mirror of https://github.com/ArduPilot/ardupilot
749 lines
16 KiB
Plaintext
749 lines
16 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
// Functions called from the setup menu
|
|
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_esc (uint8_t argc, const Menu::arg *argv);
|
|
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
|
|
|
|
// Command/function table for the setup menu
|
|
const struct Menu::command setup_menu_commands[] PROGMEM = {
|
|
// command function called
|
|
// ======= ===============
|
|
{"erase", setup_erase},
|
|
{"reset", setup_factory},
|
|
{"radio", setup_radio},
|
|
{"frame", setup_frame},
|
|
{"motors", setup_motors},
|
|
{"esc", setup_esc},
|
|
{"level", setup_accel},
|
|
{"modes", setup_flightmodes},
|
|
{"battery", setup_batt_monitor},
|
|
{"sonar", setup_sonar},
|
|
{"compass", setup_compass},
|
|
{"declination", setup_declination},
|
|
{"show", setup_show}
|
|
};
|
|
|
|
// Create the setup menu object.
|
|
MENU(setup_menu, "setup", setup_menu_commands);
|
|
|
|
// Called from the top-level menu to run the setup menu.
|
|
int8_t
|
|
setup_mode(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
// Give the user some guidance
|
|
Serial.printf_P(PSTR("Setup Mode\n\n\n"));
|
|
//"\n"
|
|
//"IMPORTANT: if you have not previously set this system up, use the\n"
|
|
//"'reset' command to initialize the EEPROM to sensible default values\n"
|
|
//"and then the 'radio' command to configure for your radio.\n"
|
|
//"\n"));
|
|
|
|
if(g.rc_1.radio_min >= 1300){
|
|
delay(1000);
|
|
Serial.printf_P(PSTR("\n!Warning, your radio is not configured!"));
|
|
delay(1000);
|
|
Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
|
|
}
|
|
|
|
// Run the setup menu. When the menu exits, we will return to the main menu.
|
|
setup_menu.run();
|
|
}
|
|
|
|
// Print the current configuration.
|
|
// Called by the setup menu 'show' command.
|
|
static int8_t
|
|
setup_show(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
// clear the area
|
|
print_blanks(8);
|
|
|
|
report_version();
|
|
report_radio();
|
|
report_frame();
|
|
report_batt_monitor();
|
|
report_sonar();
|
|
report_gains();
|
|
report_xtrack();
|
|
report_throttle();
|
|
report_flight_modes();
|
|
report_imu();
|
|
report_compass();
|
|
|
|
AP_Var_menu_show(argc, argv);
|
|
return(0);
|
|
}
|
|
|
|
// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
|
|
// Called by the setup menu 'factoryreset' command.
|
|
static int8_t
|
|
setup_factory(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
int c;
|
|
|
|
Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));
|
|
|
|
do {
|
|
c = Serial.read();
|
|
} while (-1 == c);
|
|
|
|
if (('y' != c) && ('Y' != c))
|
|
return(-1);
|
|
|
|
AP_Var::erase_all();
|
|
Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM"));
|
|
|
|
delay(1000);
|
|
//default_log_bitmask();
|
|
//default_gains();
|
|
|
|
for (;;) {
|
|
}
|
|
// note, cannot actually return here
|
|
return(0);
|
|
}
|
|
|
|
// Perform radio setup.
|
|
// Called by the setup menu 'radio' command.
|
|
static int8_t
|
|
setup_radio(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
Serial.println("\n\nRadio Setup:");
|
|
uint8_t i;
|
|
|
|
for(i = 0; i < 100;i++){
|
|
delay(20);
|
|
read_radio();
|
|
}
|
|
|
|
if(g.rc_1.radio_in < 500){
|
|
while(1){
|
|
//Serial.printf_P(PSTR("\nNo radio; Check connectors."));
|
|
delay(1000);
|
|
// stop here
|
|
}
|
|
}
|
|
|
|
g.rc_1.radio_min = g.rc_1.radio_in;
|
|
g.rc_2.radio_min = g.rc_2.radio_in;
|
|
g.rc_3.radio_min = g.rc_3.radio_in;
|
|
g.rc_4.radio_min = g.rc_4.radio_in;
|
|
g.rc_5.radio_min = g.rc_5.radio_in;
|
|
g.rc_6.radio_min = g.rc_6.radio_in;
|
|
g.rc_7.radio_min = g.rc_7.radio_in;
|
|
g.rc_8.radio_min = g.rc_8.radio_in;
|
|
|
|
g.rc_1.radio_max = g.rc_1.radio_in;
|
|
g.rc_2.radio_max = g.rc_2.radio_in;
|
|
g.rc_3.radio_max = g.rc_3.radio_in;
|
|
g.rc_4.radio_max = g.rc_4.radio_in;
|
|
g.rc_5.radio_max = g.rc_5.radio_in;
|
|
g.rc_6.radio_max = g.rc_6.radio_in;
|
|
g.rc_7.radio_max = g.rc_7.radio_in;
|
|
g.rc_8.radio_max = g.rc_8.radio_in;
|
|
|
|
g.rc_1.radio_trim = g.rc_1.radio_in;
|
|
g.rc_2.radio_trim = g.rc_2.radio_in;
|
|
g.rc_4.radio_trim = g.rc_4.radio_in;
|
|
// 3 is not trimed
|
|
g.rc_5.radio_trim = 1500;
|
|
g.rc_6.radio_trim = 1500;
|
|
g.rc_7.radio_trim = 1500;
|
|
g.rc_8.radio_trim = 1500;
|
|
|
|
|
|
Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
|
|
while(1){
|
|
|
|
delay(20);
|
|
// Filters radio input - adjust filters in the radio.pde file
|
|
// ----------------------------------------------------------
|
|
read_radio();
|
|
|
|
g.rc_1.update_min_max();
|
|
g.rc_2.update_min_max();
|
|
g.rc_3.update_min_max();
|
|
g.rc_4.update_min_max();
|
|
g.rc_5.update_min_max();
|
|
g.rc_6.update_min_max();
|
|
g.rc_7.update_min_max();
|
|
g.rc_8.update_min_max();
|
|
|
|
if(Serial.available() > 0){
|
|
delay(20);
|
|
Serial.flush();
|
|
|
|
g.rc_1.save_eeprom();
|
|
g.rc_2.save_eeprom();
|
|
g.rc_3.save_eeprom();
|
|
g.rc_4.save_eeprom();
|
|
g.rc_5.save_eeprom();
|
|
g.rc_6.save_eeprom();
|
|
g.rc_7.save_eeprom();
|
|
g.rc_8.save_eeprom();
|
|
|
|
print_done();
|
|
break;
|
|
}
|
|
}
|
|
report_radio();
|
|
return(0);
|
|
}
|
|
|
|
static int8_t
|
|
setup_esc(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
Serial.printf_P(PSTR("\nUnplug, then plug-in battery; Calibrate ESCs.\n Press Enter to cancel.\n"));
|
|
|
|
|
|
g.esc_calibrate.set_and_save(1);
|
|
|
|
while(1){
|
|
delay(20);
|
|
|
|
if(Serial.available() > 0){
|
|
g.esc_calibrate.set_and_save(0);
|
|
return(0);
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
init_esc()
|
|
{
|
|
g.esc_calibrate.set_and_save(0);
|
|
while(1){
|
|
read_radio();
|
|
delay(100);
|
|
update_esc_light();
|
|
APM_RC.OutputCh(CH_1, g.rc_3.radio_in);
|
|
APM_RC.OutputCh(CH_2, g.rc_3.radio_in);
|
|
APM_RC.OutputCh(CH_3, g.rc_3.radio_in);
|
|
APM_RC.OutputCh(CH_4, g.rc_3.radio_in);
|
|
APM_RC.OutputCh(CH_7, g.rc_3.radio_in);
|
|
APM_RC.OutputCh(CH_8, g.rc_3.radio_in);
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
setup_motors(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
while(1){
|
|
output_motor_test();
|
|
if(Serial.available() > 0){
|
|
g.esc_calibrate.set_and_save(0);
|
|
return(0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
setup_accel(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
imu.init_accel();
|
|
print_accel_offsets();
|
|
report_imu();
|
|
return(0);
|
|
}
|
|
|
|
static int8_t
|
|
setup_frame(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if (!strcmp_P(argv[1].str, PSTR("x"))) {
|
|
|
|
} else if (!strcmp_P(argv[1].str, PSTR("p"))) {
|
|
|
|
}else{
|
|
Serial.printf_P(PSTR("\nOptions:[x,p]\n"));
|
|
report_frame();
|
|
return 0;
|
|
}
|
|
|
|
report_frame();
|
|
return 0;
|
|
}
|
|
|
|
static int8_t
|
|
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
byte switchPosition, _oldSwitchPosition, mode;
|
|
|
|
Serial.printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
|
|
print_hit_enter();
|
|
|
|
while(1){
|
|
delay(20);
|
|
read_radio();
|
|
switchPosition = readSwitch();
|
|
|
|
|
|
// look for control switch change
|
|
if (_oldSwitchPosition != switchPosition){
|
|
|
|
mode = g.flight_modes[switchPosition];
|
|
mode = constrain(mode, 0, NUM_MODES-1);
|
|
|
|
// update the user
|
|
print_switch(switchPosition, mode);
|
|
|
|
// Remember switch position
|
|
_oldSwitchPosition = switchPosition;
|
|
}
|
|
|
|
// look for stick input
|
|
if (radio_input_switch() == true){
|
|
mode++;
|
|
if(mode >= NUM_MODES)
|
|
mode = 0;
|
|
|
|
// save new mode
|
|
g.flight_modes[switchPosition] = mode;
|
|
|
|
// print new mode
|
|
print_switch(switchPosition, mode);
|
|
}
|
|
|
|
// escape hatch
|
|
if(Serial.available() > 0){
|
|
g.flight_modes.save();
|
|
print_done();
|
|
report_flight_modes();
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
setup_declination(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
compass.set_declination(radians(argv[1].f));
|
|
report_compass();
|
|
}
|
|
|
|
|
|
static int8_t
|
|
setup_erase(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
zero_eeprom();
|
|
return 0;
|
|
}
|
|
|
|
static int8_t
|
|
setup_compass(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if (!strcmp_P(argv[1].str, PSTR("on"))) {
|
|
g.compass_enabled = true;
|
|
init_compass();
|
|
|
|
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
|
|
g.compass_enabled = false;
|
|
|
|
}else{
|
|
Serial.printf_P(PSTR("\nOptions:[on,off]\n"));
|
|
report_compass();
|
|
return 0;
|
|
}
|
|
|
|
g.compass_enabled.save();
|
|
report_compass();
|
|
return 0;
|
|
}
|
|
|
|
static int8_t
|
|
setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if(argv[1].i >= 0 && argv[1].i <= 4){
|
|
g.battery_monitoring.set_and_save(argv[1].i);
|
|
|
|
} else {
|
|
Serial.printf_P(PSTR("\nOptions: 0-4"));
|
|
}
|
|
|
|
report_batt_monitor();
|
|
return 0;
|
|
}
|
|
|
|
static int8_t
|
|
setup_sonar(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if (!strcmp_P(argv[1].str, PSTR("on"))) {
|
|
g.sonar_enabled.set_and_save(true);
|
|
|
|
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
|
|
g.sonar_enabled.set_and_save(false);
|
|
|
|
}else{
|
|
Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
|
|
report_sonar();
|
|
return 0;
|
|
}
|
|
|
|
report_sonar();
|
|
return 0;
|
|
}
|
|
|
|
/***************************************************************************/
|
|
// CLI defaults
|
|
/***************************************************************************/
|
|
|
|
void default_log_bitmask()
|
|
{
|
|
// convenience macro for testing LOG_* and setting LOGBIT_*
|
|
#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0)
|
|
|
|
g.log_bitmask =
|
|
LOGBIT(ATTITUDE_FAST) |
|
|
LOGBIT(ATTITUDE_MED) |
|
|
LOGBIT(GPS) |
|
|
LOGBIT(PM) |
|
|
LOGBIT(CTUN) |
|
|
LOGBIT(NTUN) |
|
|
LOGBIT(MODE) |
|
|
LOGBIT(RAW) |
|
|
LOGBIT(CMD) |
|
|
LOGBIT(CURRENT);
|
|
#undef LOGBIT
|
|
|
|
g.log_bitmask.save();
|
|
}
|
|
|
|
/***************************************************************************/
|
|
// CLI reports
|
|
/***************************************************************************/
|
|
|
|
void report_batt_monitor()
|
|
{
|
|
Serial.printf_P(PSTR("\nBatt Mointor\n"));
|
|
print_divider();
|
|
if(g.battery_monitoring == 0) print_enabled(false);
|
|
if(g.battery_monitoring == 1) Serial.printf_P(PSTR("3 cells"));
|
|
if(g.battery_monitoring == 2) Serial.printf_P(PSTR("4 cells"));
|
|
if(g.battery_monitoring == 3) Serial.printf_P(PSTR("batt volts"));
|
|
if(g.battery_monitoring == 4) Serial.printf_P(PSTR("volts and cur"));
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_wp(byte index = 255)
|
|
{
|
|
if(index == 255){
|
|
for(byte i = 0; i <= g.waypoint_total; i++){
|
|
struct Location temp = get_command_with_index(i);
|
|
print_wp(&temp, i);
|
|
}
|
|
}else{
|
|
struct Location temp = get_command_with_index(index);
|
|
print_wp(&temp, index);
|
|
}
|
|
}
|
|
|
|
void print_wp(struct Location *cmd, byte index)
|
|
{
|
|
Serial.printf_P(PSTR("command #: %d id:%d op:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
|
|
(int)index,
|
|
(int)cmd->id,
|
|
(int)cmd->options,
|
|
(int)cmd->p1,
|
|
cmd->alt,
|
|
cmd->lat,
|
|
cmd->lng);
|
|
}
|
|
|
|
void report_gps()
|
|
{
|
|
Serial.printf_P(PSTR("\nGPS\n"));
|
|
print_divider();
|
|
print_enabled(GPS_enabled);
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_sonar()
|
|
{
|
|
g.sonar_enabled.load();
|
|
Serial.printf_P(PSTR("Sonar\n"));
|
|
print_divider();
|
|
print_enabled(g.sonar_enabled.get());
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_version()
|
|
{
|
|
Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
|
|
print_divider();
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_frame()
|
|
{
|
|
Serial.printf_P(PSTR("Frame\n"));
|
|
print_divider();
|
|
|
|
#if FRAME_CONFIG == QUAD_FRAME
|
|
Serial.printf_P(PSTR("Quad frame\n"));
|
|
#elif FRAME_CONFIG == TRI_FRAME
|
|
Serial.printf_P(PSTR("TRI frame\n"));
|
|
#elif FRAME_CONFIG == HEXA_FRAME
|
|
Serial.printf_P(PSTR("Hexa frame\n"));
|
|
#elif FRAME_CONFIG == Y6_FRAME
|
|
Serial.printf_P(PSTR("Y6 frame\n"));
|
|
#endif
|
|
|
|
if(g.frame_orientation == X_FRAME)
|
|
Serial.printf_P(PSTR("X mode\n"));
|
|
else if(g.frame_orientation == PLUS_FRAME)
|
|
Serial.printf_P(PSTR("+ mode\n"));
|
|
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_radio()
|
|
{
|
|
Serial.printf_P(PSTR("Radio\n"));
|
|
print_divider();
|
|
// radio
|
|
print_radio_values();
|
|
print_blanks(2);
|
|
}
|
|
|
|
void report_gains()
|
|
{
|
|
Serial.printf_P(PSTR("Gains\n"));
|
|
print_divider();
|
|
|
|
// Acro
|
|
Serial.printf_P(PSTR("Acro:\nroll:\n"));
|
|
print_PID(&g.pid_acro_rate_roll);
|
|
Serial.printf_P(PSTR("pitch:\n"));
|
|
print_PID(&g.pid_acro_rate_pitch);
|
|
Serial.printf_P(PSTR("yaw:\n"));
|
|
print_PID(&g.pid_acro_rate_yaw);
|
|
|
|
// Stabilize
|
|
Serial.printf_P(PSTR("\nStabilize:\nroll:\n"));
|
|
print_PID(&g.pid_stabilize_roll);
|
|
Serial.printf_P(PSTR("pitch:\n"));
|
|
print_PID(&g.pid_stabilize_pitch);
|
|
Serial.printf_P(PSTR("yaw:\n"));
|
|
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());
|
|
}
|
|
|