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CLI work, magneto offsets

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1081 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-12-08 12:19:21 +00:00
parent 5778dcebdc
commit 0a91b02a93
2 changed files with 27 additions and 22 deletions
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45
ArducopterNG/CLI.pde
View File

@ -52,6 +52,7 @@ void RunCLI () {
SerPri("Firmware: "); SerPri("Firmware: ");
SerPrln(VER); SerPrln(VER);
SerPrln(); SerPrln();
SerPrln("Make sure that you have Carriage Return active");
if(ShowMainMenu) Show_MainMenu(); if(ShowMainMenu) Show_MainMenu();
@ -102,8 +103,8 @@ void Show_MainMenu() {
SerPrln("CLI Menu - Type your command on command prompt"); SerPrln("CLI Menu - Type your command on command prompt");
SerPrln("----------------------------------------------"); SerPrln("----------------------------------------------");
SerPrln(" c - Show compass offsets"); SerPrln(" c - Show compass offsets");
SerPrln(" e - ESC Throttle calibration (Works with official ArduCopter ESCs"); SerPrln(" e - ESC Throttle calibration (Works with official ArduCopter ESCs)");
SerPrln(" i - Initialize and calibrate Accel offsets (under work)"); SerPrln(" i - Initialize and calibrate Accel offsets");
SerPrln(" t - Calibrate MIN Throttle value"); SerPrln(" t - Calibrate MIN Throttle value");
SerPrln(" s - Show settings"); SerPrln(" s - Show settings");
SerPrln(" "); SerPrln(" ");
@ -131,6 +132,7 @@ void CALIB_CompassOffset() {
APM_Compass.SetDeclination(ToRad(DECLINATION)); // set local difference between magnetic north and true north APM_Compass.SetDeclination(ToRad(DECLINATION)); // set local difference between magnetic north and true north
int counter = 0; int counter = 0;
SerFlu();
while(1) { while(1) {
static float min[3], max[3], offset[3]; static float min[3], max[3], offset[3];
if((millis()- timer) > 100) { if((millis()- timer) > 100) {
@ -190,12 +192,12 @@ void CALIB_CompassOffset() {
mag_offset_y = offset[1]; mag_offset_y = offset[1];
mag_offset_z = offset[2]; mag_offset_z = offset[2];
SerPriln("Saving Offsets to EEPROM");
writeEEPROM(mag_offset_x, mag_offset_x_ADR); writeEEPROM(mag_offset_x, mag_offset_x_ADR);
writeEEPROM(mag_offset_y, mag_offset_y_ADR); writeEEPROM(mag_offset_y, mag_offset_y_ADR);
writeEEPROM(mag_offset_z, mag_offset_z_ADR); writeEEPROM(mag_offset_z, mag_offset_z_ADR);
delay(500);
SerPrln("Write down following OFFSET, enter it to your ArduCopterNG.pde (around line 153)"); SerPriln("Saved...");
SerPrln("and upload your program code again to your ArduCopter");
SerPrln(); SerPrln();
break; break;
} }
@ -248,17 +250,6 @@ void CALIB_AccOffset() {
xz = xz - 407; // Z-Axis correction xz = xz - 407; // Z-Axis correction
// xx += 42; // xx += 42;
/*
SerPriln("Averages as follows");
SerPri(" ");
tab();
SerPri(xx);
tab();
SerPri(xy);
tab();
SerPri(xz);
SerPriln(); */
acc_offset_y = xy; acc_offset_y = xy;
acc_offset_x = xx; acc_offset_x = xx;
acc_offset_z = xz; acc_offset_z = xz;
@ -287,7 +278,7 @@ void CALIB_AccOffset() {
SerPrln(adc.Ch(6) - acc_offset_z); SerPrln(adc.Ch(6) - acc_offset_z);
SerPrln(); SerPrln();
SerPrln("Final results should be close to 0, 0, 408 if they are far (-+10) from "); SerPrln("Final results should be close to 0, 0, 408 if they are far (-+10) from ");
SerPrln("those values, do initialization again or use Configurator for finetuning"); SerPrln("those values, redo initialization or use Configurator for finetuning");
SerPrln(); SerPrln();
SerPrln("Saving values to EEPROM"); SerPrln("Saving values to EEPROM");
writeEEPROM(acc_offset_x, acc_offset_x_ADR); writeEEPROM(acc_offset_x, acc_offset_x_ADR);
@ -332,9 +323,6 @@ void CALIB_Throttle() {
delay(200); delay(200);
SerPrln("Saved.."); SerPrln("Saved..");
SerPrln(); SerPrln();
} }
@ -384,6 +372,14 @@ void CALIB_Esc() {
void Show_Settings() { void Show_Settings() {
// Reading current EEPROM values // Reading current EEPROM values
SerPrln("ArduCopter - Current settings");
SerPrln("-----------------------------");
SerPri("Firmware: ");
SerPri(VER);
SerPrln();
SerPrln();
readUserConfig(); readUserConfig();
delay(50); delay(50);
@ -406,6 +402,15 @@ void Show_Settings() {
SerPri("Min Throttle: "); SerPri("Min Throttle: ");
SerPriln(MIN_THROTTLE); SerPriln(MIN_THROTTLE);
SerPri("Magnetometer 1-ena/0-dis: ");
SerPriln(MAGNETOMETER, DEC);
SerPri("Camera mode: ");
SerPriln(cam_mode, DEC);
SerPrln();
SerPrln();
} }

2
ArducopterNG/System.pde
View File

@ -151,7 +151,7 @@ void APM_Init() {
if (MAGNETOMETER == 1) { if (MAGNETOMETER == 1) {
APM_Compass.Init(FALSE); // I2C initialization APM_Compass.Init(FALSE); // I2C initialization
APM_Compass.SetOrientation(MAGORIENTATION); APM_Compass.SetOrientation(MAGORIENTATION);
APM_Compass.SetOffsets(MAGOFFSET); APM_Compass.SetOffsets(mag_offset_x, mag_offset_y, mag_offset_z);
APM_Compass.SetDeclination(ToRad(DECLINATION)); APM_Compass.SetDeclination(ToRad(DECLINATION));
} }
#endif #endif