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Added support for the AttoPilot Current sensor, Logging current is enabled at 10hz,

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Trim is now called again on pitch and roll, now that trimming can be done with adc_offsets. Fixed setup::motors for x frame.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1505 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-17 03:44:12 +00:00
parent c9788d7b0b
commit feb3f1a811
10 changed files with 133 additions and 21 deletions
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7
ArduCopterMega/APM_Config.h
View File

@ -5,8 +5,8 @@
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
//#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#define ARM_AT_STARTUP 0
@ -19,3 +19,6 @@
//#define ENABLE_AM ENABLED
//#define ENABLE_xx ENABLED
// Logging
#define LOG_CURRENT ENABLED

11
ArduCopterMega/ArduCopterMega.pde
View File

@ -223,6 +223,11 @@ float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 +
float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
float current_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
float current_amps;
boolean current_sensor = false;
// Magnetometer variables
// ----------------------
int magnetom_x;
@ -556,12 +561,18 @@ void medium_loop()
if (log_bitmask & MASK_LOG_GPS)
Log_Write_GPS(GPS.time, current_loc.lat, current_loc.lng, GPS.altitude, current_loc.alt, (long) GPS.ground_speed, GPS.ground_course, GPS.fix, GPS.num_sats);
if (log_bitmask & MASK_LOG_CUR)
Log_Write_Current();
send_message(MSG_ATTITUDE); // Sends attitude data
break;
// This case controls the slow loop
//---------------------------------
case 4:
if (current_sensor){
read_current();
}
// shall we trim the copter?
// ------------------------

12
ArduCopterMega/EEPROM.pde
View File

@ -203,6 +203,18 @@ void read_EEPROM_mag_declination(void)
/********************************************************************************/
void save_EEPROM_current_sensor(void)
{
eeprom_write_byte((uint8_t *) EE_CURRENT_SENSOR, current_sensor);
}
void read_EEPROM_current_sensor(void)
{
current_sensor = eeprom_read_byte((uint8_t *) EE_CURRENT_SENSOR);
}
/********************************************************************************/
void save_EEPROM_mag_offset(void)
{
write_EE_compressed_float(mag_offset_x, EE_MAG_X, 2);

22
ArduCopterMega/Log.pde
View File

@ -69,6 +69,7 @@ print_log_menu(void)
PLOG(MODE);
PLOG(RAW);
PLOG(CMD);
PLOG(CURRENT);
#undef PLOG
}
Serial.println();
@ -165,6 +166,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
TARG(MODE);
TARG(RAW);
TARG(CMD);
TARG(CURRENT);
#undef TARG
}
@ -338,6 +340,26 @@ void Log_Write_Raw()
DataFlash.WriteByte(END_BYTE);
}
void Log_Write_Current()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CURRENT_MSG);
DataFlash.WriteLong((long)(current_voltage * 1000.0));
DataFlash.WriteLong((long)(current_amps * 1000.0));
DataFlash.WriteByte(END_BYTE);
}
// Read a Current packet
void Log_Read_Current()
{
float logvoltage, logcurrent;
Serial.print("CURR:");
Serial.print((float)DataFlash.ReadLong() / 1000.f);
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong() / 1000.f);
Serial.println();
}
// Read an control tuning packet
void Log_Read_Control_Tuning()
{

11
ArduCopterMega/config.h
View File

@ -111,11 +111,17 @@
# define BATTERY_TYPE 0
#endif
#ifndef LOW_VOLTAGE
# define LOW_VOLTAGE 11.4
# define LOW_VOLTAGE 9.6
#endif
#ifndef VOLT_DIV_RATIO
# define VOLT_DIV_RATIO 3.0
#endif
#ifndef CURR_VOLT_DIV_RATIO
# define CURR_VOLT_DIV_RATIO 15.7
#endif
#ifndef CURR_AMP_DIV_RATIO
# define CURR_AMP_DIV_RATIO 30.35
#endif
//////////////////////////////////////////////////////////////////////////////
@ -458,6 +464,9 @@
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
#ifndef LOG_CURRENT
# define LOG_CURRENT DISABLED
#endif

31
ArduCopterMega/defines.h
View File

@ -171,19 +171,21 @@
#define LOG_PERFORMANCE_MSG 0X06
#define LOG_RAW_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_STARTUP_MSG 0x09
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define MASK_LOG_ATTITUDE_FAST 0
#define MASK_LOG_ATTITUDE_MED 2
#define MASK_LOG_GPS 4
#define MASK_LOG_PM 8
#define MASK_LOG_CTUN 16
#define MASK_LOG_NTUN 32
#define MASK_LOG_MODE 64
#define MASK_LOG_RAW 128
#define MASK_LOG_CMD 256
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)
#define MASK_LOG_GPS (1<<2)
#define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6)
#define MASK_LOG_RAW (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9)
// Waypoint Modes
// ----------------
@ -205,13 +207,20 @@
#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
#define CURRENT_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_VOLT_DIV_RATIO
#define CURRENT_AMPS(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_AMP_DIV_RATIO
#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
#define BATTERY_PIN1 0 // These are the pins for the voltage dividers
#define BATTERY_PIN2 1
#define BATTERY_PIN3 2
#define BATTERY_PIN4 3
#define CURRENT_PIN1 4 // These are the pins for current sensor: voltage
#define CURRENT_PIN2 5 // and current
#define RELAY_PIN 47
// sonar
#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
@ -301,6 +310,7 @@
#define EE_GND_TEMP 0x11A
#define EE_GND_ALT 0x11C
#define EE_AP_OFFSET 0x11E
#define EE_CURRENT_SENSOR 0x127
// log
#define EE_LAST_LOG_PAGE 0xE00
@ -317,4 +327,5 @@
#define LOGBIT_MODE (1<<6)
#define LOGBIT_RAW (1<<7)
#define LOGBIT_CMD (1<<8)
#define LOGBIT_CURRENT (1<<9)

15
ArduCopterMega/sensors.pde
View File

@ -38,18 +38,25 @@ void read_battery(void)
battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
#if BATTERY_TYPE == 0
if(battery_voltage3 < LOW_VOLTAGE)
if(battery_voltage3 < LOW_VOLTAGE)
low_battery_event();
battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
#endif
#if BATTERY_TYPE == 1
if(battery_voltage4 < LOW_VOLTAGE)
low_battery_event();
battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream
#endif
#endif
}
#endif
void read_current(void)
{
current_voltage = CURRENT_VOLTAGE(analogRead(CURRENT_PIN1)) * .1 + battery_voltage1 * .9; //reads power sensor voltage pin
current_amps = CURRENT_AMPS(analogRead(CURRENT_PIN2)) * .1 + battery_voltage2 * .9; //reads power sensor current pin
}

18
ArduCopterMega/setup.pde
View File

@ -79,6 +79,16 @@ setup_show(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("(%d)\n"), (int)frame_type);
print_blanks(2);
read_EEPROM_current_sensor();
Serial.printf_P(PSTR("Current Sensor "));
if(current_sensor){
Serial.printf_P(PSTR("enabled\n"));
} else {
Serial.printf_P(PSTR("disabled\n"));
}
print_blanks(2);
Serial.printf_P(PSTR("Gains\n"));
print_divider();
@ -240,7 +250,8 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
LOGBIT(NTUN) |
LOGBIT(MODE) |
LOGBIT(RAW) |
LOGBIT(CMD);
LOGBIT(CMD) |
LOGBIT(CURRENT);
#undef LOGBIT
save_EEPROM_configs();
print_done();
@ -297,7 +308,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
rc_6.radio_trim = 1500;
rc_7.radio_trim = 1500;
rc_8.radio_trim = 1500;
Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
while(1){
@ -386,7 +398,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
Serial.println("2");
}
}else if(frame_type == PLUS_FRAME){
}else if(frame_type == X_FRAME){
// lower right
if((rc_1.control_in > 0) && (rc_2.control_in > 0)){

2
ArduCopterMega/system.pde
View File

@ -234,7 +234,7 @@ void startup_ground(void)
// read the radio to set trims
// ---------------------------
trim_yaw();
trim_radio();
// Warm up and read Gyro offsets
// -----------------------------

25
ArduCopterMega/test.pde
View File

@ -11,6 +11,7 @@ static int8_t test_gyro(uint8_t argc, const Menu::arg *argv);
static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
static int8_t test_current(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
@ -50,6 +51,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"dcm", test_dcm},
{"omega", test_omega},
{"battery", test_battery},
{"current", test_current},
{"relay", test_relay},
{"waypoints", test_wp},
{"airpressure", test_pressure},
@ -609,6 +611,29 @@ test_battery(uint8_t argc, const Menu::arg *argv)
return (0);
}
static int8_t
test_current(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
while(1){
for (int i = 0; i < 20; i++){
delay(20);
read_current();
}
Serial.printf_P(PSTR("Volts:"));
Serial.print(battery_voltage1, 2); //power sensor voltage pin
Serial.print(" Amps:");
Serial.println(battery_voltage2, 2); //power sensor current pin
if(Serial.available() > 0){
return (0);
}
}
}
static int8_t
test_relay(uint8_t argc, const Menu::arg *argv)