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https://github.com/ArduPilot/ardupilot
synced 2025-01-12 19:08:29 -04:00
AP_Var integration continued
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1693 f9c3cf11-9bcb-44bc-f272-b75c42450872
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934df2e9f3
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@ -31,7 +31,8 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
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{"compass", setup_compass},
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{"mag_offset", setup_mag_offset},
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{"declination", setup_declination},
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{"show", setup_show}
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{"show", setup_show},
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{"ap_show", AP_Var_menu_show}
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};
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// Create the setup menu object.
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@ -91,12 +92,20 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
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if (('y' != c) && ('Y' != c))
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return(-1);
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AP_Var::erase_all();
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Serial.printf_P(PSTR("\nFACTORY RESET complete - please reset APM to continue"));
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for (;;) {
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}
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// note, cannot actually return here
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return(0);
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//zero_eeprom();
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default_gains();
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//default_gains();
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// setup default values
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/*
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default_waypoint_info();
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default_nav();
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default_alt_hold();
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@ -106,10 +115,10 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
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default_logs();
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default_current();
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print_done();
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*/
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// finish
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// ------
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return(0);
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//return(0);
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}
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// Perform radio setup.
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@ -684,7 +693,9 @@ default_gains()
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// stabilize, angle error
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Serial.printf("b4 %4.2f, ",g.pid_stabilize_roll.kP());
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g.pid_stabilize_roll.kP(STABILIZE_ROLL_P);
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Serial.printf("L8R %4.2f\n ",g.pid_stabilize_roll.kP());
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g.pid_stabilize_roll.kI(STABILIZE_ROLL_I);
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g.pid_stabilize_roll.kD(0);
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g.pid_stabilize_roll.imax(STABILIZE_ROLL_IMAX * 100);
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@ -706,8 +717,7 @@ default_gains()
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g.stabilize_dampener = STABILIZE_DAMPENER;
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//yaw
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g.hold_yaw_dampener = HOLD_YAW_DAMPENER;
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g.hold_yaw_dampener = HOLD_YAW_DAMPENER;
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// navigation
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g.pid_nav_lat.kP(NAV_P);
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@ -731,6 +741,8 @@ default_gains()
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g.pid_sonar_throttle.imax(THROTTLE_SONAR_IMAX);
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save_EEPROM_PID();
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Serial.printf("EL8R %4.2f\n ",g.pid_stabilize_roll.kP());
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}
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@ -884,7 +896,7 @@ void report_compass()
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// mag declination
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Serial.printf_P(PSTR("Mag Delination: %4.4f\n"),
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degrees(compass.get_declination()));
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Vector3f offsets = compass.get_offsets();
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// mag offsets
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@ -968,18 +980,25 @@ print_divider(void)
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boolean
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radio_input_switch(void)
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{
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static byte bouncer;
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static int8_t bouncer = 0;
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if (abs(g.rc_1.radio_in - g.rc_1.radio_trim) > 200)
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bouncer = 10;
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if (int16_t(g.rc_1.radio_in - g.rc_1.radio_trim) > 100) {
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bouncer = 10;
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}
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if (int16_t(g.rc_1.radio_in - g.rc_1.radio_trim) < -100) {
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bouncer = -10;
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}
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if (bouncer >0) {
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bouncer --;
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}
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if (bouncer <0) {
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bouncer ++;
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}
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if (bouncer > 0)
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bouncer--;
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if (bouncer == 1){
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return true;
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}else{
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return false;
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if (bouncer == 1 || bouncer == -1) {
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return bouncer;
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} else {
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return 0;
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}
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}
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