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ardupilot/ArduCopter/setup.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if CLI_ENABLED == ENABLED
// Functions called from the setup menu
static int8_t setup_factory (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
// ======= ===============
{"reset", setup_factory},
{"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.
static int8_t
setup_mode(uint8_t argc, const Menu::arg *argv)
{
// Give the user some guidance
cliSerial->printf_P(PSTR("Setup Mode\n\n\n"));
// Run the setup menu. When the menu exits, we will return to the main menu.
setup_menu.run();
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)
{
int16_t c;
cliSerial->printf_P(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
do {
c = cliSerial->read();
} while (-1 == c);
if (('y' != c) && ('Y' != c))
return(-1);
AP_Param::erase_all();
cliSerial->printf_P(PSTR("\nReboot board"));
delay(1000);
for (;; ) {
}
// note, cannot actually return here
return(0);
}
// Print the current configuration.
// Called by the setup menu 'show' command.
static int8_t
setup_show(uint8_t argc, const Menu::arg *argv)
{
AP_Param *param;
ap_var_type type;
//If a parameter name is given as an argument to show, print only that parameter
if(argc>=2)
{
param=AP_Param::find(argv[1].str, &type);
if(!param)
{
cliSerial->printf_P(PSTR("Parameter not found: '%s'\n"), argv[1]);
return 0;
}
AP_Param::show(param, argv[1].str, type, cliSerial);
return 0;
}
// clear the area
print_blanks(8);
report_version();
report_radio();
report_frame();
report_batt_monitor();
report_flight_modes();
report_ins();
report_compass();
report_optflow();
AP_Param::show_all(cliSerial);
return(0);
}
/***************************************************************************/
// CLI reports
/***************************************************************************/
static void report_batt_monitor()
{
cliSerial->printf_P(PSTR("\nBatt Mon:\n"));
print_divider();
if (battery.monitoring() == AP_BATT_MONITOR_DISABLED) print_enabled(false);
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_ONLY) cliSerial->printf_P(PSTR("volts"));
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) cliSerial->printf_P(PSTR("volts and cur"));
print_blanks(2);
}
static void report_frame()
{
cliSerial->printf_P(PSTR("Frame\n"));
print_divider();
#if FRAME_CONFIG == QUAD_FRAME
cliSerial->printf_P(PSTR("Quad frame\n"));
#elif FRAME_CONFIG == TRI_FRAME
cliSerial->printf_P(PSTR("TRI frame\n"));
#elif FRAME_CONFIG == HEXA_FRAME
cliSerial->printf_P(PSTR("Hexa frame\n"));
#elif FRAME_CONFIG == Y6_FRAME
cliSerial->printf_P(PSTR("Y6 frame\n"));
#elif FRAME_CONFIG == OCTA_FRAME
cliSerial->printf_P(PSTR("Octa frame\n"));
#elif FRAME_CONFIG == HELI_FRAME
cliSerial->printf_P(PSTR("Heli frame\n"));
#endif
print_blanks(2);
}
static void report_radio()
{
cliSerial->printf_P(PSTR("Radio\n"));
print_divider();
// radio
print_radio_values();
print_blanks(2);
}
static void report_ins()
{
cliSerial->printf_P(PSTR("INS\n"));
print_divider();
print_gyro_offsets();
print_accel_offsets_and_scaling();
print_blanks(2);
}
static void report_flight_modes()
{
cliSerial->printf_P(PSTR("Flight modes\n"));
print_divider();
for(int16_t i = 0; i < 6; i++ ) {
print_switch(i, flight_modes[i], BIT_IS_SET(g.simple_modes, i));
}
print_blanks(2);
}
void report_optflow()
{
#if OPTFLOW == ENABLED
cliSerial->printf_P(PSTR("OptFlow\n"));
print_divider();
print_enabled(g.optflow_enabled);
print_blanks(2);
#endif // OPTFLOW == ENABLED
}
/***************************************************************************/
// CLI utilities
/***************************************************************************/
static void
print_radio_values()
{
cliSerial->printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
cliSerial->printf_P(PSTR("CH2: %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_max);
cliSerial->printf_P(PSTR("CH3: %d | %d\n"), (int)g.rc_3.radio_min, (int)g.rc_3.radio_max);
cliSerial->printf_P(PSTR("CH4: %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_max);
cliSerial->printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
cliSerial->printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
cliSerial->printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
cliSerial->printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
}
static void
print_switch(uint8_t p, uint8_t m, bool b)
{
cliSerial->printf_P(PSTR("Pos %d:\t"),p);
print_flight_mode(cliSerial, m);
cliSerial->printf_P(PSTR(",\t\tSimple: "));
if(b)
cliSerial->printf_P(PSTR("ON\n"));
else
cliSerial->printf_P(PSTR("OFF\n"));
}
static void
print_accel_offsets_and_scaling(void)
{
const Vector3f &accel_offsets = ins.get_accel_offsets();
const Vector3f &accel_scale = ins.get_accel_scale();
cliSerial->printf_P(PSTR("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n"),
(float)accel_offsets.x, // Pitch
(float)accel_offsets.y, // Roll
(float)accel_offsets.z, // YAW
(float)accel_scale.x, // Pitch
(float)accel_scale.y, // Roll
(float)accel_scale.z); // YAW
}
static void
print_gyro_offsets(void)
{
const Vector3f &gyro_offsets = ins.get_gyro_offsets();
cliSerial->printf_P(PSTR("G_off: %4.2f, %4.2f, %4.2f\n"),
(float)gyro_offsets.x,
(float)gyro_offsets.y,
(float)gyro_offsets.z);
}
#endif // CLI_ENABLED
// report_compass - displays compass information. Also called by compassmot.pde
static void report_compass()
{
cliSerial->printf_P(PSTR("Compass\n"));
print_divider();
print_enabled(g.compass_enabled);
// mag declination
cliSerial->printf_P(PSTR("Mag Dec: %4.4f\n"),
degrees(compass.get_declination()));
Vector3f offsets = compass.get_offsets();
// mag offsets
cliSerial->printf_P(PSTR("Mag off: %4.4f, %4.4f, %4.4f\n"),
offsets.x,
offsets.y,
offsets.z);
// motor compensation
cliSerial->print_P(PSTR("Motor Comp: "));
if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
cliSerial->print_P(PSTR("Off\n"));
}else{
if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
cliSerial->print_P(PSTR("Throttle"));
}
if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
cliSerial->print_P(PSTR("Current"));
}
Vector3f motor_compensation = compass.get_motor_compensation();
cliSerial->printf_P(PSTR("\nComp Vec: %4.2f, %4.2f, %4.2f\n"),
motor_compensation.x,
motor_compensation.y,
motor_compensation.z);
}
print_blanks(1);
}
static void
print_blanks(int16_t num)
{
while(num > 0) {
num--;
cliSerial->println("");
}
}
static void
print_divider(void)
{
for (int i = 0; i < 40; i++) {
cliSerial->print_P(PSTR("-"));
}
cliSerial->println();
}
static void print_enabled(bool b)
{
if(b)
cliSerial->print_P(PSTR("en"));
else
cliSerial->print_P(PSTR("dis"));
cliSerial->print_P(PSTR("abled\n"));
}
static void
init_esc()
{
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
// we enable the motors directly here instead of calling output_min because output_min would send a low signal to the ESC and disrupt the calibration process
motors.enable();
motors.armed(true);
while(1) {
read_radio();
delay(100);
AP_Notify::flags.esc_calibration = true;
motors.throttle_pass_through();
}
}
static void report_version()
{
cliSerial->printf_P(PSTR("FW Ver: %d\n"),(int)g.k_format_version);
print_divider();
print_blanks(2);
}
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