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https://github.com/ArduPilot/ardupilot
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813b67cb5e
git-svn-id: https://arducopter.googlecode.com/svn/trunk@507 f9c3cf11-9bcb-44bc-f272-b75c42450872
363 lines
11 KiB
Plaintext
363 lines
11 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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// Just add this in now and edit later
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int i, j;
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float aux_float[3];
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pinMode(LED_Yellow,OUTPUT); //Yellow LED A (PC1)
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pinMode(LED_Red,OUTPUT); //Red LED B (PC2)
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pinMode(LED_Green,OUTPUT); //Green LED C (PC0)
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pinMode(SW1_pin,INPUT); //Switch SW1 (pin PG0)
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pinMode(RELE_pin,OUTPUT); // Rele output
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digitalWrite(RELE_pin,LOW);
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APM_RC.Init(); // APM Radio initialization
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// RC channels Initialization (Quad motors)
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APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
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APM_RC.OutputCh(1,MIN_THROTTLE);
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APM_RC.OutputCh(2,MIN_THROTTLE);
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APM_RC.OutputCh(3,MIN_THROTTLE);
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// delay(1000); // Wait until frame is not moving after initial power cord has connected
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for(i = 0; i <= 50; i++) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, HIGH);
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delay(20);
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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delay(20);
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}
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APM_ADC.Init(); // APM ADC library initialization
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DataFlash.Init(); // DataFlash log initialization
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#ifdef IsGPS
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GPS.Init(); // GPS Initialization
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#ifdef IsNEWMTEK
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delay(250);
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// DIY Drones MTEK GPS needs binary sentences activated if you upgraded to latest firmware.
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// If your GPS shows solid blue but LED C (Red) does not go on, your GPS is on NMEA mode
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Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
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#endif
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#endif
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readUserConfig(); // Load user configurable items from EEPROM
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// Safety measure for Channel mids
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if(roll_mid < 1400 || roll_mid > 1600) roll_mid = 1500;
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if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500;
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if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500;
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if (MAGNETOMETER == 1)
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APM_Compass.Init(); // I2C initialization
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DataFlash.StartWrite(1); // Start a write session on page 1
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SerBeg(SerBau); // Initialize SerialXX.port, IsXBEE define declares which port
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#ifndef CONFIGURATOR
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SerPri("ArduCopter Quadcopter v");
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SerPriln(VER)
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SerPri("Serial ready on port: "); // Printout greeting to selecter serial port
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SerPriln(SerPor); // Printout serial port name
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#endif
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// Check if we enable the DataFlash log Read Mode (switch)
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// If we press switch 1 at startup we read the Dataflash eeprom
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while (digitalRead(SW1_pin)==0)
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{
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SerPriln("Entering Log Read Mode...");
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Log_Read(1,2000);
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delay(30000);
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}
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Read_adc_raw();
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delay(10);
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// Offset values for accels and gyros...
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AN_OFFSET[3] = acc_offset_x;
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AN_OFFSET[4] = acc_offset_y;
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AN_OFFSET[5] = acc_offset_z;
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aux_float[0] = gyro_offset_roll;
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aux_float[1] = gyro_offset_pitch;
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aux_float[2] = gyro_offset_yaw;
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j = 0;
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// Take the gyro offset values
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for(i=0;i<300;i++)
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{
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Read_adc_raw();
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for(int y=0; y<=2; y++) // Read initial ADC values for gyro offset.
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{
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aux_float[y]=aux_float[y]*0.8 + AN[y]*0.2;
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//SerPri(AN[y]);
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//SerPri(",");
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}
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//SerPriln();
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Log_Write_Sensor(AN[0],AN[1],AN[2],AN[3],AN[4],AN[5],ch_throttle);
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delay(10);
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// Runnings lights effect to let user know that we are taking mesurements
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if(j == 0) {
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digitalWrite(LED_Green, HIGH);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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}
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else if (j == 1) {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, HIGH);
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digitalWrite(LED_Red, LOW);
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}
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else {
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, HIGH);
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}
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if((i % 5) == 0) j++;
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if(j >= 3) j = 0;
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}
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digitalWrite(LED_Green, LOW);
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digitalWrite(LED_Yellow, LOW);
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digitalWrite(LED_Red, LOW);
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for(int y=0; y<=2; y++)
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AN_OFFSET[y]=aux_float[y];
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// Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
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#ifndef CONFIGURATOR
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for(i=0;i<6;i++)
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{
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SerPri("AN[]:");
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SerPriln(AN_OFFSET[i]);
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}
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SerPri("Yaw neutral value:");
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// SerPriln(Neutro_yaw);
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SerPri(yaw_mid);
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#endif
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delay(1000);
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DataFlash.StartWrite(1); // Start a write session on page 1
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timer = millis();
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tlmTimer = millis();
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Read_adc_raw(); // Initialize ADC readings...
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delay(20);
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#ifdef IsAM
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// Switch Left & Right lights on
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digitalWrite(RI_LED, HIGH);
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digitalWrite(LE_LED, HIGH);
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#endif
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motorArmed = 0;
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digitalWrite(LED_Green,HIGH); // Ready to go...
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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 / 1000.0f;
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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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if(FL_mode == 0) { // Changed for variable
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gled_speed = 1200;
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Attitude_control_v3();
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}
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else {
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gled_speed = 400;
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Rate_control_v2();
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// Reset yaw, so if we change to stable mode we continue with the actual yaw direction
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command_rx_yaw = ToDeg(yaw);
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}
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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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