 additions and 1 deletions
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3
APMrover2/APMrover2.pde
View File

@ -105,6 +105,7 @@ version 2.1 of the License, or (at your option) any later version.
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_Empty.h>
#include "compat.h"
@ -155,6 +156,8 @@ DataFlash_APM1 DataFlash;
DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
DataFlash_SITL DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
DataFlash_Empty DataFlash;
#endif

2
APMrover2/GCS_Mavlink.pde
View File

@ -198,7 +198,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
static void NOINLINE send_meminfo(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
extern unsigned __brkval;
mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
#endif

16
APMrover2/config.h
View File

@ -110,6 +110,22 @@
# define USB_MUX_PIN -1
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define CONFIG_INS_TYPE CONFIG_INS_SITL
# define CONFIG_PUSHBUTTON DISABLED
# define CONFIG_RELAY DISABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define SLIDE_SWITCH_PIN (-1)
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
# define USB_MUX_PIN -1
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL