mirror of https://github.com/ArduPilot/ardupilot
651 lines
16 KiB
Plaintext
651 lines
16 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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static int8_t setup_accel_scale (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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{"accel", setup_accel_scale},
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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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{"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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// 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_flight_modes();
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report_ins();
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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();
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return(0);
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}
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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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//default_flight_modes(); // This will not work here. Replacement code located in init_ardupilot()
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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_roll.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_roll.radio_min = g.channel_roll.radio_in;
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g.channel_pitch.radio_min = g.channel_pitch.radio_in;
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g.channel_throttle.radio_min = g.channel_throttle.radio_in;
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g.channel_rudder.radio_min = g.channel_rudder.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_roll.radio_max = g.channel_roll.radio_in;
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g.channel_pitch.radio_max = g.channel_pitch.radio_in;
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g.channel_throttle.radio_max = g.channel_throttle.radio_in;
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g.channel_rudder.radio_max = g.channel_rudder.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_roll.radio_trim = g.channel_roll.radio_in;
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g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
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g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
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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_roll.update_min_max();
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g.channel_pitch.update_min_max();
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g.channel_throttle.update_min_max();
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g.channel_rudder.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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cliSerial->flush();
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g.channel_roll.save_eeprom();
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g.channel_pitch.save_eeprom();
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g.channel_throttle.save_eeprom();
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g.channel_rudder.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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byte 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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flight_modes[switchPosition] = MANUAL;
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}
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// update our current mode
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mode = flight_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 != CIRCLE &&
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mode != LEARNING &&
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mode != FLY_BY_WIRE_A &&
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mode != FLY_BY_WIRE_B &&
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mode != AUTO &&
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mode != RTL &&
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mode != LOITER)
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{
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if (mode < MANUAL)
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mode = LOITER;
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else if (mode >LOITER)
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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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flight_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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flight_modes[mode].save();
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report_flight_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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static void setup_printf_P(const prog_char_t *fmt, ...)
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{
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va_list arg_list;
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va_start(arg_list, fmt);
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cliSerial->vprintf_P(fmt, arg_list);
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va_end(arg_list);
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}
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static void setup_wait_key(void)
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{
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// wait for user input
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while (!cliSerial->available()) {
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delay(20);
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}
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// clear input buffer
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while( cliSerial->available() ) {
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cliSerial->read();
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}
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}
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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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cliSerial->println_P(PSTR("Initialising gyros"));
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ins.init(AP_InertialSensor::COLD_START, delay, flash_leds, &timer_scheduler);
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if (ins.calibrate_accel(delay, flash_leds, setup_printf_P, setup_wait_key)) {
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if (g.manual_level == 0) {
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cliSerial->println_P(PSTR("Setting MANUAL_LEVEL to 1"));
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g.manual_level.set_and_save(1);
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}
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}
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report_ins();
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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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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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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 roll:\n"));
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print_PID(&g.pidServoRoll);
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cliSerial->printf_P(PSTR("servo pitch:\n"));
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print_PID(&g.pidServoPitch);
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cliSerial->printf_P(PSTR("servo rudder:\n"));
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print_PID(&g.pidServoRudder);
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cliSerial->printf_P(PSTR("nav roll:\n"));
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print_PID(&g.pidNavRoll);
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cliSerial->printf_P(PSTR("nav pitch airspeed:\n"));
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print_PID(&g.pidNavPitchAirspeed);
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cliSerial->printf_P(PSTR("energry throttle:\n"));
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print_PID(&g.pidTeThrottle);
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cliSerial->printf_P(PSTR("nav pitch alt:\n"));
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print_PID(&g.pidNavPitchAltitude);
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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"));
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print_divider();
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// radio
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cliSerial->printf_P(PSTR("XTRACK: %4.2f\n"
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"XTRACK angle: %d\n"),
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(float)g.crosstrack_gain,
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(int)g.crosstrack_entry_angle);
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print_blanks(2);
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}
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static void report_throttle()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Throttle\n"));
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print_divider();
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cliSerial->printf_P(PSTR("min: %d\n"
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"max: %d\n"
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"cruise: %d\n"
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"failsafe_enabled: %d\n"
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"failsafe_value: %d\n"),
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(int)g.throttle_min,
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(int)g.throttle_max,
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(int)g.throttle_cruise,
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(int)g.throttle_fs_enabled,
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(int)g.throttle_fs_value);
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print_blanks(2);
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}
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static void report_ins()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("INS\n"));
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print_divider();
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print_gyro_offsets();
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print_accel_offsets_and_scaling();
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print_blanks(2);
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}
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static void report_compass()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Compass: "));
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switch (compass.product_id) {
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case AP_COMPASS_TYPE_HMC5883L:
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cliSerial->println_P(PSTR("HMC5883L"));
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break;
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case AP_COMPASS_TYPE_HMC5843:
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cliSerial->println_P(PSTR("HMC5843"));
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break;
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case AP_COMPASS_TYPE_HIL:
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cliSerial->println_P(PSTR("HIL"));
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break;
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default:
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cliSerial->println_P(PSTR("??"));
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break;
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}
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print_divider();
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print_enabled(g.compass_enabled);
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// mag declination
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cliSerial->printf_P(PSTR("Mag Declination: %4.4f\n"),
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degrees(compass.get_declination()));
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Vector3f offsets = compass.get_offsets();
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// mag offsets
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cliSerial->printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f\n"),
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offsets.x,
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offsets.y,
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offsets.z);
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print_blanks(2);
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}
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static void report_flight_modes()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Flight modes\n"));
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print_divider();
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for(int i = 0; i < 6; i++ ){
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print_switch(i, flight_modes[i]);
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}
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print_blanks(2);
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}
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/***************************************************************************/
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// CLI utilities
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/***************************************************************************/
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static void
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print_PID(PID * pid)
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{
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cliSerial->printf_P(PSTR("P: %4.3f, I:%4.3f, D:%4.3f, IMAX:%ld\n"),
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pid->kP(),
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pid->kI(),
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pid->kD(),
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(long)pid->imax());
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}
|
|
|
|
static void
|
|
print_radio_values()
|
|
{
|
|
cliSerial->printf_P(PSTR("CH1: %d | %d | %d\n"), (int)g.channel_roll.radio_min, (int)g.channel_roll.radio_trim, (int)g.channel_roll.radio_max);
|
|
cliSerial->printf_P(PSTR("CH2: %d | %d | %d\n"), (int)g.channel_pitch.radio_min, (int)g.channel_pitch.radio_trim, (int)g.channel_pitch.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.channel_rudder.radio_min, (int)g.channel_rudder.radio_trim, (int)g.channel_rudder.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(byte p, byte m)
|
|
{
|
|
cliSerial->printf_P(PSTR("Pos %d: "),p);
|
|
cliSerial->println(flight_mode_strings[m]);
|
|
}
|
|
|
|
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_roll.radio_in - g.channel_roll.radio_trim) > 100) {
|
|
bouncer = 10;
|
|
}
|
|
if (int16_t(g.channel_roll.radio_in - g.channel_roll.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)
|
|
{
|
|
byte b = 0;
|
|
cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
|
|
for (intptr_t i = 0; i < EEPROM_MAX_ADDR; i++) {
|
|
eeprom_write_byte((uint8_t *) 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"));
|
|
}
|
|
|
|
static void
|
|
print_accel_offsets_and_scaling(void)
|
|
{
|
|
Vector3f accel_offsets = ins.get_accel_offsets();
|
|
Vector3f accel_scale = ins.get_accel_scale();
|
|
cliSerial->printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\tscale: %4.2f, %4.2f, %4.2f\n"),
|
|
(float)accel_offsets.x, // Pitch
|
|
(float)accel_offsets.y, // Roll
|
|
(float)accel_offsets.z, // YAW
|
|
(float)accel_scale.x, // Pitch
|
|
(float)accel_scale.y, // Roll
|
|
(float)accel_scale.z); // YAW
|
|
}
|
|
|
|
static void
|
|
print_gyro_offsets(void)
|
|
{
|
|
cliSerial->printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
|
|
(float)ins.gx(),
|
|
(float)ins.gy(),
|
|
(float)ins.gz());
|
|
}
|
|
|
|
|
|
#endif // CLI_ENABLED
|