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These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy

This commit is contained in:
Amilcar Lucas 2011-09-13 01:54:47 +02:00
parent 2357d3d41e
commit f08cea8044
10 changed files with 26 additions and 81 deletions
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3
ArduPlane/APM_Config.h
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@ -1,5 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from // This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here. // their default values, place the appropriate #define statements here.

13
ArduPlane/APM_Config.h.reference
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@ -304,19 +304,6 @@
//#define FLIGHT_MODE_6 MANUAL //#define FLIGHT_MODE_6 MANUAL
// //
//////////////////////////////////////////////////////////////////////////////
// RC_5_FUNCT OPTIONAL
// RC_6_FUNCT OPTIONAL
// RC_7_FUNCT OPTIONAL
// RC_8_FUNCT OPTIONAL
//
// The channel 5 through 8 function assignments allow configuration of those
// channels for use with differential ailerons, flaps, flaperons, or camera
// or intrument mounts
//
//#define RC_5_FUNCT RC_5_FUNCT_NONE
//etc.
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed // For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed // then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed

3
ArduPlane/ArduPlane.pde
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@ -415,6 +415,7 @@ static unsigned long nav_loopTimer; // used to track the elapsed time for GP
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
static float load; // % MCU cycles used static float load; // % MCU cycles used
RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Top-level logic // Top-level logic
@ -710,6 +711,8 @@ static void slow_loop()
// ---------------------------------- // ----------------------------------
update_servo_switches(); update_servo_switches();
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
break; break;
case 2: case 2:

23
ArduPlane/Parameters.h
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@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly // The increment will prevent old parameters from being used incorrectly
// by newer code. // by newer code.
// //
static const uint16_t k_format_version = 11; static const uint16_t k_format_version = 12;
// The parameter software_type is set up solely for ground station use // The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega) // and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -134,11 +134,6 @@ public:
k_param_long_fs_action, k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled, k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate, k_param_throttle_slewrate,
k_param_rc_5_funct,
k_param_rc_6_funct,
k_param_rc_7_funct,
k_param_rc_8_funct,
// //
// 200: Feed-forward gains // 200: Feed-forward gains
@ -327,14 +322,10 @@ public:
RC_Channel channel_pitch; RC_Channel channel_pitch;
RC_Channel channel_throttle; RC_Channel channel_throttle;
RC_Channel channel_rudder; RC_Channel channel_rudder;
RC_Channel rc_5; RC_Channel_aux rc_5;
RC_Channel rc_6; RC_Channel_aux rc_6;
RC_Channel rc_7; RC_Channel_aux rc_7;
RC_Channel rc_8; RC_Channel_aux rc_8;
AP_Int8 rc_5_funct;
AP_Int8 rc_6_funct;
AP_Int8 rc_7_funct;
AP_Int8 rc_8_funct;
// PID controllers // PID controllers
// //
@ -428,10 +419,6 @@ public:
inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")), inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")), sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),
airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")), airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")),
rc_5_funct (RC_5_FUNCT, k_param_rc_5_funct, PSTR("RC5_FUNCT")),
rc_6_funct (RC_6_FUNCT, k_param_rc_6_funct, PSTR("RC6_FUNCT")),
rc_7_funct (RC_7_FUNCT, k_param_rc_7_funct, PSTR("RC7_FUNCT")),
rc_8_funct (RC_8_FUNCT, k_param_rc_8_funct, PSTR("RC8_FUNCT")),
// Note - total parameter name length must be less than 14 characters for MAVLink compatibility! // Note - total parameter name length must be less than 14 characters for MAVLink compatibility!

13
ArduPlane/config.h
View File

@ -226,19 +226,6 @@
# define CH8_MAX 2000 # define CH8_MAX 2000
#endif #endif
//////////////////////////////////////////////////////////////////////////////
#ifndef RC_5_FUNCT
# define RC_5_FUNCT RC_5_FUNCT_NONE
#endif
#ifndef RC_6_FUNCT
# define RC_6_FUNCT RC_6_FUNCT_NONE
#endif
#ifndef RC_7_FUNCT
# define RC_7_FUNCT RC_7_FUNCT_NONE
#endif
#ifndef RC_8_FUNCT
# define RC_8_FUNCT RC_8_FUNCT_NONE
#endif
#ifndef FLAP_1_PERCENT #ifndef FLAP_1_PERCENT
# define FLAP_1_PERCENT 0 # define FLAP_1_PERCENT 0

27
ArduPlane/defines.h
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@ -41,39 +41,12 @@
#define GPS_PROTOCOL_MTK16 6 #define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7 #define GPS_PROTOCOL_AUTO 7
// Radio channels
// Note channels are from 0!
//
// XXX these should be CH_n defines from RC.h at some point.
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_ROLL CH_1 #define CH_ROLL CH_1
#define CH_PITCH CH_2 #define CH_PITCH CH_2
#define CH_THROTTLE CH_3 #define CH_THROTTLE CH_3
#define CH_RUDDER CH_4 #define CH_RUDDER CH_4
#define CH_YAW CH_4 #define CH_YAW CH_4
#define RC_5_FUNCT_NONE 0
#define RC_5_FUNCT_AILERON 1
#define RC_5_FUNCT_FLAP_AUTO 2
#define RC_5_FUNCT_FLAPERON 3
#define RC_6_FUNCT_NONE 0
#define RC_6_FUNCT_AILERON 1
#define RC_6_FUNCT_FLAP_AUTO 2
#define RC_6_FUNCT_FLAPERON 3
#define RC_7_FUNCT_NONE 0
#define RC_8_FUNCT_NONE 0
// HIL enumerations // HIL enumerations
#define HIL_PROTOCOL_XPLANE 1 #define HIL_PROTOCOL_XPLANE 1
#define HIL_PROTOCOL_MAVLINK 2 #define HIL_PROTOCOL_MAVLINK 2

11
libraries/APM_RC/APM_RC.h
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@ -5,6 +5,17 @@
#define MIN_PULSEWIDTH 900 #define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100 #define MAX_PULSEWIDTH 2100
// Radio channels
// Note channels are from 0!
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#include <inttypes.h> #include <inttypes.h>
class APM_RC_Class class APM_RC_Class

2
libraries/AP_DCM/AP_DCM.h
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@ -1,7 +1,7 @@
#ifndef AP_DCM_h #ifndef AP_DCM_h
#define AP_DCM_h #define AP_DCM_h
// teporarily include all other classes here // temporarily include all other classes here
// since this naming is a bit off from the // since this naming is a bit off from the
// convention and the AP_DCM should be the top // convention and the AP_DCM should be the top
// header file // header file

2
libraries/RC_Channel/RC_Channel.cpp
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@ -120,7 +120,7 @@ RC_Channel::calc_pwm(void)
{ {
if(_type == RC_CHANNEL_RANGE){ if(_type == RC_CHANNEL_RANGE){
pwm_out = range_to_pwm(); pwm_out = range_to_pwm();
radio_out = pwm_out + radio_min; radio_out = (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out);
}else if(_type == RC_CHANNEL_ANGLE_RAW){ }else if(_type == RC_CHANNEL_ANGLE_RAW){
pwm_out = (float)servo_out * .1; pwm_out = (float)servo_out * .1;

10
libraries/RC_Channel/RC_Channel.h
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@ -7,12 +7,11 @@
#define RC_Channel_h #define RC_Channel_h
#include <AP_Common.h> #include <AP_Common.h>
#include <stdint.h>
/// @class RC_Channel /// @class RC_Channel
/// @brief Object managing one RC channel /// @brief Object managing one RC channel
class RC_Channel{ class RC_Channel{
private: protected:
AP_Var_group _group; // must be before all vars to keep ctor init order correct AP_Var_group _group; // must be before all vars to keep ctor init order correct
public: public:
@ -103,8 +102,7 @@ class RC_Channel{
int16_t _low; int16_t _low;
}; };
// This is ugly, but it fixes compilation on arduino
#include "RC_Channel_aux.h"
#endif #endif