aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

CLI updates

Browse Source 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1139 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-12-15 13:51:53 +00:00
parent 1da23bc3c0
commit 48d1c18dc5
2 changed files with 82 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArducopterNG/ArducopterNG.pde
View File

@ -509,4 +509,4 @@ void loop()
}

105
ArducopterNG/CLI.pde
View File

@ -66,6 +66,9 @@ void RunCLI () {
ShowMainMenu = TRUE;
queryType = SerRea();
switch (queryType) {
case 'a':
Flip_MAG();
break;
case 'c':
CALIB_CompassOffset();
break;
@ -84,6 +87,9 @@ void RunCLI () {
case 's':
Show_Settings();
break;
case 'r':
Reset_Settings();
break;
case 'm':
RUN_Motors();
break;
@ -111,11 +117,13 @@ void Show_MainMenu() {
SerPrln();
SerPrln("CLI Menu - Type your command on command prompt");
SerPrln("----------------------------------------------");
SerPrln(" a - Activate/Deactivate compass (check #IsMag define too)");
SerPrln(" c - Show/Save compass offsets");
SerPrln(" d - dump logs to serial");
SerPrln(" e - ESC Throttle calibration (Works with official ArduCopter ESCs)");
SerPrln(" i - Initialize and calibrate Accel offsets");
SerPrln(" m - Motor tester with AIL/ELE stick");
SerPrln(" r - Reset to factory settings");
SerPrln(" t - Calibrate MIN Throttle value");
SerPrln(" s - Show settings");
SerPrln(" z - clear all logs");
@ -302,9 +310,27 @@ void CALIB_AccOffset() {
}
void Flip_MAG() {
SerPrln("Activate/Deactivate Magentometer!");
SerPri("Magnetometer is now: ");
delay(500);
if(MAGNETOMETER == 0) {
MAGNETOMETER = 1;
writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
SerPrln("Activated");
} else {
MAGNETOMETER = 0;
writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
SerPrln("Deactivated");
}
delay(1000);
SerPrln("State... saved");
}
void CALIB_Throttle() {
int tmpThrottle = 1100;
int tmpThrottle = 1200;
SerPrln("Move your throttle to MIN, reading starts in 3 seconds");
delay(1000);
@ -373,7 +399,7 @@ void CALIB_Esc() {
APM_RC.OutputCh(0, 900);
APM_RC.OutputCh(1, 900);
APM_RC.OutputCh(2, 900);
APM_RC.OutputCh(3, 90);
APM_RC.OutputCh(3, 900);
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
@ -401,39 +427,39 @@ void RUN_Motors() {
ch_pitch = APM_RC.InputCh(CH_PITCH);
if(ch_roll < 1400) {
SerPrln("Left Motor");
OutMotor(1);
delay(500);
SerPrln("Left Motor");
OutMotor(1);
delay(500);
}
if(ch_roll > 1600) {
SerPrln("Right Motor");
OutMotor(0);
delay(500);
SerPrln("Right Motor");
OutMotor(0);
delay(500);
}
if(ch_pitch < 1400) {
SerPrln("Front Motor");
OutMotor(2);
delay(500);
SerPrln("Front Motor");
OutMotor(2);
delay(500);
}
if(ch_pitch > 1600) {
SerPrln("Rear Motor");
OutMotor(3);
delay(500);
SerPrln("Rear Motor");
OutMotor(3);
delay(500);
}
// Shuting down all motors
APM_RC.OutputCh(0, 900);
APM_RC.OutputCh(1, 900);
APM_RC.OutputCh(2, 900);
APM_RC.OutputCh(3, 900);
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
// Shuting down all motors
APM_RC.OutputCh(0, 900);
APM_RC.OutputCh(1, 900);
APM_RC.OutputCh(2, 900);
APM_RC.OutputCh(3, 900);
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
delay(100);
// delay(20);
// delay(20);
if(SerAva() > 0){
SerFlu();
SerPrln("Exiting motor/esc tester...");
@ -451,6 +477,35 @@ void OutMotor(byte motor_id) {
}
byte Reset_Settings() {
int c;
SerPrln("Reseting EEPROM to default!");
delay(500);
SerFlu();
delay(500);
SerPrln("Hit 'Y' to reset factory settings, any other and you will return to main menu!");
do {
c = SerRea();
}
while (-1 == c);
if (('y' != c) && ('Y' != c)) {
SerPrln("EEPROM has not reseted!");
SerPrln("Returning to main menu.");
return(-1);
}
SerPrln("Reseting to factory settings!");
defaultUserConfig();
delay(200);
SerPrln("Saving to EEPROM");
writeUserConfig();
SerPrln("Done..");
}
void Show_Settings() {
// Reading current EEPROM values
@ -524,4 +579,6 @@ void WaitSerialEnter() {