updated to AP_Var
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1682 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
3b1903e6c8
commit
2196d47d08
@ -82,6 +82,9 @@ Parameters g;
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// supply data from the simulation.
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//
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// All GPS access should be through this pointer.
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GPS *g_gps;
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//#if HIL_MODE == HIL_MODE_NONE
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// real sensors
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@ -90,37 +93,27 @@ APM_BMP085_Class APM_BMP085;
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AP_Compass_HMC5843 compass;
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// GPS selection
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/*
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#if GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA GPS(&Serial1);
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// real GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF GPS(&Serial1);
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AP_GPS_SIRF g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX GPS(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_IMU
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AP_GPS_IMU GPS(&Serial); // note, console port
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AP_GPS_UBLOX g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK GPS(&Serial1);
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AP_GPS_MTK g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
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AP_GPS_MTK16 g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None GPS(NULL);
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AP_GPS_None g_gps_driver(NULL);
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#else
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# error Must define GPS_PROTOCOL in your configuration file.
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#endif
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*/
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GPS *g_gps;
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#if GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None GPS(NULL);
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#else
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AP_GPS_Auto GPS(&Serial1, &g_gps);
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#endif
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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AP_IMU_Oilpan imu(&adc, EE_IMU_OFFSET);
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AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration); // normal imu
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AP_DCM dcm(&imu, g_gps);
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////////////////////////////////////////////////////////////////////////////////
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@ -192,6 +185,8 @@ boolean rate_yaw_flag; // used to transition yaw control from Rate control
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boolean motor_light; // status of the Motor safety
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boolean GPS_light; // status of the GPS light
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float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1?
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// GPS variables
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// -------------
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byte ground_start_count = 5; // have we achieved first lock and set Home?
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@ -49,7 +49,7 @@ print_log_menu(void)
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{
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int log_start;
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int log_end;
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byte last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
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byte last_log_num = get_num_logs();
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Serial.printf_P(PSTR("logs enabled: "));
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if (0 == g.log_bitmask) {
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@ -80,11 +80,7 @@ print_log_menu(void)
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Serial.printf_P(PSTR("\n%d logs available for download\n"), last_log_num);
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for(int i=1;i<last_log_num+1;i++) {
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log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i-1)*0x02));
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log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(i)*0x02))-1;
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if (i == last_log_num) {
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log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
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}
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get_log_boundaries(last_log_num, i, log_start, log_end);
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Serial.printf_P(PSTR("Log number %d, start page %d, end page %d\n"),
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i, log_start, log_end);
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}
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@ -103,19 +99,13 @@ dump_log(uint8_t argc, const Menu::arg *argv)
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// check that the requested log number can be read
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dump_log = argv[1].i;
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last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM);
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last_log_num = get_num_logs();
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if ((argc != 2) || (dump_log < 1) || (dump_log > last_log_num)) {
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Serial.printf_P(PSTR("bad log number\n"));
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return(-1);
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}
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dump_log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log-1)*0x02));
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dump_log_end = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(dump_log)*0x02))-1;
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if (dump_log == last_log_num) {
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dump_log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE);
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}
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get_log_boundaries(last_log_num, dump_log, dump_log_start, dump_log_end);
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Serial.printf_P(PSTR("Dumping Log number %d, start page %d, end page %d\n"),
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dump_log, dump_log_start, dump_log_end);
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Log_Read(dump_log_start, dump_log_end);
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@ -130,10 +120,14 @@ erase_logs(uint8_t argc, const Menu::arg *argv)
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delay(1000);
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}
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Serial.printf_P(PSTR("\nErasing log...\n"));
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for(int j = 1; j < 4001; j++)
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for(int j = 1; j < 4096; j++)
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DataFlash.PageErase(j);
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eeprom_write_byte((uint8_t *)EE_LAST_LOG_NUM, 0);
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eeprom_write_byte((uint8_t *)EE_LAST_LOG_PAGE, 1);
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DataFlash.StartWrite(1);
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_INDEX_MSG);
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DataFlash.WriteByte(0);
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DataFlash.WriteByte(END_BYTE);
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Serial.printf_P(PSTR("\nLog erased.\n"));
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}
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@ -173,12 +167,10 @@ select_logs(uint8_t argc, const Menu::arg *argv)
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}
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if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
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g.log_bitmask |= bits;
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g.log_bitmask.set_and_save(g.log_bitmask | bits);
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} else {
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g.log_bitmask &= ~bits;
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g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
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}
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save_EEPROM_logs(); // XXX this is a bit heavyweight...
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return(0);
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}
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@ -188,6 +180,140 @@ process_logs(uint8_t argc, const Menu::arg *argv)
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log_menu.run();
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}
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byte get_num_logs(void)
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{
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int page = 1;
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byte data;
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byte log_step = 0;
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DataFlash.StartRead(1);
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while (page == 1) {
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data = DataFlash.ReadByte();
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switch(log_step) //This is a state machine to read the packets
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{
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case 0:
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data==LOG_INDEX_MSG){
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byte num_logs = DataFlash.ReadByte();
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return num_logs;
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} else {
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log_step=0; // Restart, we have a problem...
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}
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break;
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}
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page = DataFlash.GetPage();
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}
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return 0;
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}
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void start_new_log(byte num_existing_logs)
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{
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int page;
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int start_pages[50] = {0,0,0};
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int end_pages[50] = {0,0,0};
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byte data;
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if(num_existing_logs > 0) {
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for(int i=0;i<num_existing_logs;i++) {
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get_log_boundaries(num_existing_logs, i+1,start_pages[i],end_pages[i]);
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}
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end_pages[num_existing_logs - 1] = find_last_log_page(start_pages[num_existing_logs - 1]);
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}
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if(end_pages[num_existing_logs - 1] < 4095 && num_existing_logs < MAX_NUM_LOGS) {
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if(num_existing_logs > 0)
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start_pages[num_existing_logs] = end_pages[num_existing_logs - 1] + 1;
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else
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start_pages[0] = 2;
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num_existing_logs++;
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DataFlash.StartWrite(1);
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_INDEX_MSG);
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DataFlash.WriteByte(num_existing_logs);
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for(int i=0;i<MAX_NUM_LOGS;i++) {
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DataFlash.WriteInt(start_pages[i]);
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DataFlash.WriteInt(end_pages[i]);
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}
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DataFlash.WriteByte(END_BYTE);
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DataFlash.FinishWrite();
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DataFlash.StartWrite(start_pages[num_existing_logs-1]);
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} else {
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gcs.send_text(SEVERITY_LOW,"<start_new_log> Logs full - logging discontinued");
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}
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}
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void get_log_boundaries(byte num_logs, byte log_num, int & start_page, int & end_page)
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{
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int page = 1;
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byte data;
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byte log_step = 0;
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DataFlash.StartRead(1);
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while (page = 1) {
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data = DataFlash.ReadByte();
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switch(log_step) //This is a state machine to read the packets
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{
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case 0:
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data==LOG_INDEX_MSG){
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byte num_logs = DataFlash.ReadByte();
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for(int i=0;i<log_num;i++) {
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start_page = DataFlash.ReadInt();
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end_page = DataFlash.ReadInt();
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}
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if(log_num==num_logs)
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end_page = find_last_log_page(start_page);
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return; // This is the normal exit point
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} else {
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log_step=0; // Restart, we have a problem...
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}
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break;
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}
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page = DataFlash.GetPage();
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}
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// Error condition if we reach here with page = 2 TO DO - report condition
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}
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int find_last_log_page(int bottom_page)
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{
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int top_page = 4096;
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int look_page;
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long check;
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while((top_page - bottom_page) > 1) {
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look_page = (top_page + bottom_page) / 2;
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DataFlash.StartRead(look_page);
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check = DataFlash.ReadLong();
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if(check == 0xFFFFFFFF)
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top_page = look_page;
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else
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bottom_page = look_page;
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}
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return top_page;
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}
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// Write an attitude packet. Total length : 10 bytes
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void Log_Write_Attitude(int log_roll, int log_pitch, uint16_t log_yaw)
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{
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@ -257,8 +383,7 @@ void Log_Write_Startup(byte type)
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// Write a control tuning packet. Total length : 22 bytes
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void Log_Write_Control_Tuning()
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{
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// DCM is adjusted for centripital, IMU is not
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Vector3f accel = dcm.get_accel();
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Vector3f accel = imu.get_accel();
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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@ -287,7 +412,7 @@ void Log_Write_Nav_Tuning()
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DataFlash.WriteInt((uint16_t)nav_bearing);
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DataFlash.WriteInt(altitude_error);
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DataFlash.WriteInt((int)airspeed);
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//DataFlash.WriteInt((int)(nav_gain_scaler*1000));
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DataFlash.WriteInt((int)(nav_gain_scaler*1000));
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DataFlash.WriteByte(END_BYTE);
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}
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@ -324,8 +449,8 @@ void Log_Write_GPS( long log_Time, long log_Lattitude, long log_Longitude, long
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// Write an raw accel/gyro data packet. Total length : 28 bytes
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void Log_Write_Raw()
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{
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Vector3f gyro = dcm.get_gyro();
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Vector3f accel = dcm.get_accel();
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Vector3f gyro = imu.get_gyro();
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Vector3f accel = imu.get_accel();
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gyro *= t7; // Scale up for storage as long integers
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accel *= t7;
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DataFlash.WriteByte(HEAD_BYTE1);
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@ -483,6 +608,7 @@ void Log_Read_Mode()
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// Read a GPS packet
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void Log_Read_GPS()
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{
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Serial.print("GPS:");
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Serial.print(DataFlash.ReadLong()); // Time
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Serial.print(comma);
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@ -494,13 +620,14 @@ void Log_Read_GPS()
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadLong()/t7, 7); // Longitude
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadLong()/100.0); // Baro/g_gps altitude mix
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Serial.print((float)DataFlash.ReadLong()/100.0); // Baro/gps altitude mix
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadLong()/100.0); // GPS altitude
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Serial.print(comma);
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Serial.print((float)DataFlash.ReadLong()/100.0); // Ground Speed
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Serial.print(comma);
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Serial.println((float)DataFlash.ReadLong()/100.0); // Ground Course
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}
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// Read a raw accel/gyro packet
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@ -535,14 +662,12 @@ void Log_Read(int start_page, int end_page)
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data==LOG_ATTITUDE_MSG){
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Log_Read_Attitude();
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@ -579,7 +704,6 @@ void Log_Read(int start_page, int end_page)
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}else if(data==LOG_STARTUP_MSG){
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Log_Read_Startup();
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log_step++;
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}else {
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if(data == LOG_GPS_MSG){
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Log_Read_GPS();
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@ -591,7 +715,6 @@ void Log_Read(int start_page, int end_page)
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}
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}
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break;
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case 3:
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if(data==END_BYTE){
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packet_count++;
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@ -3,6 +3,11 @@
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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#define TRUE 1
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#define FALSE 0
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#define ToRad(x) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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#define DEBUG 0
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#define LOITER_RANGE 30 // for calculating power outside of loiter radius
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@ -26,6 +31,8 @@
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#define GPS_PROTOCOL_UBLOX 2
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#define GPS_PROTOCOL_IMU 3
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#define GPS_PROTOCOL_MTK 4
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#define GPS_PROTOCOL_HIL 5
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#define GPS_PROTOCOL_MTK16 6
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// Radio channels
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// Note channels are from 0!
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@ -48,6 +55,14 @@
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#define CH_AUX CH_5
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#define CH_AUX2 CH_6
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// HIL enumerations
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#define HIL_PROTOCOL_XPLANE 1
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#define HIL_PROTOCOL_MAVLINK 2
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_ATTITUDE 1
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#define HIL_MODE_SENSORS 2
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// motors
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#define RIGHT CH_1
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#define LEFT CH_2
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@ -93,52 +108,8 @@
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#define LAND 8 // controlled decent rate
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#define NUM_MODES 9
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// Command IDs - Must
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0x00 // there is no command stored in the mem location requested
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#define CMD_WAYPOINT 0x10
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#define CMD_LOITER 0x11
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#define CMD_LOITER_N_TURNS 0x12
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#define CMD_LOITER_TIME 0x13
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#define CMD_RTL 0x14
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#define CMD_LAND 0x15
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#define CMD_TAKEOFF 0x16
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#define CMD_ALTITUDE 0x17
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#define CMD_R_WAYPOINT 0x18
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// Command IDs - May
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#define CMD_DELAY 0x20
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#define CMD_CLIMB 0x21 // NOT IMPLEMENTED
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#define CMD_LAND_OPTIONS 0x22 // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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#define CMD_ANGLE 0x23 // move servo N to PWM value
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// Command IDs - Now
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//#define CMD_AP_MODE 0x30
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#define CMD_RESET_INDEX 0x31
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#define CMD_GOTO_INDEX 0x32 // NOT IMPLEMENTED
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#define CMD_GETVAR_INDEX 0x33
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#define CMD_SENDVAR_INDEX 0x34
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#define CMD_TELEMETRY 0x35
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#define CMD_THROTTLE_CRUISE 0x40
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||||
#define CMD_AIRSPEED_CRUISE 0x41
|
||||
#define CMD_RESET_HOME 0x44
|
||||
|
||||
#define CMD_KP_GAIN 0x60
|
||||
#define CMD_KI_GAIN 0x61
|
||||
#define CMD_KD_GAIN 0x62
|
||||
#define CMD_KI_MAX 0x63
|
||||
#define CMD_KFF_GAIN 0x64
|
||||
|
||||
#define CMD_RADIO_TRIM 0x70
|
||||
#define CMD_RADIO_MAX 0x71
|
||||
#define CMD_RADIO_MIN 0x72
|
||||
#define CMD_RADIO_MIN 0x72
|
||||
#define CMD_ELEVON_TRIM 0x73
|
||||
|
||||
#define CMD_INDEX 0x75 // sets the current Must index
|
||||
#define CMD_REPEAT 0x80
|
||||
#define CMD_RELAY 0x81
|
||||
#define CMD_SERVO 0x82 // move servo N to PWM value
|
||||
|
||||
//repeating events
|
||||
#define NO_REPEAT 0
|
||||
@ -212,6 +183,7 @@
|
||||
|
||||
|
||||
// Logging parameters
|
||||
#define LOG_INDEX_MSG 0xF0
|
||||
#define LOG_ATTITUDE_MSG 0x01
|
||||
#define LOG_GPS_MSG 0x02
|
||||
#define LOG_MODE_MSG 0X03
|
||||
@ -224,6 +196,7 @@
|
||||
#define LOG_STARTUP_MSG 0x0A
|
||||
#define TYPE_AIRSTART_MSG 0x00
|
||||
#define TYPE_GROUNDSTART_MSG 0x01
|
||||
#define MAX_NUM_LOGS 50
|
||||
|
||||
#define MASK_LOG_ATTITUDE_FAST (1<<0)
|
||||
#define MASK_LOG_ATTITUDE_MED (1<<1)
|
||||
@ -286,86 +259,10 @@
|
||||
// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
|
||||
// Tested value : 418
|
||||
|
||||
//#define ToRad(x) (x * 0.01745329252) // *pi/180
|
||||
//#define ToDeg(x) (x * 57.2957795131) // *180/pi
|
||||
|
||||
|
||||
// EEPROM addresses
|
||||
#define EEPROM_MAX_ADDR 4096
|
||||
#define PID_SIZE 8
|
||||
#define RADIO_SIZE 6
|
||||
|
||||
// Radio setup
|
||||
#define EE_RADIO_1 0x00 // all gains stored from here
|
||||
#define EE_RADIO_2 0x06 // all gains stored from here
|
||||
#define EE_RADIO_3 0x0C // all gains stored from here
|
||||
#define EE_RADIO_4 0x12 // all gains stored from here
|
||||
#define EE_RADIO_5 0x18 // all gains stored from here
|
||||
#define EE_RADIO_6 0x1E // all gains stored from here
|
||||
#define EE_RADIO_7 0x24 // all gains stored from here
|
||||
#define EE_RADIO_8 0x2A // all gains stored from here
|
||||
#define EE_RADIO_9 0xD2 // camera pitch
|
||||
#define EE_RADIO_10 0xD8 // camera roll
|
||||
|
||||
// user gains
|
||||
#define EE_XTRACK_GAIN 0x30
|
||||
#define EE_XTRACK_ANGLE 0x32
|
||||
#define EE_PITCH_MAX 0x34
|
||||
//#define EE_DISTANCE_GAIN 0x36
|
||||
//#define EE_ALTITUDE_GAIN 0x38
|
||||
|
||||
#define EE_GAIN_1 0x40 // all gains stored from here
|
||||
#define EE_GAIN_2 0x48 // all gains stored from here
|
||||
#define EE_GAIN_3 0x50 // all gains stored from here
|
||||
#define EE_GAIN_4 0x58 // all gains stored from here
|
||||
#define EE_GAIN_5 0x60 // all gains stored from here
|
||||
#define EE_GAIN_6 0x68 // all gains stored from here
|
||||
#define EE_GAIN_7 0x70 // all gains stored from here
|
||||
#define EE_GAIN_8 0x78 // all gains stored from here
|
||||
#define EE_GAIN_9 0x80 // all gains stored from here
|
||||
#define EE_GAIN_10 0x88 // all gains stored from here
|
||||
|
||||
#define EE_STAB_DAMPENER 0xA0
|
||||
#define EE_HOLD_YAW_DAMPENER 0xA2
|
||||
|
||||
#define EE_MAG_DECLINATION 0xA8
|
||||
#define EE_MAG_X 0xAA
|
||||
#define EE_MAG_Y 0xAC
|
||||
#define EE_MAG_Z 0xAE
|
||||
#define EE_COMPASS 0xAF
|
||||
#define EE_FRAME 0xB1
|
||||
|
||||
#define EE_IMU_OFFSET 0xE0
|
||||
|
||||
//mission specific
|
||||
#define EE_CONFIG 0X0F8
|
||||
#define EE_WP_TOTAL 0x0FB
|
||||
#define EE_WP_INDEX 0x0FC
|
||||
#define EE_WP_RADIUS 0x0FD
|
||||
#define EE_LOITER_RADIUS 0x0FE
|
||||
#define EE_ALT_HOLD_HOME 0x0FF
|
||||
|
||||
// user configs
|
||||
#define EE_THROTTLE_MIN 0x103
|
||||
#define EE_THROTTLE_CRUISE 0x105
|
||||
#define EE_THROTTLE_MAX 0x107
|
||||
#define EE_THROTTLE_FAILSAFE 0x10D
|
||||
#define EE_THROTTLE_FS_VALUE 0x10E
|
||||
#define EE_THROTTLE_FAILSAFE_ACTION 0x110
|
||||
#define EE_LOG_BITMASK 0x114
|
||||
#define EE_FLIGHT_MODES 0x121
|
||||
|
||||
// sensors
|
||||
#define EE_ABS_PRESS_GND 0x116
|
||||
#define EE_GND_TEMP 0x11A
|
||||
#define EE_GND_ALT 0x11C
|
||||
#define EE_AP_OFFSET 0x11E
|
||||
#define EE_CURRENT_SENSOR 0x127
|
||||
#define EE_CURRENT_MAH 0x0128
|
||||
// log
|
||||
#define EE_LAST_LOG_PAGE 0xE00
|
||||
#define EE_LAST_LOG_NUM 0xE02
|
||||
#define EE_LOG_1_START 0xE04
|
||||
|
||||
// bits in log_bitmask
|
||||
#define LOGBIT_ATTITUDE_FAST (1<<0)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user