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Copter: removed HIL_MODE_ATTITUDE

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this really can't work any more, as AHRS can't support it
This commit is contained in:
Andrew Tridgell 2014-01-02 16:28:50 +11:00
parent 84c7b0d7fd
commit 24f2ac20de
9 changed files with 10 additions and 67 deletions
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8
ArduCopter/APM_Config_mavlink_hil.h
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@ -3,9 +3,8 @@
// HIL_MODE SELECTION // HIL_MODE SELECTION
// //
// Mavlink supports // Mavlink supports
// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude // 1. HIL_MODE_SENSORS: full sensor simulation
// 2. HIL_MODE_SENSORS: full sensor simulation #define HIL_MODE HIL_MODE_SENSORS
#define HIL_MODE HIL_MODE_ATTITUDE
// HIL_PORT SELCTION // HIL_PORT SELCTION
// //
@ -36,7 +35,4 @@
// Sensors // Sensors
// All sensors are supported in all modes. // All sensors are supported in all modes.
// The magnetometer is not used in
// HIL_MODE_ATTITUDE but you may leave it
// enabled if you wish.
#define MAGNETOMETER ENABLED #define MAGNETOMETER ENABLED

28
ArduCopter/ArduCopter.pde
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@ -318,7 +318,7 @@ AP_GPS_None g_gps_driver;
static AP_AHRS_DCM ahrs(ins, g_gps); static AP_AHRS_DCM ahrs(ins, g_gps);
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE != HIL_MODE_DISABLED
// sensor emulators // sensor emulators
static AP_ADC_HIL adc; static AP_ADC_HIL adc;
static AP_Baro_HIL barometer; static AP_Baro_HIL barometer;
@ -333,19 +333,6 @@ static AP_AHRS_DCM ahrs(ins, g_gps);
static SITL sitl; static SITL sitl;
#endif #endif
#elif HIL_MODE == HIL_MODE_ATTITUDE
static AP_ADC_HIL adc;
static AP_InertialSensor_HIL ins;
static AP_AHRS_HIL ahrs(ins, g_gps);
static AP_GPS_HIL g_gps_driver;
static AP_Compass_HIL compass; // never used
static AP_Baro_HIL barometer;
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// When building for SITL we use the HIL barometer and compass drivers
static SITL sitl;
#endif
#else #else
#error Unrecognised HIL_MODE setting. #error Unrecognised HIL_MODE setting.
#endif // HIL MODE #endif // HIL MODE
@ -1067,7 +1054,6 @@ static void update_batt_compass(void)
// read battery before compass because it may be used for motor interference compensation // read battery before compass because it may be used for motor interference compensation
read_battery(); read_battery();
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled) { if(g.compass_enabled) {
// update compass with throttle value - used for compassmot // update compass with throttle value - used for compassmot
compass.set_throttle((float)g.rc_3.servo_out/1000.0f); compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
@ -1079,7 +1065,6 @@ static void update_batt_compass(void)
Log_Write_Compass(); Log_Write_Compass();
} }
} }
#endif
// record throttle output // record throttle output
throttle_integrator += g.rc_3.servo_out; throttle_integrator += g.rc_3.servo_out;
@ -1364,20 +1349,11 @@ static void read_AHRS(void)
// read baro and sonar altitude at 20hz // read baro and sonar altitude at 20hz
static void update_altitude() static void update_altitude()
{ {
#if HIL_MODE == HIL_MODE_ATTITUDE
// we are in the SIM, fake out the baro and Sonar
baro_alt = g_gps->altitude_cm;
if(g.sonar_enabled) {
sonar_alt = baro_alt;
}
#else
// read in baro altitude // read in baro altitude
baro_alt = read_barometer(); baro_alt = read_barometer();
// read in sonar altitude // read in sonar altitude
sonar_alt = read_sonar(); sonar_alt = read_sonar();
#endif // HIL_MODE == HIL_MODE_ATTITUDE
// write altitude info to dataflash logs // write altitude info to dataflash logs
if (g.log_bitmask & MASK_LOG_CTUN) { if (g.log_bitmask & MASK_LOG_CTUN) {
@ -1518,7 +1494,6 @@ static void tuning(){
g.pid_optflow_pitch.kD(tuning_value); g.pid_optflow_pitch.kD(tuning_value);
break; break;
#if HIL_MODE != HIL_MODE_ATTITUDE // do not allow modifying _kp or _kp_yaw gains in HIL mode
case CH6_AHRS_YAW_KP: case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value); ahrs._kp_yaw.set(tuning_value);
break; break;
@ -1526,7 +1501,6 @@ static void tuning(){
case CH6_AHRS_KP: case CH6_AHRS_KP:
ahrs._kp.set(tuning_value); ahrs._kp.set(tuning_value);
break; break;
#endif
case CH6_INAV_TC: case CH6_INAV_TC:
// To-Do: allowing tuning TC for xy and z separately // To-Do: allowing tuning TC for xy and z separately

10
ArduCopter/GCS_Mavlink.pde
View File

@ -1180,9 +1180,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
} }
if (packet.param3 == 1) { if (packet.param3 == 1) {
#if HIL_MODE != HIL_MODE_ATTITUDE
init_barometer(false); // fast barometer calibratoin init_barometer(false); // fast barometer calibratoin
#endif
} }
if (packet.param4 == 1) { if (packet.param4 == 1) {
trim_radio(); trim_radio();
@ -1950,14 +1948,6 @@ mission_failed:
barometer.setHIL(packet.alt*0.001f); barometer.setHIL(packet.alt*0.001f);
compass.setHIL(packet.roll, packet.pitch, packet.yaw); compass.setHIL(packet.roll, packet.pitch, packet.yaw);
#if HIL_MODE == HIL_MODE_ATTITUDE
// set AHRS hil sensor
ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
packet.pitchspeed,packet.yawspeed);
#endif
break; break;
} }
#endif // HIL_MODE != HIL_MODE_DISABLED #endif // HIL_MODE != HIL_MODE_DISABLED

2
ArduCopter/Parameters.pde
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@ -946,9 +946,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: INS_ // @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
#if HIL_MODE != HIL_MODE_ATTITUDE
GOBJECT(ins, "INS_", AP_InertialSensor), GOBJECT(ins, "INS_", AP_InertialSensor),
#endif
// @Group: INAV_ // @Group: INAV_
// @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp // @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp

3
ArduCopter/defines.h
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@ -89,8 +89,7 @@
// HIL enumerations // HIL enumerations
#define HIL_MODE_DISABLED 0 #define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1 #define HIL_MODE_SENSORS 1
#define HIL_MODE_SENSORS 2
// Auto Pilot modes // Auto Pilot modes
// ---------------- // ----------------

2
ArduCopter/motors.pde
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@ -164,10 +164,8 @@ static void init_arm_motors()
startup_ground(true); startup_ground(true);
} }
#if HIL_MODE != HIL_MODE_ATTITUDE
// fast baro calibration to reset ground pressure // fast baro calibration to reset ground pressure
init_barometer(false); init_barometer(false);
#endif
// go back to normal AHRS gains // go back to normal AHRS gains
ahrs.set_fast_gains(false); ahrs.set_fast_gains(false);

6
ArduCopter/sensors.pde
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@ -1,8 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// Sensors are not available in HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
static void init_sonar(void) static void init_sonar(void)
{ {
@ -65,9 +62,6 @@ static int16_t read_sonar(void)
#endif #endif
} }
#endif // HIL_MODE != HIL_MODE_ATTITUDE
static void init_compass() static void init_compass()
{ {
if (!compass.init() || !compass.read()) { if (!compass.init() || !compass.read()) {

6
ArduCopter/system.pde
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@ -161,9 +161,7 @@ static void init_ardupilot()
rssi_analog_source = hal.analogin->channel(g.rssi_pin); rssi_analog_source = hal.analogin->channel(g.rssi_pin);
#if HIL_MODE != HIL_MODE_ATTITUDE
barometer.init(); barometer.init();
#endif
// init the GCS // init the GCS
gcs[0].init(hal.uartA); gcs[0].init(hal.uartA);
@ -217,12 +215,10 @@ static void init_ardupilot()
*/ */
hal.scheduler->register_timer_failsafe(failsafe_check, 1000); hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED
// begin filtering the ADC Gyros // begin filtering the ADC Gyros
adc.Init(); // APM ADC library initialization adc.Init(); // APM ADC library initialization
#endif // CONFIG_ADC #endif // CONFIG_ADC
#endif // HIL_MODE
// Do GPS init // Do GPS init
g_gps = &g_gps_driver; g_gps = &g_gps_driver;
@ -268,11 +264,9 @@ static void init_ardupilot()
} }
#endif #endif
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground // read Baro pressure at ground
//----------------------------- //-----------------------------
init_barometer(true); init_barometer(true);
#endif
// initialise sonar // initialise sonar
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED

12
ArduCopter/test.pde
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@ -4,7 +4,7 @@
// These are function definitions so the Menu can be constructed before the functions // These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler. // are defined below. Order matters to the compiler.
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED
static int8_t test_baro(uint8_t argc, const Menu::arg *argv); static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
#endif #endif
static int8_t test_compass(uint8_t argc, const Menu::arg *argv); static int8_t test_compass(uint8_t argc, const Menu::arg *argv);
@ -20,7 +20,7 @@ static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static int8_t test_shell(uint8_t argc, const Menu::arg *argv); static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
#endif #endif
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED
static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
#endif #endif
@ -29,7 +29,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
// User enters the string in the console to call the functions on the right. // User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details // See class Menu in AP_Coommon for implementation details
const struct Menu::command test_menu_commands[] PROGMEM = { const struct Menu::command test_menu_commands[] PROGMEM = {
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED
{"baro", test_baro}, {"baro", test_baro},
#endif #endif
{"compass", test_compass}, {"compass", test_compass},
@ -45,7 +45,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
{"shell", test_shell}, {"shell", test_shell},
#endif #endif
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED
{"sonar", test_sonar}, {"sonar", test_sonar},
#endif #endif
}; };
@ -60,7 +60,7 @@ test_mode(uint8_t argc, const Menu::arg *argv)
return 0; return 0;
} }
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED
static int8_t static int8_t
test_baro(uint8_t argc, const Menu::arg *argv) test_baro(uint8_t argc, const Menu::arg *argv)
{ {
@ -522,7 +522,7 @@ test_shell(uint8_t argc, const Menu::arg *argv)
} }
#endif #endif
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED
/* /*
* test the sonar * test the sonar
*/ */