mirror of https://github.com/ArduPilot/ardupilot
200 lines
6.5 KiB
Plaintext
200 lines
6.5 KiB
Plaintext
/*
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www.ArduCopter.com - www.DIYDrones.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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File : Arducopter.pde
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Version : v1.0, Aug 27, 2010
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Author(s): ArduCopter Team
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
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Jani Hirvinen, Ken McEwans, Roberto Navoni,
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Sandro Benigno, Chris Anderson
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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/* ********************************************************************** */
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/* Hardware : ArduPilot Mega + Sensor Shield (Production versions) */
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/* Mounting position : RC connectors pointing backwards */
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/* This code use this libraries : */
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/* APM_RC : Radio library (with InstantPWM) */
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/* APM_ADC : External ADC library */
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/* DataFlash : DataFlash log library */
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/* APM_BMP085 : BMP085 barometer library */
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/* APM_Compass : HMC5843 compass library [optional] */
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/* GPS_UBLOX or GPS_NMEA or GPS_MTK : GPS library [optional] */
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/* ********************************************************************** */
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/* ********************************************************************** *
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ChangeLog:
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* *********************************************************************** *
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TODO:
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* *********************************************************************** */
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - MODULES ******************** */
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/* ************************************************************ */
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/* User definable modules */
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// Comment out with // modules that you are not using
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//#define IsGPS // Do we have a GPS connected
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//#define IsNEWMTEK // Do we have MTEK with new firmware
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//#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
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//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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//#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
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#define Ser0 // FTDI/USB Port Either one
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//#define Ser3 // Telemetry port
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//#define CONFIGURATOR // Do se use Configurator or normal text output over serial link
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/**********************************************/
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// Not in use yet, starting to work with battery monitors and pressure sensors.
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// Added 19-08-2010
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//#define UseAirspeed
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//#define UseBMP
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
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/**********************************************/
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// Frame build condiguration
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#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
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//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - INCLUDES ******************* */
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/* ************************************************************ */
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#include <avr/io.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <math.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <APM_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <APM_Compass.h> // ArduPilot Mega Magnetometer Library
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//#include "defines.h"
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//#include "console.h"
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#include <Wire.h> // I2C Communication library
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#ifdef UseBMP
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#endif
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//#include <GPS_IMU.h> // ArduPilot IMU/SIM GPS Library
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#include <GPS_MTK.h> // ArduPilot MTK GPS Library
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//#include <GPS_UBLOX.h> // ArduPilot Ublox GPS Library
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//#include <GPS_NMEA.h> // ArduPilot NMEA GPS library
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// EEPROM storage for user configurable values
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#include <EEPROM.h> // EEPROM
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#include "Arducopter.h"
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#include "ArduUser.h"
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/* Software version */
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#define VER 1.40 // Current software version (only numeric values)
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/* ************************************************************ */
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/* ************* MAIN PROGRAM - DECLARATIONS ****************** */
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/* ************************************************************ */
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - SETUP ********************** */
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/* ************************************************************ */
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void setup() {
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//APM_Init_IO();
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APM_Init();
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//APM_Init_ADC();
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//APM_Init_Radio();
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//APM_Init_Serial();
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//APM_Init_xx
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}
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/* ************************************************************ */
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/* ************** MAIN PROGRAM - MAIN LOOP ******************** */
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/* ************************************************************ */
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void loop() {
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// We want this to execute at 500Hz if possible
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// -------------------------------------------
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if (millis()-fast_loopTimer > 5) {
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deltaMiliSeconds = millis() - fast_loopTimer;
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G_Dt = (float)deltaMiliSeconds / 1000.f;
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fast_loopTimer = millis();
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mainLoop_count++;
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// Execute the fast loop
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// ---------------------
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// fast_loop();
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// - PWM Updates
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// - Stabilization
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// - Altitude correction
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// Execute the medium loop
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// -----------------------
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// medium_loop();
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// - Radio read
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// - GPS read
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// - Drift correction
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// Execute the slow loop
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// -----------------------
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// slow_loop();
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// - Battery usage
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// - GCS updates
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// - Garbage management
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if (millis()- perf_mon_timer > 20000) {
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if (mainLoop_count != 0) {
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//send_message(MSG_PERF_REPORT);
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#if LOG_PM
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Log_Write_Performance();
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#endif
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resetPerfData();
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}
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}
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}
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}
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