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TradHeli: remove setup via CLI

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Saves 6k of flash
This commit is contained in:
Randy Mackay 2013-11-04 16:04:13 +09:00
parent 3ebc4e5ede
commit 259a3296d1
1 changed files with 0 additions and 334 deletions
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334
ArduCopter/setup.pde
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@ -8,10 +8,6 @@ static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compassmot (uint8_t argc, const Menu::arg *argv);
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
#if FRAME_CONFIG == HELI_FRAME
static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv);
static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
#endif
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
@ -31,10 +27,6 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
{"compassmot", setup_compassmot},
{"erase", setup_erase},
{"frame", setup_frame},
#if FRAME_CONFIG == HELI_FRAME
{"gyro", setup_gyro},
{"heli", setup_heli},
#endif
{"modes", setup_flightmodes},
{"optflow", setup_optflow},
{"radio", setup_radio},
@ -365,253 +357,6 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
return 0;
}
#if FRAME_CONFIG == HELI_FRAME
// setup for external tail gyro (for heli only)
static int8_t
setup_gyro(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("on"))) {
motors.ext_gyro_enabled.set_and_save(true);
// optionally capture the gain
if( argc >= 2 && argv[2].i >= 1000 && argv[2].i <= 2000 ) {
motors.ext_gyro_gain = argv[2].i;
motors.ext_gyro_gain.save();
}
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
motors.ext_gyro_enabled.set_and_save(false);
// capture gain if user simply provides a number
} else if( argv[1].i >= 1000 && argv[1].i <= 2000 ) {
motors.ext_gyro_enabled.set_and_save(true);
motors.ext_gyro_gain = argv[1].i;
motors.ext_gyro_gain.save();
}else{
cliSerial->printf_P(PSTR("\nOp:[on, off] gain\n"));
}
report_gyro();
return 0;
}
// Perform heli setup.
// Called by the setup menu 'radio' command.
static int8_t
setup_heli(uint8_t argc, const Menu::arg *argv)
{
uint8_t active_servo = 0;
int16_t value = 0;
int16_t temp;
int16_t state = 0; // 0 = set rev+pos, 1 = capture min/max
int16_t max_roll=0, max_pitch=0, min_collective=0, max_collective=0, min_tail=0, max_tail=0;
// initialise swash plate
motors.init_swash();
// source swash plate movements directly from radio
motors.servo_manual = true;
// display initial settings
report_heli();
// display help
cliSerial->printf_P(PSTR("Instructions:"));
print_divider();
cliSerial->printf_P(PSTR("\td\t\tdisplay settings\n"));
cliSerial->printf_P(PSTR("\t1~4\t\tselect servo\n"));
cliSerial->printf_P(PSTR("\ta or z\t\tmove mid up/down\n"));
cliSerial->printf_P(PSTR("\tc\t\tset coll when blade pitch zero\n"));
cliSerial->printf_P(PSTR("\tm\t\tset roll, pitch, coll min/max\n"));
cliSerial->printf_P(PSTR("\tp<angle>\tset pos (i.e. p0 = front, p90 = right)\n"));
cliSerial->printf_P(PSTR("\tr\t\treverse servo\n"));
cliSerial->printf_P(PSTR("\tu a|d\t\tupdate rate (a=analog servo, d=digital)\n"));
cliSerial->printf_P(PSTR("\tt<angle>\tset trim (-500 ~ 500)\n"));
cliSerial->printf_P(PSTR("\tx\t\texit & save\n"));
// start capturing
while( value != 'x' ) {
// read radio although we don't use it yet
read_radio();
// allow swash plate to move
motors.output_armed();
// record min/max
if( state == 1 ) {
if( abs(g.rc_1.control_in) > max_roll )
max_roll = abs(g.rc_1.control_in);
if( abs(g.rc_2.control_in) > max_pitch )
max_pitch = abs(g.rc_2.control_in);
if( g.rc_3.radio_out < min_collective )
min_collective = g.rc_3.radio_out;
if( g.rc_3.radio_out > max_collective )
max_collective = g.rc_3.radio_out;
min_tail = min(g.rc_4.radio_out, min_tail);
max_tail = max(g.rc_4.radio_out, max_tail);
}
if( cliSerial->available() ) {
value = cliSerial->read();
// process the user's input
switch( value ) {
case '1':
active_servo = CH_1;
break;
case '2':
active_servo = CH_2;
break;
case '3':
active_servo = CH_3;
break;
case '4':
active_servo = CH_4;
break;
case 'a':
case 'A':
heli_get_servo(active_servo)->radio_trim += 10;
break;
case 'c':
case 'C':
if( g.rc_3.radio_out >= 900 && g.rc_3.radio_out <= 2100 ) {
motors.collective_mid = g.rc_3.radio_out;
cliSerial->printf_P(PSTR("Collective when blade pitch at zero: %d\n"),(int)motors.collective_mid);
}
break;
case 'd':
case 'D':
// display settings
report_heli();
break;
case 'm':
case 'M':
if( state == 0 ) {
state = 1; // switch to capture min/max mode
cliSerial->printf_P(PSTR("Move coll, roll, pitch and tail to extremes, press 'm' when done\n"));
// reset servo ranges
motors.roll_max = motors.pitch_max = 4500;
motors.collective_min = 1000;
motors.collective_max = 2000;
motors._servo_4->radio_min = 1000;
motors._servo_4->radio_max = 2000;
// set sensible values in temp variables
max_roll = abs(g.rc_1.control_in);
max_pitch = abs(g.rc_2.control_in);
min_collective = 2000;
max_collective = 1000;
min_tail = max_tail = abs(g.rc_4.radio_out);
}else{
state = 0; // switch back to normal mode
// double check values aren't totally terrible
if( max_roll <= 1000 || max_pitch <= 1000 || (max_collective - min_collective < 200) || (max_tail - min_tail < 200) || min_tail < 1000 || max_tail > 2000 )
cliSerial->printf_P(PSTR("Invalid min/max captured roll:%d, pitch:%d, collective min: %d max: %d, tail min:%d max:%d\n"),max_roll,max_pitch,min_collective,max_collective,min_tail,max_tail);
else{
motors.roll_max = max_roll;
motors.pitch_max = max_pitch;
motors.collective_min = min_collective;
motors.collective_max = max_collective;
motors._servo_4->radio_min = min_tail;
motors._servo_4->radio_max = max_tail;
// reinitialise swash
motors.init_swash();
// display settings
report_heli();
}
}
break;
case 'p':
case 'P':
temp = read_num_from_serial();
if( temp >= -360 && temp <= 360 ) {
if( active_servo == CH_1 )
motors.servo1_pos = temp;
if( active_servo == CH_2 )
motors.servo2_pos = temp;
if( active_servo == CH_3 )
motors.servo3_pos = temp;
motors.init_swash();
cliSerial->printf_P(PSTR("Servo %d\t\tpos:%d\n"),active_servo+1, temp);
}
break;
case 'r':
case 'R':
heli_get_servo(active_servo)->set_reverse(!heli_get_servo(active_servo)->get_reverse());
break;
case 't':
case 'T':
temp = read_num_from_serial();
if( temp > 1000 )
temp -= 1500;
if( temp > -500 && temp < 500 ) {
heli_get_servo(active_servo)->radio_trim = 1500 + temp;
motors.init_swash();
cliSerial->printf_P(PSTR("Servo %d\t\ttrim:%d\n"),active_servo+1, 1500 + temp);
}
break;
case 'u':
case 'U':
temp = 0;
// delay up to 2 seconds for servo type from user
while( !cliSerial->available() && temp < 20 ) {
temp++;
delay(100);
}
if( cliSerial->available() ) {
value = cliSerial->read();
if( value == 'a' || value == 'A' ) {
g.rc_speed.set_and_save(AP_MOTORS_HELI_SPEED_ANALOG_SERVOS);
//motors._speed_hz = AP_MOTORS_HELI_SPEED_ANALOG_SERVOS; // need to force this update to take effect immediately
cliSerial->printf_P(PSTR("Analog Servo %dhz\n"),(int)g.rc_speed);
}
if( value == 'd' || value == 'D' ) {
g.rc_speed.set_and_save(AP_MOTORS_HELI_SPEED_ANALOG_SERVOS);
//motors._speed_hz = AP_MOTORS_HELI_SPEED_ANALOG_SERVOS; // need to force this update to take effect immediately
cliSerial->printf_P(PSTR("Digital Servo %dhz\n"),(int)g.rc_speed);
}
}
break;
case 'z':
case 'Z':
heli_get_servo(active_servo)->radio_trim -= 10;
break;
}
}
delay(20);
}
// display final settings
report_heli();
// save to eeprom
motors._servo_1->save_eeprom();
motors._servo_2->save_eeprom();
motors._servo_3->save_eeprom();
motors._servo_4->save_eeprom();
motors.servo1_pos.save();
motors.servo2_pos.save();
motors.servo3_pos.save();
motors.roll_max.save();
motors.pitch_max.save();
motors.collective_min.save();
motors.collective_max.save();
motors.collective_mid.save();
// return swash plate movements to attitude controller
motors.servo_manual = false;
return(0);
}
#endif // FRAME_CONFIG == HELI
static int8_t
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
{
@ -926,11 +671,6 @@ setup_show(uint8_t argc, const Menu::arg *argv)
report_compass();
report_optflow();
#if FRAME_CONFIG == HELI_FRAME
report_heli();
report_gyro();
#endif
AP_Param::show_all(cliSerial);
return(0);
@ -1094,44 +834,6 @@ void report_optflow()
#endif // OPTFLOW == ENABLED
}
#if FRAME_CONFIG == HELI_FRAME
static void report_heli()
{
cliSerial->printf_P(PSTR("Heli\n"));
print_divider();
// main servo settings
cliSerial->printf_P(PSTR("Servo \tpos \tmin \tmax \trev\n"));
cliSerial->printf_P(PSTR("1:\t%d \t%d \t%d \t%d\n"),(int)motors.servo1_pos, (int)motors._servo_1->radio_min, (int)motors._servo_1->radio_max, (int)motors._servo_1->get_reverse());
cliSerial->printf_P(PSTR("2:\t%d \t%d \t%d \t%d\n"),(int)motors.servo2_pos, (int)motors._servo_2->radio_min, (int)motors._servo_2->radio_max, (int)motors._servo_2->get_reverse());
cliSerial->printf_P(PSTR("3:\t%d \t%d \t%d \t%d\n"),(int)motors.servo3_pos, (int)motors._servo_3->radio_min, (int)motors._servo_3->radio_max, (int)motors._servo_3->get_reverse());
cliSerial->printf_P(PSTR("tail:\t\t%d \t%d \t%d\n"), (int)motors._servo_4->radio_min, (int)motors._servo_4->radio_max, (int)motors._servo_4->get_reverse());
cliSerial->printf_P(PSTR("roll max: \t%d\n"), (int)motors.roll_max);
cliSerial->printf_P(PSTR("pitch max: \t%d\n"), (int)motors.pitch_max);
cliSerial->printf_P(PSTR("coll min:\t%d\t mid:%d\t max:%d\n"),(int)motors.collective_min, (int)motors.collective_mid, (int)motors.collective_max);
// calculate and print servo rate
cliSerial->printf_P(PSTR("servo rate:\t%d hz\n"),(int)g.rc_speed);
print_blanks(2);
}
static void report_gyro()
{
cliSerial->printf_P(PSTR("Gyro:\n"));
print_divider();
print_enabled( motors.ext_gyro_enabled );
if( motors.ext_gyro_enabled )
cliSerial->printf_P(PSTR("gain: %d"),(int)motors.ext_gyro_gain);
print_blanks(2);
}
#endif // FRAME_CONFIG == HELI_FRAME
/***************************************************************************/
// CLI utilities
/***************************************************************************/
@ -1203,42 +905,6 @@ print_gyro_offsets(void)
(float)gyro_offsets.z);
}
#if FRAME_CONFIG == HELI_FRAME
static RC_Channel *
heli_get_servo(int16_t servo_num){
if( servo_num == CH_1 )
return motors._servo_1;
if( servo_num == CH_2 )
return motors._servo_2;
if( servo_num == CH_3 )
return motors._servo_3;
if( servo_num == CH_4 )
return motors._servo_4;
return NULL;
}
// Used to read integer values from the serial port
static int16_t read_num_from_serial() {
uint8_t index = 0;
uint8_t timeout = 0;
char data[5] = "";
do {
if (cliSerial->available() == 0) {
delay(10);
timeout++;
}else{
data[index] = cliSerial->read();
timeout = 0;
index++;
}
} while (timeout < 5 && index < 5);
return atoi(data);
}
#endif
#endif // CLI_ENABLED
static void