mirror of https://github.com/ArduPilot/ardupilot
711 lines
17 KiB
Plaintext
711 lines
17 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CLI_ENABLED == ENABLED
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// Functions called from the setup menu
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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#if !defined( __AVR_ATmega1280__ )
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_set (uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t setup_level (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
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// Command/function table for the setup menu
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static const struct Menu::command setup_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"reset", setup_factory},
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{"radio", setup_radio},
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{"modes", setup_flightmodes},
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{"level", setup_level},
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#if !defined( __AVR_ATmega1280__ )
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{"accel", setup_accel_scale},
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#endif
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{"compass", setup_compass},
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{"declination", setup_declination},
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{"battery", setup_batt_monitor},
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{"show", setup_show},
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#if !defined( __AVR_ATmega1280__ )
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{"set", setup_set},
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#endif
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{"erase", setup_erase},
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};
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// Create the setup menu object.
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MENU(setup_menu, "setup", setup_menu_commands);
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// Called from the top-level menu to run the setup menu.
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static int8_t
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setup_mode(uint8_t argc, const Menu::arg *argv)
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{
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// Give the user some guidance
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cliSerial->printf_P(PSTR("Setup Mode\n"
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"\n"
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"IMPORTANT: if you have not previously set this system up, use the\n"
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"'reset' command to initialize the EEPROM to sensible default values\n"
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"and then the 'radio' command to configure for your radio.\n"
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"\n"));
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// Run the setup menu. When the menu exits, we will return to the main menu.
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setup_menu.run();
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return 0;
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}
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// Print the current configuration.
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// Called by the setup menu 'show' command.
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static int8_t
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setup_show(uint8_t argc, const Menu::arg *argv)
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{
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#if !defined( __AVR_ATmega1280__ )
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AP_Param *param;
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ap_var_type type;
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//If a parameter name is given as an argument to show, print only that parameter
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if(argc>=2)
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{
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param=AP_Param::find(argv[1].str, &type);
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if(!param)
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{
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cliSerial->printf_P(PSTR("Parameter not found: '%s'\n"), argv[1]);
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return 0;
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}
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//Print differently for different types, and include parameter type in output.
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switch (type) {
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case AP_PARAM_INT8:
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cliSerial->printf_P(PSTR("INT8 %s: %d\n"), argv[1].str, (int)((AP_Int8 *)param)->get());
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break;
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case AP_PARAM_INT16:
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cliSerial->printf_P(PSTR("INT16 %s: %d\n"), argv[1].str, (int)((AP_Int16 *)param)->get());
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break;
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case AP_PARAM_INT32:
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cliSerial->printf_P(PSTR("INT32 %s: %ld\n"), argv[1].str, (long)((AP_Int32 *)param)->get());
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break;
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case AP_PARAM_FLOAT:
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cliSerial->printf_P(PSTR("FLOAT %s: %f\n"), argv[1].str, ((AP_Float *)param)->get());
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break;
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default:
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cliSerial->printf_P(PSTR("Unhandled parameter type for %s: %d.\n"), argv[1].str, type);
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break;
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}
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return 0;
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}
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#endif
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// clear the area
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print_blanks(8);
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report_radio();
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report_batt_monitor();
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report_gains();
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report_xtrack();
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report_throttle();
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report_modes();
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report_compass();
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cliSerial->printf_P(PSTR("Raw Values\n"));
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print_divider();
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AP_Param::show_all(cliSerial);
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return(0);
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}
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#if !defined( __AVR_ATmega1280__ )
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//Set a parameter to a specified value. It will cast the value to the current type of the
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//parameter and make sure it fits in case of INT8 and INT16
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static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
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{
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int8_t value_int8;
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int16_t value_int16;
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AP_Param *param;
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enum ap_var_type p_type;
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if(argc!=3)
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{
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cliSerial->printf_P(PSTR("Invalid command. Usage: set <name> <value>\n"));
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return 0;
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}
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param = AP_Param::find(argv[1].str, &p_type);
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if(!param)
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{
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cliSerial->printf_P(PSTR("Param not found: %s\n"), argv[1].str);
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return 0;
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}
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switch(p_type)
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{
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case AP_PARAM_INT8:
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value_int8 = (int8_t)(argv[2].i);
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if(argv[2].i!=value_int8)
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{
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cliSerial->printf_P(PSTR("Value out of range for type INT8\n"));
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return 0;
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}
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((AP_Int8*)param)->set_and_save(value_int8);
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break;
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case AP_PARAM_INT16:
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value_int16 = (int16_t)(argv[2].i);
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if(argv[2].i!=value_int16)
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{
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cliSerial->printf_P(PSTR("Value out of range for type INT16\n"));
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return 0;
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}
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((AP_Int16*)param)->set_and_save(value_int16);
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break;
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//int32 and float don't need bounds checking, just use the value provoded by Menu::arg
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case AP_PARAM_INT32:
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((AP_Int32*)param)->set_and_save(argv[2].i);
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break;
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case AP_PARAM_FLOAT:
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((AP_Float*)param)->set_and_save(argv[2].f);
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break;
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default:
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cliSerial->printf_P(PSTR("Cannot set parameter of type %d.\n"), p_type);
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break;
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}
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return 0;
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}
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#endif
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// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
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// Called by the setup menu 'factoryreset' command.
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static int8_t
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setup_factory(uint8_t argc, const Menu::arg *argv)
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{
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int c;
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cliSerial->printf_P(PSTR("\nType 'Y' and hit Enter to perform factory reset, any other key to abort: "));
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do {
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c = cliSerial->read();
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} while (-1 == c);
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if (('y' != c) && ('Y' != c))
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return(-1);
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AP_Param::erase_all();
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cliSerial->printf_P(PSTR("\nFACTORY RESET complete - please reset APM to continue"));
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for (;;) {
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}
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// note, cannot actually return here
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return(0);
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}
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// Perform radio setup.
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// Called by the setup menu 'radio' command.
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static int8_t
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setup_radio(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR("\n\nRadio Setup:\n"));
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uint8_t i;
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for(i = 0; i < 100;i++){
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delay(20);
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read_radio();
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}
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if(g.channel_steer.radio_in < 500){
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while(1){
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cliSerial->printf_P(PSTR("\nNo radio; Check connectors."));
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delay(1000);
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// stop here
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}
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}
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g.channel_steer.radio_min = g.channel_steer.radio_in;
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g.channel_throttle.radio_min = g.channel_throttle.radio_in;
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g.rc_2.radio_min = g.rc_2.radio_in;
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g.rc_4.radio_min = g.rc_4.radio_in;
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g.rc_5.radio_min = g.rc_5.radio_in;
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g.rc_6.radio_min = g.rc_6.radio_in;
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g.rc_7.radio_min = g.rc_7.radio_in;
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g.rc_8.radio_min = g.rc_8.radio_in;
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g.channel_steer.radio_max = g.channel_steer.radio_in;
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g.channel_throttle.radio_max = g.channel_throttle.radio_in;
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g.rc_2.radio_max = g.rc_2.radio_in;
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g.rc_4.radio_max = g.rc_4.radio_in;
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g.rc_5.radio_max = g.rc_5.radio_in;
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g.rc_6.radio_max = g.rc_6.radio_in;
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g.rc_7.radio_max = g.rc_7.radio_in;
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g.rc_8.radio_max = g.rc_8.radio_in;
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g.channel_steer.radio_trim = g.channel_steer.radio_in;
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g.rc_2.radio_trim = 1500;
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g.rc_4.radio_trim = 1500;
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g.rc_5.radio_trim = 1500;
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g.rc_6.radio_trim = 1500;
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g.rc_7.radio_trim = 1500;
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g.rc_8.radio_trim = 1500;
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cliSerial->printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: \n"));
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while(1){
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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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g.channel_steer.update_min_max();
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g.channel_throttle.update_min_max();
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g.rc_2.update_min_max();
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g.rc_4.update_min_max();
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g.rc_5.update_min_max();
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g.rc_6.update_min_max();
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g.rc_7.update_min_max();
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g.rc_8.update_min_max();
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if(cliSerial->available() > 0){
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while (cliSerial->available() > 0) {
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cliSerial->read();
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}
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g.channel_steer.save_eeprom();
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g.channel_throttle.save_eeprom();
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g.rc_2.save_eeprom();
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g.rc_4.save_eeprom();
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g.rc_5.save_eeprom();
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g.rc_6.save_eeprom();
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g.rc_7.save_eeprom();
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g.rc_8.save_eeprom();
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print_done();
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break;
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}
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}
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trim_radio();
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report_radio();
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return(0);
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}
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static int8_t
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setup_flightmodes(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t switchPosition, mode = 0;
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cliSerial->printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
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print_hit_enter();
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trim_radio();
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while(1){
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delay(20);
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read_radio();
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switchPosition = readSwitch();
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// look for control switch change
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if (oldSwitchPosition != switchPosition){
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// force position 5 to MANUAL
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if (switchPosition > 4) {
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modes[switchPosition] = MANUAL;
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}
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// update our current mode
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mode = modes[switchPosition];
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// update the user
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print_switch(switchPosition, mode);
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// Remember switch position
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oldSwitchPosition = switchPosition;
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}
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// look for stick input
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int radioInputSwitch = radio_input_switch();
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if (radioInputSwitch != 0){
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mode += radioInputSwitch;
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while (
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mode != MANUAL &&
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mode != HOLD &&
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mode != LEARNING &&
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mode != STEERING &&
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mode != AUTO &&
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mode != RTL)
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{
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if (mode < MANUAL)
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mode = RTL;
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else if (mode > RTL)
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mode = MANUAL;
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else
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mode += radioInputSwitch;
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}
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// Override position 5
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if(switchPosition > 4)
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mode = MANUAL;
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// save new mode
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modes[switchPosition] = mode;
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// print new mode
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print_switch(switchPosition, mode);
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}
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// escape hatch
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if(cliSerial->available() > 0){
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// save changes
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for (mode=0; mode<6; mode++)
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modes[mode].save();
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report_modes();
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print_done();
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return (0);
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}
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}
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}
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static int8_t
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setup_declination(uint8_t argc, const Menu::arg *argv)
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{
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compass.set_declination(radians(argv[1].f));
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report_compass();
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return 0;
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}
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static int8_t
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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int c;
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cliSerial->printf_P(PSTR("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: "));
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do {
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c = cliSerial->read();
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} while (-1 == c);
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if (('y' != c) && ('Y' != c))
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return(-1);
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zero_eeprom();
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return 0;
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}
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/*
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handle full accelerometer calibration via user dialog
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*/
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#if !defined( __AVR_ATmega1280__ )
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static int8_t
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setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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{
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float trim_roll, trim_pitch;
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cliSerial->println_P(PSTR("Initialising gyros"));
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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AP_InertialSensor_UserInteractStream interact(hal.console);
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if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
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// reset ahrs's trim to suggested values from calibration routine
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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return(0);
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}
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#endif
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static int8_t
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setup_level(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->println_P(PSTR("Initialising gyros"));
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins.init_accel(flash_leds);
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ahrs.set_trim(Vector3f(0, 0, 0));
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return(0);
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}
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static int8_t
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setup_compass(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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if (!compass.init()) {
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cliSerial->println_P(PSTR("Compass initialisation failed!"));
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g.compass_enabled = false;
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} else {
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g.compass_enabled = true;
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}
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.compass_enabled = false;
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} else if (!strcmp_P(argv[1].str, PSTR("reset"))) {
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compass.set_offsets(0,0,0);
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} else {
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cliSerial->printf_P(PSTR("\nOptions:[on,off,reset]\n"));
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report_compass();
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return 0;
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}
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g.compass_enabled.save();
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report_compass();
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return 0;
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}
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static int8_t
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setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
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{
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if(argv[1].i >= 0 && argv[1].i <= 4){
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g.battery_monitoring.set_and_save(argv[1].i);
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} else {
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cliSerial->printf_P(PSTR("\nOptions: 3-4"));
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}
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report_batt_monitor();
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return 0;
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}
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/***************************************************************************/
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// CLI reports
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/***************************************************************************/
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static void report_batt_monitor()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Batt Mointor\n"));
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print_divider();
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if(g.battery_monitoring == 0) cliSerial->printf_P(PSTR("Batt monitoring disabled"));
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if(g.battery_monitoring == 3) cliSerial->printf_P(PSTR("Monitoring batt volts"));
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if(g.battery_monitoring == 4) cliSerial->printf_P(PSTR("Monitoring volts and current"));
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print_blanks(2);
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}
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static void report_radio()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Radio\n"));
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print_divider();
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// radio
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print_radio_values();
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print_blanks(2);
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}
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static void report_gains()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Gains\n"));
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print_divider();
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cliSerial->printf_P(PSTR("servo steer:\n"));
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print_PID(&g.pidServoSteer);
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cliSerial->printf_P(PSTR("nav steer:\n"));
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print_PID(&g.pidNavSteer);
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cliSerial->printf_P(PSTR("speed throttle:\n"));
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print_PID(&g.pidSpeedThrottle);
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print_blanks(2);
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}
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static void report_xtrack()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Crosstrack\n"));
|
|
print_divider();
|
|
// radio
|
|
cliSerial->printf_P(PSTR("XTRACK: %4.2f\n"
|
|
"XTRACK angle: %d\n"),
|
|
(float)g.crosstrack_gain,
|
|
(int)g.crosstrack_entry_angle);
|
|
print_blanks(2);
|
|
}
|
|
|
|
static void report_throttle()
|
|
{
|
|
//print_blanks(2);
|
|
cliSerial->printf_P(PSTR("Throttle\n"));
|
|
print_divider();
|
|
|
|
cliSerial->printf_P(PSTR("min: %u\n"
|
|
"max: %u\n"
|
|
"cruise: %u\n"
|
|
"failsafe_enabled: %u\n"
|
|
"failsafe_value: %u\n"),
|
|
(unsigned)g.throttle_min,
|
|
(unsigned)g.throttle_max,
|
|
(unsigned)g.throttle_cruise,
|
|
(unsigned)g.fs_throttle_enabled,
|
|
(unsigned)g.fs_throttle_value);
|
|
print_blanks(2);
|
|
}
|
|
|
|
static void report_compass()
|
|
{
|
|
//print_blanks(2);
|
|
cliSerial->printf_P(PSTR("Compass: "));
|
|
|
|
switch (compass.product_id) {
|
|
case AP_COMPASS_TYPE_HMC5883L:
|
|
cliSerial->println_P(PSTR("HMC5883L"));
|
|
break;
|
|
case AP_COMPASS_TYPE_HMC5843:
|
|
cliSerial->println_P(PSTR("HMC5843"));
|
|
break;
|
|
case AP_COMPASS_TYPE_HIL:
|
|
cliSerial->println_P(PSTR("HIL"));
|
|
break;
|
|
default:
|
|
cliSerial->println_P(PSTR("??"));
|
|
break;
|
|
}
|
|
|
|
print_divider();
|
|
|
|
print_enabled(g.compass_enabled);
|
|
|
|
// mag declination
|
|
cliSerial->printf_P(PSTR("Mag Declination: %4.4f\n"),
|
|
degrees(compass.get_declination()));
|
|
|
|
Vector3f offsets = compass.get_offsets();
|
|
|
|
// mag offsets
|
|
cliSerial->printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f\n"),
|
|
offsets.x,
|
|
offsets.y,
|
|
offsets.z);
|
|
print_blanks(2);
|
|
}
|
|
|
|
static void report_modes()
|
|
{
|
|
//print_blanks(2);
|
|
cliSerial->printf_P(PSTR("Flight modes\n"));
|
|
print_divider();
|
|
|
|
for(int i = 0; i < 6; i++ ){
|
|
print_switch(i, modes[i]);
|
|
}
|
|
print_blanks(2);
|
|
}
|
|
|
|
/***************************************************************************/
|
|
// CLI utilities
|
|
/***************************************************************************/
|
|
|
|
static void
|
|
print_PID(PID * pid)
|
|
{
|
|
cliSerial->printf_P(PSTR("P: %4.3f, I:%4.3f, D:%4.3f, IMAX:%ld\n"),
|
|
pid->kP(),
|
|
pid->kI(),
|
|
pid->kD(),
|
|
(long)pid->imax());
|
|
}
|
|
|
|
static void
|
|
print_radio_values()
|
|
{
|
|
cliSerial->printf_P(PSTR("CH1: %d | %d | %d\n"), (int)g.channel_steer.radio_min, (int)g.channel_steer.radio_trim, (int)g.channel_steer.radio_max);
|
|
cliSerial->printf_P(PSTR("CH2: %d | %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_trim, (int)g.rc_2.radio_max);
|
|
cliSerial->printf_P(PSTR("CH3: %d | %d | %d\n"), (int)g.channel_throttle.radio_min, (int)g.channel_throttle.radio_trim, (int)g.channel_throttle.radio_max);
|
|
cliSerial->printf_P(PSTR("CH4: %d | %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_trim, (int)g.rc_4.radio_max);
|
|
cliSerial->printf_P(PSTR("CH5: %d | %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_trim, (int)g.rc_5.radio_max);
|
|
cliSerial->printf_P(PSTR("CH6: %d | %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_trim, (int)g.rc_6.radio_max);
|
|
cliSerial->printf_P(PSTR("CH7: %d | %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_trim, (int)g.rc_7.radio_max);
|
|
cliSerial->printf_P(PSTR("CH8: %d | %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_trim, (int)g.rc_8.radio_max);
|
|
|
|
}
|
|
|
|
static void
|
|
print_switch(uint8_t p, uint8_t m)
|
|
{
|
|
cliSerial->printf_P(PSTR("Pos %d: "),p);
|
|
print_mode(cliSerial, m);
|
|
cliSerial->println();
|
|
}
|
|
|
|
static void
|
|
print_done()
|
|
{
|
|
cliSerial->printf_P(PSTR("\nSaved Settings\n\n"));
|
|
}
|
|
|
|
static void
|
|
print_blanks(int num)
|
|
{
|
|
while(num > 0){
|
|
num--;
|
|
cliSerial->println("");
|
|
}
|
|
}
|
|
|
|
static void
|
|
print_divider(void)
|
|
{
|
|
for (int i = 0; i < 40; i++) {
|
|
cliSerial->printf_P(PSTR("-"));
|
|
}
|
|
cliSerial->println("");
|
|
}
|
|
|
|
static int8_t
|
|
radio_input_switch(void)
|
|
{
|
|
static int8_t bouncer = 0;
|
|
|
|
|
|
if (int16_t(g.channel_steer.radio_in - g.channel_steer.radio_trim) > 100) {
|
|
bouncer = 10;
|
|
}
|
|
if (int16_t(g.channel_steer.radio_in - g.channel_steer.radio_trim) < -100) {
|
|
bouncer = -10;
|
|
}
|
|
if (bouncer >0) {
|
|
bouncer --;
|
|
}
|
|
if (bouncer <0) {
|
|
bouncer ++;
|
|
}
|
|
|
|
if (bouncer == 1 || bouncer == -1) {
|
|
return bouncer;
|
|
} else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
|
|
static void zero_eeprom(void)
|
|
{
|
|
uint8_t b = 0;
|
|
cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
|
|
for (uint16_t i = 0; i < EEPROM_MAX_ADDR; i++) {
|
|
hal.storage->write_byte(i, b);
|
|
}
|
|
cliSerial->printf_P(PSTR("done\n"));
|
|
}
|
|
|
|
static void print_enabled(bool b)
|
|
{
|
|
if(b)
|
|
cliSerial->printf_P(PSTR("en"));
|
|
else
|
|
cliSerial->printf_P(PSTR("dis"));
|
|
cliSerial->printf_P(PSTR("abled\n"));
|
|
}
|
|
|
|
#endif // CLI_ENABLED
|