mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
a42a939cc9
Made minor change in Loiter to check something. Motor LEDs enabled. Let me know if they work OK. Armed Motors is now Solid to match GPS behavior. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2421 f9c3cf11-9bcb-44bc-f272-b75c42450872
534 lines
13 KiB
Plaintext
534 lines
13 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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*****************************************************************************/
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// Functions called from the top-level menu
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extern int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
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extern int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
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extern int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of print_f that reads from flash memory
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("Commands:\n"
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" logs\n"
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" setup\n"
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" test\n"
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"\n"
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"Move the slide switch and reset to FLY.\n"
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"\n"));
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return(0);
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}
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// Command/function table for the top-level menu.
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const struct Menu::command main_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"logs", process_logs},
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{"setup", setup_mode},
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{"test", test_mode},
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{"help", main_menu_help}
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};
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// Create the top-level menu object.
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MENU(main_menu, "AC 2.0.16 Beta", main_menu_commands);
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void init_ardupilot()
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{
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// Console serial port
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//
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// The console port buffers are defined to be sufficiently large to support
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// the console's use as a logging device, optionally as the GPS port when
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// GPS_PROTOCOL_IMU is selected, and as the telemetry port.
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//
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// XXX This could be optimised to reduce the buffer sizes in the cases
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// where they are not otherwise required.
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//
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Serial.begin(SERIAL0_BAUD, 128, 128);
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// GPS serial port.
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//
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// Not used if the IMU/X-Plane GPS is in use.
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//
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// XXX currently the EM406 (SiRF receiver) is nominally configured
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// at 57600, however it's not been supported to date. We should
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// probably standardise on 38400.
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//
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// XXX the 128 byte receive buffer may be too small for NMEA, depending
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// on the message set configured.
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//
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#if GPS_PROTOCOL != GPS_PROTOCOL_IMU
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Serial1.begin(38400, 128, 16);
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#endif
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// Telemetry port.
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//
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// Not used if telemetry is going to the console.
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//
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// XXX for unidirectional protocols, we could (should) minimize
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// the receive buffer, and the transmit buffer could also be
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// shrunk for protocols that don't send large messages.
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//
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Serial3.begin(SERIAL3_BAUD, 128, 128);
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Serial.printf_P(PSTR("\n\nInit ACM"
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"\n\nRAM: %lu\n"),
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freeRAM());
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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report_version();
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if (!g.format_version.load() ||
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g.format_version != Parameters::k_format_version) {
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//Serial.printf_P(PSTR("\n\nForcing complete parameter reset..."));
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/*Serial.printf_P(PSTR("\n\nEEPROM format version %d not compatible with this firmware (requires %d)"
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"\n\nForcing complete parameter reset..."),
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g.format_version.get(),
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Parameters::k_format_version);
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*/
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// erase all parameters
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AP_Var::erase_all();
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// save the new format version
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g.format_version.set_and_save(Parameters::k_format_version);
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Serial.printf_P(PSTR("Please Run Setup...\n"));
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while (true) {
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delay(1000);
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if(motor_light){
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digitalWrite(A_LED_PIN, HIGH);
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digitalWrite(B_LED_PIN, HIGH);
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digitalWrite(C_LED_PIN, HIGH);
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}else{
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digitalWrite(A_LED_PIN, LOW);
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digitalWrite(B_LED_PIN, LOW);
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digitalWrite(C_LED_PIN, LOW);
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}
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motor_light = !motor_light;
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}
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}else{
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// unsigned long before = micros();
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// Load all auto-loaded EEPROM variables
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AP_Var::load_all();
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// Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
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// Serial.printf_P(PSTR("using %u bytes of memory\n"), AP_Var::get_memory_use());
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}
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#ifdef RADIO_OVERRIDE_DEFAULTS
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{
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int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
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APM_RC.setHIL(rc_override);
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}
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#endif
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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init_camera();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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adc.Init(); // APM ADC library initialization
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barometer.Init(); // APM Abs Pressure sensor initialization
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#endif
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// Do GPS init
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//g_gps = &GPS;
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g_gps = &g_gps_driver;
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g_gps->init(); // GPS Initialization
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// init the GCS
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#if GCS_PORT == 3
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gcs.init(&Serial3);
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#else
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gcs.init(&Serial);
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#endif
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// init the HIL
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#if HIL_MODE != HIL_MODE_DISABLED
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#if HIL_PORT == 3
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hil.init(&Serial3);
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#elif HIL_PORT == 1
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hil.init(&Serial1);
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#else
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hil.init(&Serial);
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#endif
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#endif
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// We may have a hil object instantiated just for mission planning
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#if HIL_MODE == HIL_MODE_DISABLED && HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_PORT == 0
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hil.init(&Serial);
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#endif
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if(g.compass_enabled)
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init_compass();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if(g.sonar_enabled){
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sonar.init(SONAR_PIN, &adc);
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}
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#endif
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED
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pinMode(A_LED_PIN, OUTPUT); // GPS status LED
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pinMode(B_LED_PIN, OUTPUT); // GPS status LED
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pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
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pinMode(PUSHBUTTON_PIN, INPUT); // unused
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DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
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#if MOTOR_LEDS == 1
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pinMode(FR_LED, OUTPUT); // GPS status LED
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pinMode(RE_LED, OUTPUT); // GPS status LED
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pinMode(RI_LED, OUTPUT); // GPS status LED
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pinMode(LE_LED, OUTPUT); // GPS status LED
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#endif
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// Logging:
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// --------
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DataFlash.Init(); // DataFlash log initialization
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// setup the log bitmask
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if (g.log_bitmask & MASK_LOG_SET_DEFAULTS)
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default_log_bitmask();
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// If the switch is in 'menu' mode, run the main menu.
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//
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// Since we can't be sure that the setup or test mode won't leave
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// the system in an odd state, we don't let the user exit the top
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// menu; they must reset in order to fly.
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//
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if (digitalRead(SLIDE_SWITCH_PIN) == 0) {
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digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
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Serial.printf_P(PSTR("\n"
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"Entering interactive setup mode...\n"
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"\n"
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"Type 'help' to list commands, 'exit' to leave a submenu.\n"
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"Visit the 'setup' menu for first-time configuration.\n\n"));
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for (;;) {
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//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
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main_menu.run();
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}
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}else{
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if(g.esc_calibrate == 1){
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init_esc();
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}
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}
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// All of the Gyro calibrations
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// ----------------------------
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startup_ground();
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// set the correct flight mode
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// ---------------------------
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//reset_control_switch();
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// init the Yaw Hold output
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clear_yaw_control();
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// Logging:
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// --------
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if(g.log_bitmask != 0){
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// TODO - Here we will check on the length of the last log
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// We don't want to create a bunch of little logs due to powering on and off
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start_new_log();
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}
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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}
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//********************************************************************************
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//This function does all the calibrations, etc. that we need during a ground start
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//********************************************************************************
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void startup_ground(void)
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{
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gcs.send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
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#if(GROUND_START_DELAY > 0)
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//gcs.send_text_P(SEVERITY_LOW, PSTR(" With Delay"));
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delay(GROUND_START_DELAY * 1000);
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#endif
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// Output waypoints for confirmation
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// --------------------------------
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for(int i = 1; i < g.waypoint_total + 1; i++) {
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gcs.send_message(MSG_COMMAND_LIST, i);
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// Warm up and read Gyro offsets
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// -----------------------------
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imu.init_gyro();
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report_imu();
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#endif
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground
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//-----------------------------
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init_barometer();
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#endif
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// initialize commands
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// -------------------
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init_commands();
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GPS_enabled = false;
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// Read in the GPS
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for (byte counter = 0; ; counter++) {
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g_gps->update();
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if (g_gps->status() != 0){
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GPS_enabled = true;
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break;
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}
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if (counter >= 2) {
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GPS_enabled = false;
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break;
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}
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}
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report_gps();
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SendDebug("\nReady to FLY ");
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//gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
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}
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void set_mode(byte mode)
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{
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if(control_mode == mode){
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// don't switch modes if we are already in the correct mode.
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return;
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}
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control_mode = mode;
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control_mode = constrain(control_mode, 0, NUM_MODES - 1);
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Log_Write_Mode(control_mode);
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// used to stop fly_aways
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if(g.rc_3.control_in == 0){ // throttle is 0
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// we are on the ground is this is true
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// disarm motors for Auto
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motor_auto_armed = false;
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}
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//send_text_P(SEVERITY_LOW,PSTR("control mode"));
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//Serial.printf("set mode: %d\n",control_mode);
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Serial.println(flight_mode_strings[control_mode]);
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switch(control_mode)
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{
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case ACRO:
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break;
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case STABILIZE:
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do_loiter_at_location();
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break;
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case ALT_HOLD:
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init_throttle_cruise();
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do_loiter_at_location();
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break;
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case AUTO:
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init_throttle_cruise();
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init_auto();
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break;
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case SIMPLE:
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break;
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case LOITER:
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init_throttle_cruise();
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do_loiter_at_location();
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break;
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case RTL:
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//init_throttle_cruise();
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do_RTL();
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break;
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default:
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break;
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}
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// output control mode to the ground station
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gcs.send_message(MSG_MODE_CHANGE);
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}
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void set_failsafe(boolean mode)
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{
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// only act on changes
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// -------------------
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if(failsafe != mode){
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// store the value so we don't trip the gate twice
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// -----------------------------------------------
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failsafe = mode;
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if (failsafe == false){
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// We've regained radio contact
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// ----------------------------
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failsafe_off_event();
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}else{
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// We've lost radio contact
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// ------------------------
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failsafe_on_event();
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}
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}
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}
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#if MOTOR_LEDS == 1
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void update_motor_leds(void)
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{
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// blink rear
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static bool blink;
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if (blink){
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blink = false;
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digitalWrite(RE_LED, LOW);
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}else{
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blink = true;
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digitalWrite(RE_LED, HIGH);
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}
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}
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#endif
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void update_GPS_light(void)
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{
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// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
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// ---------------------------------------------------------------------
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switch (g_gps->status()){
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case(2):
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digitalWrite(C_LED_PIN, HIGH); //Turn LED C on when gps has valid fix.
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break;
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case(1):
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if (g_gps->valid_read == true){
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GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
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if (GPS_light){
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digitalWrite(C_LED_PIN, LOW);
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}else{
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digitalWrite(C_LED_PIN, HIGH);
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}
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g_gps->valid_read = false;
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}
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break;
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default:
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digitalWrite(C_LED_PIN, LOW);
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break;
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}
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}
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void update_motor_light(void)
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{
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if(motor_armed == false){
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motor_light = !motor_light;
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// blink
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if(motor_light){
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digitalWrite(A_LED_PIN, HIGH);
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}else{
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digitalWrite(A_LED_PIN, LOW);
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}
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}else{
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if(!motor_light){
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motor_light = true;
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digitalWrite(A_LED_PIN, HIGH);
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}
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}
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}
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void update_esc_light()
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{
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static byte step;
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if (step++ == 3)
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step = 0;
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switch(step)
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{
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case 0:
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digitalWrite(C_LED_PIN, LOW);
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digitalWrite(A_LED_PIN, HIGH);
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break;
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case 1:
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digitalWrite(A_LED_PIN, LOW);
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digitalWrite(B_LED_PIN, HIGH);
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break;
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case 2:
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digitalWrite(B_LED_PIN, LOW);
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digitalWrite(C_LED_PIN, HIGH);
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break;
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}
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}
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void resetPerfData(void) {
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mainLoop_count = 0;
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G_Dt_max = 0;
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gps_fix_count = 0;
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perf_mon_timer = millis();
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}
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void
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init_compass()
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{
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dcm.set_compass(&compass);
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bool junkbool = compass.init();
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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Vector3f junkvector = compass.get_offsets(); // load offsets to account for airframe magnetic interference
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}
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/* This function gets the current value of the heap and stack pointers.
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* The stack pointer starts at the top of RAM and grows downwards. The heap pointer
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* starts just above the static variables etc. and grows upwards. SP should always
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* be larger than HP or you'll be in big trouble! The smaller the gap, the more
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* careful you need to be. Julian Gall 6 - Feb - 2009.
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*/
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unsigned long freeRAM() {
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uint8_t * heapptr, * stackptr;
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stackptr = (uint8_t *)malloc(4); // use stackptr temporarily
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heapptr = stackptr; // save value of heap pointer
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free(stackptr); // free up the memory again (sets stackptr to 0)
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stackptr = (uint8_t *)(SP); // save value of stack pointer
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return stackptr - heapptr;
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}
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void
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init_simple_bearing()
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{
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initial_simple_bearing = dcm.yaw_sensor;
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}
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void
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init_throttle_cruise()
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{
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//if(set_throttle_cruise_flag == false){
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if(g.rc_3.control_in > 200){
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g.throttle_cruise.set_and_save(g.rc_3.control_in);
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}
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//}
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}
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