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Rover: removed old LITE mode

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this will be replaced with a AHRS_Lite backend later
This commit is contained in:
Andrew Tridgell 2013-03-01 07:40:47 +11:00
parent efd2da3eb8
commit 44a279811d
6 changed files with 4 additions and 80 deletions
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26
APMrover2/APMrover2.pde
View File

@ -621,12 +621,10 @@ void loop()
if (millis() - perf_mon_timer > 20000) {
if (mainLoop_count != 0) {
#if LITE == DISABLED
if (g.log_bitmask & MASK_LOG_PM)
#if HIL_MODE != HIL_MODE_ATTITUDE
Log_Write_Performance();
#endif
#endif
resetPerfData();
}
}
@ -665,9 +663,8 @@ static void fast_loop()
gcs_update();
#endif
#if LITE == DISABLED
ahrs.update();
#endif
// Read Sonar
// ----------
if(g.sonar_enabled){
@ -683,7 +680,6 @@ static void fast_loop()
// uses the yaw from the DCM to give more accurate turns
calc_bearing_error();
#if LITE == DISABLED
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
@ -691,7 +687,7 @@ static void fast_loop()
if (g.log_bitmask & MASK_LOG_IMU)
Log_Write_IMU();
#endif
#endif
// inertial navigation
// ------------------
#if INERTIAL_NAVIGATION == ENABLED
@ -735,7 +731,6 @@ static void medium_loop()
medium_loopCounter++;
update_GPS();
//#if LITE == DISABLED
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
@ -745,17 +740,6 @@ static void medium_loop()
ahrs.set_compass(NULL);
}
#endif
//#endif
/*{
cliSerial->print(ahrs.roll_sensor, DEC); cliSerial->printf_P(PSTR("\t"));
cliSerial->print(ahrs.pitch_sensor, DEC); cliSerial->printf_P(PSTR("\t"));
cliSerial->print(ahrs.yaw_sensor, DEC); cliSerial->printf_P(PSTR("\t"));
Vector3f tempaccel = ins.get_accel();
cliSerial->print(tempaccel.x, DEC); cliSerial->printf_P(PSTR("\t"));
cliSerial->print(tempaccel.y, DEC); cliSerial->printf_P(PSTR("\t"));
cliSerial->println(tempaccel.z, DEC);
}*/
break;
// This case performs some navigation computations
@ -779,7 +763,6 @@ cliSerial->println(tempaccel.z, DEC);
//-------------------------------------------------
case 3:
medium_loopCounter++;
#if LITE == DISABLED
#if HIL_MODE != HIL_MODE_ATTITUDE
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
@ -793,7 +776,6 @@ cliSerial->println(tempaccel.z, DEC);
if (g.log_bitmask & MASK_LOG_GPS)
Log_Write_GPS(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats);
#endif
break;
// This case controls the slow loop
@ -824,13 +806,11 @@ static void slow_loop()
check_long_failsafe();
superslow_loopCounter++;
if(superslow_loopCounter >=200) { // 200 = Execute every minute
#if LITE == DISABLED
#if HIL_MODE != HIL_MODE_ATTITUDE
if(g.compass_enabled) {
compass.save_offsets();
}
#endif
#endif
superslow_loopCounter = 0;
}
break;
@ -866,10 +846,8 @@ static void slow_loop()
static void one_second_loop()
{
#if LITE == DISABLED
if (g.log_bitmask & MASK_LOG_CURRENT)
Log_Write_Current();
#endif
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
}

2
APMrover2/GCS_Mavlink.pde
View File

@ -994,9 +994,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.param1 == 1 ||
packet.param2 == 1 ||
packet.param3 == 1) {
#if LITE == DISABLED
startup_INS_ground(true);
#endif
}
if (packet.param4 == 1) {
trim_radio();

3
APMrover2/Log.pde
View File

@ -1,6 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if LITE == DISABLED
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory
@ -672,4 +671,4 @@ static void Log_Write_IMU() {}
#endif // LOGGING_ENABLED
#endif

2
APMrover2/Steering.pde
View File

@ -45,7 +45,7 @@ static void calc_nav_steer()
nav_steer = g.pidNavSteer.get_pid(bearing_error_cd, nav_gain_scaler);
if (obstacle) { // obstacle avoidance
nav_steer += 9000; // if obstacle in front turn 90° right
nav_steer += g.sonar_turn_angle;
}
}

2
APMrover2/sensors.pde
View File

@ -10,14 +10,12 @@ static void init_sonar(void)
*/
}
#if LITE == DISABLED
// Sensors are not available in HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE
void ReadSCP1000(void) {}
#endif // HIL_MODE != HIL_MODE_ATTITUDE
#endif
static void read_battery(void)
{

49
APMrover2/system.pde
View File

@ -9,9 +9,7 @@ The init_ardupilot function processes everything we need for an in - air restart
#if CLI_ENABLED == ENABLED
// Functions called from the top-level menu
#if LITE == DISABLED
static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
#endif
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
@ -35,9 +33,7 @@ static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
static const struct Menu::command main_menu_commands[] PROGMEM = {
// command function called
// ======= ===============
#if LITE == DISABLED
{"logs", process_logs},
#endif
{"setup", setup_mode},
{"test", test_mode},
{"reboot", reboot_board},
@ -154,7 +150,6 @@ static void init_ardupilot()
mavlink_system.sysid = g.sysid_this_mav;
#if LITE == DISABLED
#if LOGGING_ENABLED == ENABLED
DataFlash.Init(); // DataFlash log initialization
if (!DataFlash.CardInserted()) {
@ -168,7 +163,6 @@ static void init_ardupilot()
DataFlash.start_new_log();
}
#endif
#endif
#if HIL_MODE != HIL_MODE_ATTITUDE
@ -176,7 +170,6 @@ static void init_ardupilot()
adc.Init(); // APM ADC library initialization
#endif
#if LITE == DISABLED
if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init()|| !compass.read()) {
@ -187,39 +180,6 @@ static void init_ardupilot()
//compass.get_offsets(); // load offsets to account for airframe magnetic interference
}
}
#else
I2c.begin();
I2c.timeOut(20);
// I2c.setSpeed(true);
if (!compass.init()) {
cliSerial->println("compass initialisation failed!");
while (1) ;
}
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft.
compass.set_offsets(0,0,0); // set offsets to account for surrounding interference
cliSerial->print("Compass auto-detected as: ");
switch( compass.product_id ) {
case AP_COMPASS_TYPE_HIL:
cliSerial->println("HIL");
break;
case AP_COMPASS_TYPE_HMC5843:
cliSerial->println("HMC5843");
break;
case AP_COMPASS_TYPE_HMC5883L:
cliSerial->println("HMC5883L");
break;
default:
cliSerial->println("unknown");
break;
}
delay(3000);
#endif
// initialise sonar
init_sonar();
#endif
@ -284,10 +244,8 @@ static void init_ardupilot()
startup_ground();
#if LITE == DISABLED
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
#endif
set_mode(MANUAL);
@ -315,13 +273,11 @@ static void startup_ground(void)
// -----------------------
demo_servos(1);
#if LITE == DISABLED
//IMU ground start
//------------------------
//
startup_INS_ground(false);
#endif
// read the radio to set trims
// ---------------------------
@ -369,11 +325,8 @@ static void set_mode(enum mode mode)
break;
}
#if LITE == DISABLED
if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode);
#endif
}
static void check_long_failsafe()
@ -398,7 +351,6 @@ static void check_long_failsafe()
}
}
#if LITE == DISABLED
static void startup_INS_ground(bool force_accel_level)
{
#if HIL_MODE != HIL_MODE_ATTITUDE
@ -431,7 +383,6 @@ static void startup_INS_ground(bool force_accel_level)
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}
#endif
static void update_GPS_light(void)
{