mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
995d5325d1
updated motor setup test to be sequencial pulses of the motors in CW order. Fixed Mission scripting logic fixed Free yaw error in neutral throttle fixed D term issue with Baro hold - was too high incremented firmware revision, removed frame var removed setup show from startup removed unused EEPROM functions fixed broken demo mission fixed non working loiter with delay git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
731 lines
16 KiB
Plaintext
731 lines
16 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Functions called from the setup menu
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_esc (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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// Command/function table for the setup menu
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const struct Menu::command setup_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"erase", setup_erase},
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{"reset", setup_factory},
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{"radio", setup_radio},
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{"motors", setup_motors},
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{"esc", setup_esc},
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{"level", setup_accel},
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{"modes", setup_flightmodes},
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{"battery", setup_batt_monitor},
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{"sonar", setup_sonar},
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{"compass", setup_compass},
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{"declination", setup_declination},
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{"show", setup_show}
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};
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// Create the setup menu object.
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MENU(setup_menu, "setup", setup_menu_commands);
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// Called from the top-level menu to run the setup menu.
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int8_t
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setup_mode(uint8_t argc, const Menu::arg *argv)
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{
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// Give the user some guidance
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Serial.printf_P(PSTR("Setup Mode\n\n\n"));
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//"\n"
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//"IMPORTANT: if you have not previously set this system up, use the\n"
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//"'reset' command to initialize the EEPROM to sensible default values\n"
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//"and then the 'radio' command to configure for your radio.\n"
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//"\n"));
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if(g.rc_1.radio_min >= 1300){
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delay(1000);
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Serial.printf_P(PSTR("\n!Warning, your radio is not configured!"));
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delay(1000);
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Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
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}
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// Run the setup menu. When the menu exits, we will return to the main menu.
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setup_menu.run();
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}
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// Print the current configuration.
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// Called by the setup menu 'show' command.
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static int8_t
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setup_show(uint8_t argc, const Menu::arg *argv)
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{
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// clear the area
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print_blanks(8);
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report_version();
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report_radio();
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report_frame();
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report_batt_monitor();
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report_sonar();
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report_gains();
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report_xtrack();
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report_throttle();
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report_flight_modes();
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report_imu();
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report_compass();
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AP_Var_menu_show(argc, argv);
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return(0);
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}
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// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
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// Called by the setup menu 'factoryreset' command.
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static int8_t
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setup_factory(uint8_t argc, const Menu::arg *argv)
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{
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int c;
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Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));
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do {
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c = Serial.read();
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} while (-1 == c);
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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 - reboot APM"));
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delay(1000);
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//default_log_bitmask();
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//default_gains();
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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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}
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// Perform radio setup.
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// Called by the setup menu 'radio' command.
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static int8_t
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setup_radio(uint8_t argc, const Menu::arg *argv)
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{
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Serial.println("\n\nRadio Setup:");
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uint8_t i;
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for(i = 0; i < 100;i++){
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delay(20);
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read_radio();
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}
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if(g.rc_1.radio_in < 500){
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while(1){
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//Serial.printf_P(PSTR("\nNo radio; Check connectors."));
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delay(1000);
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// stop here
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}
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}
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g.rc_1.radio_min = g.rc_1.radio_in;
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g.rc_2.radio_min = g.rc_2.radio_in;
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g.rc_3.radio_min = g.rc_3.radio_in;
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g.rc_4.radio_min = g.rc_4.radio_in;
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g.rc_5.radio_min = g.rc_5.radio_in;
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g.rc_6.radio_min = g.rc_6.radio_in;
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g.rc_7.radio_min = g.rc_7.radio_in;
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g.rc_8.radio_min = g.rc_8.radio_in;
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g.rc_1.radio_max = g.rc_1.radio_in;
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g.rc_2.radio_max = g.rc_2.radio_in;
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g.rc_3.radio_max = g.rc_3.radio_in;
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g.rc_4.radio_max = g.rc_4.radio_in;
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g.rc_5.radio_max = g.rc_5.radio_in;
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g.rc_6.radio_max = g.rc_6.radio_in;
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g.rc_7.radio_max = g.rc_7.radio_in;
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g.rc_8.radio_max = g.rc_8.radio_in;
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g.rc_1.radio_trim = g.rc_1.radio_in;
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g.rc_2.radio_trim = g.rc_2.radio_in;
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g.rc_4.radio_trim = g.rc_4.radio_in;
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// 3 is not trimed
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g.rc_5.radio_trim = 1500;
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g.rc_6.radio_trim = 1500;
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g.rc_7.radio_trim = 1500;
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g.rc_8.radio_trim = 1500;
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Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
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while(1){
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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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g.rc_1.update_min_max();
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g.rc_2.update_min_max();
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g.rc_3.update_min_max();
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g.rc_4.update_min_max();
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g.rc_5.update_min_max();
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g.rc_6.update_min_max();
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g.rc_7.update_min_max();
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g.rc_8.update_min_max();
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if(Serial.available() > 0){
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delay(20);
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Serial.flush();
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g.rc_1.save_eeprom();
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g.rc_2.save_eeprom();
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g.rc_3.save_eeprom();
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g.rc_4.save_eeprom();
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g.rc_5.save_eeprom();
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g.rc_6.save_eeprom();
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g.rc_7.save_eeprom();
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g.rc_8.save_eeprom();
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print_done();
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break;
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}
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}
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report_radio();
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return(0);
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}
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static int8_t
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setup_esc(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("\nUnplug, then plug-in battery; Calibrate ESCs.\n Press Enter to cancel.\n"));
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g.esc_calibrate.set_and_save(1);
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while(1){
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delay(20);
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if(Serial.available() > 0){
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g.esc_calibrate.set_and_save(0);
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return(0);
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}
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}
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}
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void
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init_esc()
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{
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g.esc_calibrate.set_and_save(0);
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while(1){
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read_radio();
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delay(100);
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update_esc_light();
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APM_RC.OutputCh(CH_1, g.rc_3.radio_in);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_in);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_in);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_in);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_in);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_in);
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}
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}
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static int8_t
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setup_motors(uint8_t argc, const Menu::arg *argv)
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{
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while(1){
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output_motor_test();
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if(Serial.available() > 0){
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g.esc_calibrate.set_and_save(0);
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return(0);
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}
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}
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}
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static int8_t
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setup_accel(uint8_t argc, const Menu::arg *argv)
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{
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imu.init_accel();
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print_accel_offsets();
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report_imu();
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return(0);
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}
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static int8_t
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setup_flightmodes(uint8_t argc, const Menu::arg *argv)
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{
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byte switchPosition, _oldSwitchPosition, mode;
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Serial.printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
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print_hit_enter();
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while(1){
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delay(20);
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read_radio();
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switchPosition = readSwitch();
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// look for control switch change
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if (_oldSwitchPosition != switchPosition){
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mode = g.flight_modes[switchPosition];
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mode = constrain(mode, 0, NUM_MODES-1);
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// update the user
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print_switch(switchPosition, mode);
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// Remember switch position
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_oldSwitchPosition = switchPosition;
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}
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// look for stick input
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if (radio_input_switch() == true){
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mode++;
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if(mode >= NUM_MODES)
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mode = 0;
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// save new mode
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g.flight_modes[switchPosition] = mode;
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// print new mode
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print_switch(switchPosition, mode);
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}
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// escape hatch
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if(Serial.available() > 0){
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g.flight_modes.save();
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print_done();
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report_flight_modes();
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return (0);
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}
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}
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}
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static int8_t
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setup_declination(uint8_t argc, const Menu::arg *argv)
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{
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compass.set_declination(radians(argv[1].f));
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report_compass();
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}
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static int8_t
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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zero_eeprom();
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return 0;
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}
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static int8_t
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setup_compass(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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g.compass_enabled = true;
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init_compass();
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.compass_enabled = false;
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}else{
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Serial.printf_P(PSTR("\nOptions:[on,off]\n"));
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report_compass();
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return 0;
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}
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g.compass_enabled.save();
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report_compass();
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return 0;
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}
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static int8_t
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setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
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{
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if(argv[1].i >= 0 && argv[1].i <= 4){
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g.battery_monitoring.set_and_save(argv[1].i);
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} else {
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Serial.printf_P(PSTR("\nOptions: 0-4"));
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}
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report_batt_monitor();
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return 0;
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}
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static int8_t
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setup_sonar(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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g.sonar_enabled.set_and_save(true);
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.sonar_enabled.set_and_save(false);
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}else{
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Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
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report_sonar();
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return 0;
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}
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report_sonar();
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return 0;
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}
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/***************************************************************************/
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// CLI defaults
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/***************************************************************************/
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void default_log_bitmask()
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{
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// convenience macro for testing LOG_* and setting LOGBIT_*
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#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0)
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g.log_bitmask =
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LOGBIT(ATTITUDE_FAST) |
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LOGBIT(ATTITUDE_MED) |
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LOGBIT(GPS) |
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LOGBIT(PM) |
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LOGBIT(CTUN) |
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LOGBIT(NTUN) |
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LOGBIT(MODE) |
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LOGBIT(RAW) |
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LOGBIT(CMD) |
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LOGBIT(CURRENT);
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#undef LOGBIT
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g.log_bitmask.save();
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}
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/***************************************************************************/
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// CLI reports
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/***************************************************************************/
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void report_batt_monitor()
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{
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Serial.printf_P(PSTR("\nBatt Mointor\n"));
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print_divider();
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if(g.battery_monitoring == 0) print_enabled(false);
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if(g.battery_monitoring == 1) Serial.printf_P(PSTR("3 cells"));
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if(g.battery_monitoring == 2) Serial.printf_P(PSTR("4 cells"));
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if(g.battery_monitoring == 3) Serial.printf_P(PSTR("batt volts"));
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if(g.battery_monitoring == 4) Serial.printf_P(PSTR("volts and cur"));
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print_blanks(2);
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}
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void report_wp(byte index = 255)
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{
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if(index == 255){
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for(byte i = 0; i <= g.waypoint_total; i++){
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struct Location temp = get_command_with_index(i);
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print_wp(&temp, i);
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}
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}else{
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struct Location temp = get_command_with_index(index);
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print_wp(&temp, index);
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}
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}
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void print_wp(struct Location *cmd, byte index)
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{
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Serial.printf_P(PSTR("command #: %d id:%d op:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
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(int)index,
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(int)cmd->id,
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(int)cmd->options,
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(int)cmd->p1,
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cmd->alt,
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cmd->lat,
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cmd->lng);
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}
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void report_gps()
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{
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Serial.printf_P(PSTR("\nGPS\n"));
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print_divider();
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print_enabled(GPS_enabled);
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print_blanks(2);
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}
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void report_sonar()
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{
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g.sonar_enabled.load();
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Serial.printf_P(PSTR("Sonar\n"));
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print_divider();
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print_enabled(g.sonar_enabled.get());
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print_blanks(2);
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}
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void report_version()
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{
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Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
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print_divider();
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print_blanks(2);
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}
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void report_frame()
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{
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Serial.printf_P(PSTR("Frame\n"));
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print_divider();
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#if FRAME_CONFIG == QUADX_FRAME
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Serial.printf_P(PSTR("X frame\n"));
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#elif FRAME_CONFIG == QUADP_FRAME
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Serial.printf_P(PSTR("Plus frame\n"));
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#elif FRAME_CONFIG == TRI_FRAME
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Serial.printf_P(PSTR("TRI frame\n"));
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#elif FRAME_CONFIG == HEXAX_FRAME
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Serial.printf_P(PSTR("HexaX frame\n"));
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#elif FRAME_CONFIG == HEXAP_FRAME
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Serial.printf_P(PSTR("HexaP frame\n"));
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#elif FRAME_CONFIG == Y6_FRAME
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Serial.printf_P(PSTR("Y6 frame\n"));
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#endif
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print_blanks(2);
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}
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void report_radio()
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{
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Serial.printf_P(PSTR("Radio\n"));
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print_divider();
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// radio
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print_radio_values();
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print_blanks(2);
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}
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void report_gains()
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{
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Serial.printf_P(PSTR("Gains\n"));
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print_divider();
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// Acro
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Serial.printf_P(PSTR("Acro:\nroll:\n"));
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print_PID(&g.pid_acro_rate_roll);
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Serial.printf_P(PSTR("pitch:\n"));
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print_PID(&g.pid_acro_rate_pitch);
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Serial.printf_P(PSTR("yaw:\n"));
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print_PID(&g.pid_acro_rate_yaw);
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// Stabilize
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Serial.printf_P(PSTR("\nStabilize:\nroll:\n"));
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print_PID(&g.pid_stabilize_roll);
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Serial.printf_P(PSTR("pitch:\n"));
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print_PID(&g.pid_stabilize_pitch);
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Serial.printf_P(PSTR("yaw:\n"));
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print_PID(&g.pid_yaw);
|
|
|
|
Serial.printf_P(PSTR("Stab D: %4.3f\n"), (float)g.stabilize_dampener);
|
|
Serial.printf_P(PSTR("Yaw D: %4.3f\n\n"), (float)g.hold_yaw_dampener);
|
|
|
|
// Nav
|
|
Serial.printf_P(PSTR("Nav:\nlat:\n"));
|
|
print_PID(&g.pid_nav_lat);
|
|
Serial.printf_P(PSTR("long:\n"));
|
|
print_PID(&g.pid_nav_lon);
|
|
Serial.printf_P(PSTR("baro throttle:\n"));
|
|
print_PID(&g.pid_baro_throttle);
|
|
Serial.printf_P(PSTR("sonar throttle:\n"));
|
|
print_PID(&g.pid_sonar_throttle);
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_xtrack()
|
|
{
|
|
Serial.printf_P(PSTR("XTrack\n"));
|
|
print_divider();
|
|
// radio
|
|
Serial.printf_P(PSTR("XTRACK: %4.2f\n"
|
|
"XTRACK angle: %d\n"
|
|
"PITCH_MAX: %ld"),
|
|
(float)g.crosstrack_gain,
|
|
(int)g.crosstrack_entry_angle,
|
|
(long)g.pitch_max);
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_throttle()
|
|
{
|
|
Serial.printf_P(PSTR("Throttle\n"));
|
|
print_divider();
|
|
|
|
Serial.printf_P(PSTR("min: %d\n"
|
|
"max: %d\n"
|
|
"cruise: %d\n"
|
|
"failsafe_enabled: %d\n"
|
|
"failsafe_value: %d"),
|
|
(int)g.throttle_min,
|
|
(int)g.throttle_max,
|
|
(int)g.throttle_cruise,
|
|
(int)g.throttle_fs_enabled,
|
|
(int)g.throttle_fs_value);
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_imu()
|
|
{
|
|
Serial.printf_P(PSTR("IMU\n"));
|
|
print_divider();
|
|
|
|
print_gyro_offsets();
|
|
print_accel_offsets();
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_compass()
|
|
{
|
|
Serial.printf_P(PSTR("Compass\n"));
|
|
print_divider();
|
|
|
|
print_enabled(g.compass_enabled);
|
|
|
|
// mag declination
|
|
Serial.printf_P(PSTR("Mag Dec: %4.4f\n"),
|
|
degrees(compass.get_declination()));
|
|
|
|
Vector3f offsets = compass.get_offsets();
|
|
|
|
// mag offsets
|
|
Serial.printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f"),
|
|
offsets.x,
|
|
offsets.y,
|
|
offsets.z);
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_flight_modes()
|
|
{
|
|
Serial.printf_P(PSTR("Flight modes\n"));
|
|
print_divider();
|
|
|
|
for(int i = 0; i < 6; i++ ){
|
|
print_switch(i, g.flight_modes[i]);
|
|
}
|
|
print_blanks(2);
|
|
}
|
|
|
|
/***************************************************************************/
|
|
// CLI utilities
|
|
/***************************************************************************/
|
|
|
|
void
|
|
print_PID(PID * pid)
|
|
{
|
|
Serial.printf_P(PSTR("P: %4.2f, I:%4.2f, D:%4.2f, IMAX:%ld\n"),
|
|
pid->kP(),
|
|
pid->kI(),
|
|
pid->kD(),
|
|
(long)pid->imax());
|
|
}
|
|
|
|
void
|
|
print_radio_values()
|
|
{
|
|
|
|
Serial.printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
|
|
Serial.printf_P(PSTR("CH2: %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_max);
|
|
Serial.printf_P(PSTR("CH3: %d | %d\n"), (int)g.rc_3.radio_min, (int)g.rc_3.radio_max);
|
|
Serial.printf_P(PSTR("CH4: %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_max);
|
|
Serial.printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
|
|
Serial.printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
|
|
Serial.printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
|
|
//Serial.printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
|
|
}
|
|
|
|
void
|
|
print_switch(byte p, byte m)
|
|
{
|
|
Serial.printf_P(PSTR("Pos %d: "),p);
|
|
Serial.println(flight_mode_strings[m]);
|
|
}
|
|
|
|
void
|
|
print_done()
|
|
{
|
|
Serial.printf_P(PSTR("\nSaved Settings\n\n"));
|
|
}
|
|
|
|
void
|
|
print_blanks(int num)
|
|
{
|
|
while(num > 0){
|
|
num--;
|
|
Serial.println("");
|
|
}
|
|
}
|
|
|
|
void
|
|
print_divider(void)
|
|
{
|
|
for (int i = 0; i < 40; i++) {
|
|
Serial.print("-");
|
|
}
|
|
Serial.println("");
|
|
}
|
|
|
|
// read at 50Hz
|
|
bool
|
|
radio_input_switch(void)
|
|
{
|
|
static int8_t bouncer = 0;
|
|
|
|
if (int16_t(g.rc_1.radio_in - g.rc_1.radio_trim) > 100) {
|
|
bouncer = 10;
|
|
}
|
|
if (int16_t(g.rc_1.radio_in - g.rc_1.radio_trim) < -100) {
|
|
bouncer = -10;
|
|
}
|
|
if (bouncer >0) {
|
|
bouncer --;
|
|
}
|
|
if (bouncer <0) {
|
|
bouncer ++;
|
|
}
|
|
|
|
if (bouncer == 1 || bouncer == -1) {
|
|
return bouncer;
|
|
}else{
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
|
|
void zero_eeprom(void)
|
|
{
|
|
byte b;
|
|
Serial.printf_P(PSTR("\nErasing EEPROM\n"));
|
|
for (int i = 0; i < EEPROM_MAX_ADDR; i++) {
|
|
eeprom_write_byte((uint8_t *) i, b);
|
|
}
|
|
Serial.printf_P(PSTR("done\n"));
|
|
}
|
|
|
|
void print_enabled(boolean b)
|
|
{
|
|
if(b)
|
|
Serial.printf_P(PSTR("en"));
|
|
else
|
|
Serial.printf_P(PSTR("dis"));
|
|
Serial.printf_P(PSTR("abled\n"));
|
|
}
|
|
|
|
void
|
|
print_accel_offsets(void)
|
|
{
|
|
Serial.printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\n"),
|
|
(float)imu.ax(),
|
|
(float)imu.ay(),
|
|
(float)imu.az());
|
|
}
|
|
|
|
void
|
|
print_gyro_offsets(void)
|
|
{
|
|
Serial.printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
|
|
(float)imu.gx(),
|
|
(float)imu.gy(),
|
|
(float)imu.gz());
|
|
}
|
|
|