Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
Jason Short
commit
4f8ef25643
11
.project
Normal file
11
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Normal file
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<name>ArduPilotMega-Source@ardupilotone</name>
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@ -1,25 +0,0 @@
|
||||
// Libraries
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
#include <APM_RC.h>
|
||||
#include <AP_RangeFinder.h>
|
||||
#include <GCS_MAVLink.h>
|
||||
#include <AP_ADC.h>
|
||||
#include <AP_DCM.h>
|
||||
#include <AP_Compass.h>
|
||||
#include <Wire.h>
|
||||
#include <AP_GPS.h>
|
||||
#include <AP_IMU.h>
|
||||
#include <APM_BMP085.h>
|
||||
#include <ModeFilter.h>
|
||||
#include <APO.h>
|
||||
#include <WProgram.h>
|
||||
|
||||
// Vehicle Configuration
|
||||
#include "BoatGeneric.h"
|
||||
|
||||
// ArduPilotOne Default Setup
|
||||
#include "APO_DefaultSetup.h"
|
||||
|
||||
#include <WProgram.h>; int main(void) {init();setup();for(;;) loop(); return 0; }
|
||||
// vim:ts=4:sw=4:expandtab
|
||||
@ -13,7 +13,6 @@
|
||||
#include <APM_BMP085.h>
|
||||
#include <ModeFilter.h>
|
||||
#include <APO.h>
|
||||
#include <WProgram.h>
|
||||
|
||||
// Vehicle Configuration
|
||||
#include "BoatGeneric.h"
|
||||
|
||||
@ -1,970 +0,0 @@
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|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/specs.c"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC"/>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/${specs_file}"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'g++ -E -P -v -dD "${plugin_state_location}/specs.cpp"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/specs.c"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
|
||||
<buildTargets>
|
||||
<target name="ArduCopterMega" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget/>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="ArduCopterMega.de.innot.avreclipse.project.winavr.elf_2.1.0.1993795713" name="AVR Cross Target Application" projectType="de.innot.avreclipse.project.winavr.elf_2.1.0"/>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
@ -1,84 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>ArduCopterMega</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
<dictionary>
|
||||
<key>?name?</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.append_environment</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildLocation</key>
|
||||
<value>${workspace_loc:/ArduCopterMega/Debug}</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.stopOnError</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
<nature>de.innot.avreclipse.core.avrnature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@ -1,165 +0,0 @@
|
||||
#=============================================================================#
|
||||
# Author: Niklaa Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
|
||||
#include(ArduinoProcessing)
|
||||
|
||||
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
|
||||
|
||||
|
||||
message(STATUS "DIR: ${CMAKE_SOURCE_DIR}")
|
||||
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
#====================================================================#
|
||||
# Setup Project #
|
||||
#====================================================================#
|
||||
project(ArduCopter C CXX)
|
||||
|
||||
find_package(Arduino 22 REQUIRED)
|
||||
|
||||
if (NOT DEFINED BOARD)
|
||||
message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
|
||||
set(BOARD "mega")
|
||||
endif()
|
||||
message(STATUS "Board configured as: ${BOARD}")
|
||||
|
||||
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
|
||||
|
||||
#add_subdirectory(${CMAKE_SOURCE_DIR}/ArduCopter)
|
||||
#add_subdirectory(testtool)
|
||||
|
||||
PRINT_BOARD_SETTINGS(${BOARD})
|
||||
|
||||
|
||||
|
||||
#=============================================================================#
|
||||
# Author: Niklas Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
|
||||
#====================================================================#
|
||||
# Settings #
|
||||
#====================================================================#
|
||||
set(FIRMWARE_NAME arducopter)
|
||||
|
||||
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
|
||||
|
||||
set(${FIRMWARE_NAME}_SKETCHES
|
||||
ArduCopter.pde
|
||||
Attitude.pde
|
||||
Camera.pde
|
||||
commands.pde
|
||||
commands_logic.pde
|
||||
commands_process.pde
|
||||
control_modes.pde
|
||||
events.pde
|
||||
flip.pde
|
||||
GCS.pde
|
||||
GCS_Ardupilot.pde
|
||||
#GCS_IMU_output.pde
|
||||
GCS_Jason_text.pde
|
||||
GCS_Mavlink.pde
|
||||
GCS_Standard.pde
|
||||
GCS_Xplane.pde
|
||||
heli.pde
|
||||
HIL_Xplane.pde
|
||||
leds.pde
|
||||
Log.pde
|
||||
motors_hexa.pde
|
||||
motors_octa.pde
|
||||
motors_octa_quad.pde
|
||||
motors_quad.pde
|
||||
motors_tri.pde
|
||||
motors_y6.pde
|
||||
navigation.pde
|
||||
planner.pde
|
||||
radio.pde
|
||||
read_commands.pde
|
||||
sensors.pde
|
||||
setup.pde
|
||||
system.pde
|
||||
test.pde
|
||||
) # Firmware sketches
|
||||
|
||||
#create dummy sourcefile
|
||||
file(WRITE ${FIRMWARE_NAME}.cpp "// Do not edit")
|
||||
|
||||
set(${FIRMWARE_NAME}_SRCS
|
||||
#test.cpp
|
||||
${FIRMWARE_NAME}.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_HDRS
|
||||
APM_Config.h
|
||||
APM_Config_mavlink_hil.h
|
||||
APM_Config_xplane.h
|
||||
config.h
|
||||
defines.h
|
||||
GCS.h
|
||||
HIL.h
|
||||
Mavlink_Common.h
|
||||
Parameters.h
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_LIBS
|
||||
DataFlash
|
||||
AP_Math
|
||||
PID
|
||||
RC_Channel
|
||||
AP_OpticalFlow
|
||||
ModeFilter
|
||||
memcheck
|
||||
#AP_PID
|
||||
APM_PI
|
||||
#APO
|
||||
FastSerial
|
||||
AP_Common
|
||||
GCS_MAVLink
|
||||
AP_GPS
|
||||
APM_RC
|
||||
AP_DCM
|
||||
AP_ADC
|
||||
AP_Compass
|
||||
AP_IMU
|
||||
AP_RangeFinder
|
||||
APM_BMP085
|
||||
c
|
||||
m
|
||||
)
|
||||
|
||||
#${CONSOLE_PORT}
|
||||
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
|
||||
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
|
||||
|
||||
include_directories(
|
||||
${CMAKE_SOURCE_DIR}/libraries/DataFlash
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/RC_Channel
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_OpticalFlow
|
||||
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
|
||||
${CMAKE_SOURCE_DIR}/libraries/memcheck
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_PI
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_RC
|
||||
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
|
||||
)
|
||||
#====================================================================#
|
||||
# Target generation #
|
||||
#====================================================================#
|
||||
generate_arduino_firmware(${FIRMWARE_NAME})
|
||||
@ -152,6 +152,7 @@ private:
|
||||
uint16_t waypoint_count;
|
||||
uint32_t waypoint_timelast_send; // milliseconds
|
||||
uint32_t waypoint_timelast_receive; // milliseconds
|
||||
uint32_t waypoint_timelast_request; // milliseconds
|
||||
uint16_t waypoint_send_timeout; // milliseconds
|
||||
uint16_t waypoint_receive_timeout; // milliseconds
|
||||
|
||||
|
||||
@ -572,18 +572,26 @@ GCS_MAVLINK::update(void)
|
||||
send_message(MSG_NEXT_PARAM);
|
||||
}
|
||||
|
||||
if (!waypoint_receiving && !waypoint_sending) {
|
||||
return;
|
||||
}
|
||||
|
||||
uint32_t tnow = millis();
|
||||
|
||||
if (waypoint_receiving &&
|
||||
waypoint_request_i <= (unsigned)g.waypoint_total) {
|
||||
waypoint_request_i <= (unsigned)g.waypoint_total &&
|
||||
tnow > waypoint_timelast_request + 500) {
|
||||
waypoint_timelast_request = tnow;
|
||||
send_message(MSG_NEXT_WAYPOINT);
|
||||
}
|
||||
|
||||
// stop waypoint sending if timeout
|
||||
if (waypoint_sending && (millis() - waypoint_timelast_send) > waypoint_send_timeout){
|
||||
if (waypoint_sending && (tnow - waypoint_timelast_send) > waypoint_send_timeout){
|
||||
waypoint_sending = false;
|
||||
}
|
||||
|
||||
// stop waypoint receiving if timeout
|
||||
if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout){
|
||||
if (waypoint_receiving && (tnow - waypoint_timelast_receive) > waypoint_receive_timeout){
|
||||
waypoint_receiving = false;
|
||||
}
|
||||
}
|
||||
@ -1151,6 +1159,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
waypoint_receiving = true;
|
||||
waypoint_sending = false;
|
||||
waypoint_request_i = 0;
|
||||
waypoint_timelast_request = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
@ -1296,6 +1305,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
|
||||
// update waypoint receiving state machine
|
||||
waypoint_timelast_receive = millis();
|
||||
waypoint_timelast_request = 0;
|
||||
waypoint_request_i++;
|
||||
|
||||
if (waypoint_request_i > (uint16_t)g.waypoint_total){
|
||||
|
||||
@ -1,468 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?>
|
||||
|
||||
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="0.1246468818">
|
||||
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|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1286905935.1477421615" name=""/>
|
||||
<builder id="org.eclipse.cdt.build.core.settings.default.builder.2031915136" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.libs.150062293" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.990947382" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1924975572" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.299915223" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.814698218" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.2121091413" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1614998879" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
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|
||||
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|
||||
<buildOutputProvider>
|
||||
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|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/${specs_file}"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'g++ -E -P -v -dD "${plugin_state_location}/specs.cpp"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/specs.c"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
|
||||
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|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/${specs_file}"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'g++ -E -P -v -dD "${plugin_state_location}/specs.cpp"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/specs.c"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
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|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="0.877812590">
|
||||
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|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
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|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
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|
||||
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|
||||
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|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
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|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/${specs_file}"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'g++ -E -P -v -dD "${plugin_state_location}/specs.cpp"'" command="sh" useDefault="true"/>
|
||||
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|
||||
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|
||||
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|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
|
||||
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|
||||
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|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/specs.c"'" command="sh" useDefault="true"/>
|
||||
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|
||||
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|
||||
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|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
|
||||
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|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
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|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
|
||||
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|
||||
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|
||||
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|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
|
||||
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|
||||
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|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
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|
||||
<parser enabled="true"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="makefileGenerator">
|
||||
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/${specs_file}"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'g++ -E -P -v -dD "${plugin_state_location}/specs.cpp"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-c 'gcc -E -P -v -dD "${plugin_state_location}/specs.c"'" command="sh" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
|
||||
<buildOutputProvider>
|
||||
<openAction enabled="true" filePath=""/>
|
||||
<parser enabled="true"/>
|
||||
</buildOutputProvider>
|
||||
<scannerInfoProvider id="specsFile">
|
||||
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
|
||||
<parser enabled="true"/>
|
||||
</scannerInfoProvider>
|
||||
</profile>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
|
||||
<buildTargets>
|
||||
<target name="ArduPilotMega" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget/>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="ArduPilotMega.null.28020601" name="ArduPilotMega"/>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
1
ArduPlane/.gitignore
vendored
1
ArduPlane/.gitignore
vendored
@ -1 +0,0 @@
|
||||
ArduPlane.cpp
|
||||
@ -1,80 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>ArduPilotMega</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
<project>libraries</project>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
<dictionary>
|
||||
<key>?name?</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.append_environment</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.stopOnError</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@ -42,6 +42,7 @@ version 2.1 of the License, or (at your option) any later version.
|
||||
#include <AP_RangeFinder.h> // Range finder library
|
||||
#include <ModeFilter.h>
|
||||
#include <AP_Relay.h> // APM relay
|
||||
#include <AP_Mount.h> // Camera/Antenna mount
|
||||
#include <GCS_MAVLink.h> // MAVLink GCS definitions
|
||||
#include <memcheck.h>
|
||||
|
||||
@ -404,6 +405,13 @@ static float load; // % MCU cycles used
|
||||
|
||||
AP_Relay relay;
|
||||
|
||||
// Camera/Antenna mount tracking and stabilisation stuff
|
||||
// --------------------------------------
|
||||
#if MOUNT == ENABLED
|
||||
AP_Mount camera_mount(g_gps, &dcm);
|
||||
#endif
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Top-level logic
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
@ -529,6 +537,10 @@ static void fast_loop()
|
||||
|
||||
static void medium_loop()
|
||||
{
|
||||
#if MOUNT == ENABLED
|
||||
camera_mount.update_mount_position();
|
||||
#endif
|
||||
|
||||
// This is the start of the medium (10 Hz) loop pieces
|
||||
// -----------------------------------------
|
||||
switch(medium_loopCounter) {
|
||||
@ -669,6 +681,9 @@ static void slow_loop()
|
||||
|
||||
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
||||
|
||||
#if MOUNT == ENABLED
|
||||
camera_mount.update_mount_type();
|
||||
#endif
|
||||
break;
|
||||
|
||||
case 2:
|
||||
|
||||
@ -1,168 +0,0 @@
|
||||
#=============================================================================#
|
||||
# Author: Niklaa Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
|
||||
#include(ArduinoProcessing)
|
||||
|
||||
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
|
||||
|
||||
|
||||
message(STATUS "DIR: ${CMAKE_SOURCE_DIR}")
|
||||
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
#====================================================================#
|
||||
# Setup Project #
|
||||
#====================================================================#
|
||||
project(ArduPlane C CXX)
|
||||
|
||||
find_package(Arduino 22 REQUIRED)
|
||||
|
||||
if (NOT DEFINED BOARD)
|
||||
message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
|
||||
set(BOARD "mega")
|
||||
endif()
|
||||
message(STATUS "Board configured as: ${BOARD}")
|
||||
|
||||
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
|
||||
|
||||
#add_subdirectory(${CMAKE_SOURCE_DIR}/ArduCopter)
|
||||
#add_subdirectory(testtool)
|
||||
|
||||
PRINT_BOARD_SETTINGS(${BOARD})
|
||||
|
||||
|
||||
|
||||
#=============================================================================#
|
||||
# Author: Niklas Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
|
||||
#====================================================================#
|
||||
# Settings #
|
||||
#====================================================================#
|
||||
set(FIRMWARE_NAME ArduPlane)
|
||||
|
||||
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
|
||||
|
||||
set(${FIRMWARE_NAME}_SKETCHES
|
||||
ArduPlane.pde
|
||||
Attitude.pde
|
||||
climb_rate.pde
|
||||
commands.pde
|
||||
commands_logic.pde
|
||||
commands_process.pde
|
||||
control_modes.pde
|
||||
events.pde
|
||||
#flip.pde
|
||||
#GCS.pde
|
||||
#GCS_Ardupilot.pde
|
||||
#GCS_IMU_output.pde
|
||||
#GCS_Jason_text.pde
|
||||
GCS_Mavlink.pde
|
||||
#GCS_Standard.pde
|
||||
#GCS_Xplane.pde
|
||||
#heli.pde
|
||||
#HIL_Xplane.pde
|
||||
#leds.pde
|
||||
Log.pde
|
||||
#motors_hexa.pde
|
||||
#motors_octa.pde
|
||||
#motors_octa_quad.pde
|
||||
#motors_quad.pde
|
||||
#motors_tri.pde
|
||||
#motors_y6.pde
|
||||
navigation.pde
|
||||
planner.pde
|
||||
radio.pde
|
||||
#read_commands.pde
|
||||
sensors.pde
|
||||
setup.pde
|
||||
system.pde
|
||||
test.pde
|
||||
) # Firmware sketches
|
||||
|
||||
#create dummy sourcefile
|
||||
file(WRITE ${FIRMWARE_NAME}.cpp "// Do not edit")
|
||||
|
||||
set(${FIRMWARE_NAME}_SRCS
|
||||
#test.cpp
|
||||
${FIRMWARE_NAME}.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_HDRS
|
||||
APM_Config.h
|
||||
APM_Config_mavlink_hil.h
|
||||
#APM_Config_xplane.h
|
||||
config.h
|
||||
defines.h
|
||||
GCS.h
|
||||
#HIL.h
|
||||
#Mavlink_Common.h
|
||||
Parameters.h
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_LIBS
|
||||
DataFlash
|
||||
AP_Math
|
||||
PID
|
||||
RC_Channel
|
||||
AP_OpticalFlow
|
||||
ModeFilter
|
||||
memcheck
|
||||
#AP_PID
|
||||
APM_PI
|
||||
#APO
|
||||
FastSerial
|
||||
AP_Common
|
||||
GCS_MAVLink
|
||||
AP_GPS
|
||||
APM_RC
|
||||
AP_DCM
|
||||
AP_ADC
|
||||
AP_Compass
|
||||
AP_IMU
|
||||
AP_RangeFinder
|
||||
APM_BMP085
|
||||
c
|
||||
m
|
||||
)
|
||||
|
||||
#${CONSOLE_PORT}
|
||||
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
|
||||
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
|
||||
|
||||
include_directories(
|
||||
${CMAKE_SOURCE_DIR}/libraries/DataFlash
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/RC_Channel
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_OpticalFlow
|
||||
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
|
||||
${CMAKE_SOURCE_DIR}/libraries/memcheck
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_PI
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_RC
|
||||
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
|
||||
#new
|
||||
#${CMAKE_SOURCE_DIR}/libraries/Wire
|
||||
#${CMAKE_SOURCE_DIR}/libraries/SPI
|
||||
)
|
||||
#====================================================================#
|
||||
# Target generation #
|
||||
#====================================================================#
|
||||
generate_arduino_firmware(${FIRMWARE_NAME})
|
||||
@ -152,6 +152,7 @@ private:
|
||||
uint16_t waypoint_count;
|
||||
uint32_t waypoint_timelast_send; // milliseconds
|
||||
uint32_t waypoint_timelast_receive; // milliseconds
|
||||
uint32_t waypoint_timelast_request; // milliseconds
|
||||
uint16_t waypoint_send_timeout; // milliseconds
|
||||
uint16_t waypoint_receive_timeout; // milliseconds
|
||||
|
||||
|
||||
@ -28,16 +28,11 @@ static bool mavlink_active;
|
||||
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
|
||||
{
|
||||
#ifdef MAVLINK10
|
||||
uint8_t base_mode = 0;
|
||||
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
||||
uint8_t system_status = MAV_STATE_ACTIVE;
|
||||
uint32_t custom_mode = control_mode;
|
||||
|
||||
// we map the custom_mode to our internal mode plus 16, to lower
|
||||
// the chance that a ground station will give us 0 and we
|
||||
// interpret it as manual. This is necessary as the SET_MODE
|
||||
// command has no way to indicate that the custom_mode is filled in
|
||||
uint32_t custom_mode = control_mode + 16;
|
||||
|
||||
// work out the base_mode. This value is almost completely useless
|
||||
// work out the base_mode. This value is not very useful
|
||||
// for APM, but we calculate it as best we can so a generic
|
||||
// MAVLink enabled ground station can work out something about
|
||||
// what the MAV is up to. The actual bit values are highly
|
||||
@ -93,6 +88,9 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
|
||||
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
|
||||
}
|
||||
|
||||
// indicate we have set a custom mode
|
||||
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
||||
|
||||
mavlink_msg_heartbeat_send(
|
||||
chan,
|
||||
MAV_TYPE_FIXED_WING,
|
||||
@ -284,7 +282,6 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
|
||||
static void NOINLINE send_location(mavlink_channel_t chan)
|
||||
{
|
||||
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_global_position_int_send(
|
||||
chan,
|
||||
millis(),
|
||||
@ -296,16 +293,6 @@ static void NOINLINE send_location(mavlink_channel_t chan)
|
||||
g_gps->ground_speed * rot.b.x, // Y speed cm/s
|
||||
g_gps->ground_speed * rot.c.x,
|
||||
g_gps->ground_course); // course in 1/100 degree
|
||||
#else // MAVLINK10
|
||||
mavlink_msg_global_position_int_send(
|
||||
chan,
|
||||
current_loc.lat,
|
||||
current_loc.lng,
|
||||
current_loc.alt * 10,
|
||||
g_gps->ground_speed * rot.a.x,
|
||||
g_gps->ground_speed * rot.b.x,
|
||||
g_gps->ground_speed * rot.c.x);
|
||||
#endif // MAVLINK10
|
||||
}
|
||||
|
||||
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
|
||||
@ -366,7 +353,6 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
|
||||
// normalized values scaled to -10000 to 10000
|
||||
// This is used for HIL. Do not change without discussing with
|
||||
// HIL maintainers
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_rc_channels_scaled_send(
|
||||
chan,
|
||||
millis(),
|
||||
@ -380,26 +366,11 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
|
||||
0,
|
||||
0,
|
||||
rssi);
|
||||
|
||||
#else // MAVLINK10
|
||||
mavlink_msg_rc_channels_scaled_send(
|
||||
chan,
|
||||
10000 * g.channel_roll.norm_output(),
|
||||
10000 * g.channel_pitch.norm_output(),
|
||||
10000 * g.channel_throttle.norm_output(),
|
||||
10000 * g.channel_rudder.norm_output(),
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
rssi);
|
||||
#endif // MAVLINK10
|
||||
}
|
||||
|
||||
static void NOINLINE send_radio_in(mavlink_channel_t chan)
|
||||
{
|
||||
uint8_t rssi = 1;
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_rc_channels_raw_send(
|
||||
chan,
|
||||
millis(),
|
||||
@ -413,25 +384,10 @@ static void NOINLINE send_radio_in(mavlink_channel_t chan)
|
||||
g.rc_7.radio_in,
|
||||
g.rc_8.radio_in,
|
||||
rssi);
|
||||
|
||||
#else // MAVLINK10
|
||||
mavlink_msg_rc_channels_raw_send(
|
||||
chan,
|
||||
g.channel_roll.radio_in,
|
||||
g.channel_pitch.radio_in,
|
||||
g.channel_throttle.radio_in,
|
||||
g.channel_rudder.radio_in,
|
||||
g.rc_5.radio_in, // XXX currently only 4 RC channels defined
|
||||
g.rc_6.radio_in,
|
||||
g.rc_7.radio_in,
|
||||
g.rc_8.radio_in,
|
||||
rssi);
|
||||
#endif // MAVLINK10
|
||||
}
|
||||
|
||||
static void NOINLINE send_radio_out(mavlink_channel_t chan)
|
||||
{
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_servo_output_raw_send(
|
||||
chan,
|
||||
micros(),
|
||||
@ -444,18 +400,6 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
|
||||
g.rc_6.radio_out,
|
||||
g.rc_7.radio_out,
|
||||
g.rc_8.radio_out);
|
||||
#else // MAVLINK10
|
||||
mavlink_msg_servo_output_raw_send(
|
||||
chan,
|
||||
g.channel_roll.radio_out,
|
||||
g.channel_pitch.radio_out,
|
||||
g.channel_throttle.radio_out,
|
||||
g.channel_rudder.radio_out,
|
||||
g.rc_5.radio_out, // XXX currently only 4 RC channels defined
|
||||
g.rc_6.radio_out,
|
||||
g.rc_7.radio_out,
|
||||
g.rc_8.radio_out);
|
||||
#endif // MAVLINK10
|
||||
}
|
||||
|
||||
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
|
||||
@ -748,11 +692,7 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
|
||||
mavlink_send_message(chan, MSG_STATUSTEXT, 0);
|
||||
} else {
|
||||
// send immediately
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_statustext_send(chan, severity, str);
|
||||
#else
|
||||
mavlink_msg_statustext_send(chan, severity, (const int8_t*) str);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
@ -837,8 +777,15 @@ GCS_MAVLINK::update(void)
|
||||
send_message(MSG_NEXT_PARAM);
|
||||
}
|
||||
|
||||
if (!waypoint_receiving && !waypoint_sending) {
|
||||
return;
|
||||
}
|
||||
|
||||
uint32_t tnow = millis();
|
||||
|
||||
if (waypoint_receiving &&
|
||||
waypoint_request_i <= (unsigned)g.command_total) {
|
||||
waypoint_request_i <= (unsigned)g.command_total &&
|
||||
tnow > waypoint_timelast_request + 500) {
|
||||
send_message(MSG_NEXT_WAYPOINT);
|
||||
}
|
||||
|
||||
@ -1198,13 +1145,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
mavlink_msg_set_mode_decode(msg, &packet);
|
||||
|
||||
#ifdef MAVLINK10
|
||||
// we ignore base_mode as there is no sane way to map
|
||||
// from that bitmap to a APM flight mode. We rely on
|
||||
// custom_mode instead.
|
||||
// see comment on custom_mode above
|
||||
int16_t adjusted_mode = packet.custom_mode - 16;
|
||||
|
||||
switch (adjusted_mode) {
|
||||
if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
|
||||
// we ignore base_mode as there is no sane way to map
|
||||
// from that bitmap to a APM flight mode. We rely on
|
||||
// custom_mode instead.
|
||||
break;
|
||||
}
|
||||
switch (packet.custom_mode) {
|
||||
case MANUAL:
|
||||
case CIRCLE:
|
||||
case STABILIZE:
|
||||
@ -1214,7 +1161,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
case AUTO:
|
||||
case RTL:
|
||||
case LOITER:
|
||||
set_mode(adjusted_mode);
|
||||
set_mode(packet.custom_mode);
|
||||
break;
|
||||
}
|
||||
|
||||
@ -1473,6 +1420,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
g.command_total.set_and_save(packet.count - 1);
|
||||
|
||||
waypoint_timelast_receive = millis();
|
||||
waypoint_timelast_request = 0;
|
||||
waypoint_receiving = true;
|
||||
waypoint_sending = false;
|
||||
waypoint_request_i = 0;
|
||||
@ -1649,6 +1597,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
|
||||
// update waypoint receiving state machine
|
||||
waypoint_timelast_receive = millis();
|
||||
waypoint_timelast_request = 0;
|
||||
waypoint_request_i++;
|
||||
|
||||
if (waypoint_request_i > (uint16_t)g.command_total){
|
||||
@ -1731,7 +1680,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
// we send the value we actually set, which could be
|
||||
// different from the value sent, in case someone sent
|
||||
// a fractional value to an integer type
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_param_value_send(
|
||||
chan,
|
||||
key,
|
||||
@ -1739,14 +1687,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
mav_var_type(vp->meta_type_id()),
|
||||
_count_parameters(),
|
||||
-1); // XXX we don't actually know what its index is...
|
||||
#else // MAVLINK10
|
||||
mavlink_msg_param_value_send(
|
||||
chan,
|
||||
(int8_t *)key,
|
||||
vp->cast_to_float(),
|
||||
_count_parameters(),
|
||||
-1); // XXX we don't actually know what its index is...
|
||||
#endif // MAVLINK10
|
||||
}
|
||||
|
||||
break;
|
||||
@ -1828,7 +1768,48 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
airspeed = 100*packet.airspeed;
|
||||
break;
|
||||
}
|
||||
#ifdef MAVLINK10
|
||||
case MAVLINK_MSG_ID_HIL_STATE:
|
||||
{
|
||||
mavlink_hil_state_t packet;
|
||||
mavlink_msg_hil_state_decode(msg, &packet);
|
||||
|
||||
float vel = sqrt((packet.vx * packet.vx) + (packet.vy * packet.vy));
|
||||
float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100);
|
||||
|
||||
// set gps hil sensor
|
||||
g_gps->setHIL(packet.time_usec/1000.0,
|
||||
packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
|
||||
vel*1.0e-2, cog*1.0e-2, 0, 0);
|
||||
|
||||
#if HIL_MODE == HIL_MODE_SENSORS
|
||||
|
||||
// rad/sec
|
||||
Vector3f gyros;
|
||||
gyros.x = (float)packet.xgyro / 1000.0;
|
||||
gyros.y = (float)packet.ygyro / 1000.0;
|
||||
gyros.z = (float)packet.zgyro / 1000.0;
|
||||
// m/s/s
|
||||
Vector3f accels;
|
||||
accels.x = (float)packet.xacc / 1000.0;
|
||||
accels.y = (float)packet.yacc / 1000.0;
|
||||
accels.z = (float)packet.zacc / 1000.0;
|
||||
|
||||
imu.set_gyro(gyros);
|
||||
|
||||
imu.set_accel(accels);
|
||||
|
||||
#else
|
||||
|
||||
// set dcm hil sensor
|
||||
dcm.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
|
||||
packet.pitchspeed,packet.yawspeed);
|
||||
|
||||
#endif
|
||||
|
||||
break;
|
||||
}
|
||||
#endif // MAVLINK10
|
||||
#endif
|
||||
#if HIL_MODE == HIL_MODE_ATTITUDE
|
||||
case MAVLINK_MSG_ID_ATTITUDE:
|
||||
@ -1890,6 +1871,26 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
break;
|
||||
}
|
||||
#endif // HIL_MODE
|
||||
|
||||
#if MOUNT == ENABLED
|
||||
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
|
||||
{
|
||||
camera_mount.configure_msg(msg);
|
||||
break;
|
||||
}
|
||||
|
||||
case MAVLINK_MSG_ID_MOUNT_CONTROL:
|
||||
{
|
||||
camera_mount.control_msg(msg);
|
||||
break;
|
||||
}
|
||||
|
||||
case MAVLINK_MSG_ID_MOUNT_STATUS:
|
||||
{
|
||||
camera_mount.status_msg(msg);
|
||||
break;
|
||||
}
|
||||
#endif // MOUNT == ENABLED
|
||||
} // end switch
|
||||
} // end handle mavlink
|
||||
|
||||
@ -1959,7 +1960,6 @@ GCS_MAVLINK::queued_param_send()
|
||||
char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK
|
||||
vp->copy_name(param_name, sizeof(param_name));
|
||||
|
||||
#ifdef MAVLINK10
|
||||
mavlink_msg_param_value_send(
|
||||
chan,
|
||||
param_name,
|
||||
@ -1967,14 +1967,6 @@ GCS_MAVLINK::queued_param_send()
|
||||
mav_var_type(vp->meta_type_id()),
|
||||
_queued_parameter_count,
|
||||
_queued_parameter_index);
|
||||
#else // MAVLINK10
|
||||
mavlink_msg_param_value_send(
|
||||
chan,
|
||||
(int8_t*)param_name,
|
||||
value,
|
||||
_queued_parameter_count,
|
||||
_queued_parameter_index);
|
||||
#endif // MAVLINK10
|
||||
|
||||
_queued_parameter_index++;
|
||||
}
|
||||
|
||||
@ -72,10 +72,101 @@ static uint8_t mav_var_type(AP_Meta_class::Type_id t)
|
||||
|
||||
#else
|
||||
|
||||
static uint8_t mav_var_type(AP_Meta_class::Type_id t)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
#define MAV_MISSION_ACCEPTED 0
|
||||
#define MAV_MISSION_UNSUPPORTED 1
|
||||
#define MAV_MISSION_UNSUPPORTED_FRAME 1
|
||||
#define MAV_MISSION_ERROR 1
|
||||
#define MAV_MISSION_INVALID_SEQUENCE 1
|
||||
|
||||
/*
|
||||
some functions have some extra params in MAVLink 1.0
|
||||
*/
|
||||
|
||||
static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon,
|
||||
int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy,
|
||||
int16_t vz, uint16_t hdg)
|
||||
{
|
||||
mavlink_msg_global_position_int_send(
|
||||
chan,
|
||||
lat,
|
||||
lon,
|
||||
alt,
|
||||
vx, vy, vz);
|
||||
}
|
||||
|
||||
static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
|
||||
int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled,
|
||||
int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled,
|
||||
int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
|
||||
{
|
||||
mavlink_msg_rc_channels_scaled_send(
|
||||
chan,
|
||||
chan1_scaled,
|
||||
chan2_scaled,
|
||||
chan3_scaled,
|
||||
chan4_scaled,
|
||||
chan5_scaled,
|
||||
chan6_scaled,
|
||||
chan7_scaled,
|
||||
chan8_scaled,
|
||||
rssi);
|
||||
}
|
||||
|
||||
static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
|
||||
uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw,
|
||||
uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw,
|
||||
uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
|
||||
{
|
||||
mavlink_msg_rc_channels_raw_send(
|
||||
chan,
|
||||
chan1_raw,
|
||||
chan2_raw,
|
||||
chan3_raw,
|
||||
chan4_raw,
|
||||
chan5_raw,
|
||||
chan6_raw,
|
||||
chan7_raw,
|
||||
chan8_raw,
|
||||
rssi);
|
||||
}
|
||||
|
||||
|
||||
static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port,
|
||||
uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw,
|
||||
uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw,
|
||||
uint16_t servo7_raw, uint16_t servo8_raw)
|
||||
{
|
||||
mavlink_msg_servo_output_raw_send(
|
||||
chan,
|
||||
servo1_raw,
|
||||
servo2_raw,
|
||||
servo3_raw,
|
||||
servo4_raw,
|
||||
servo5_raw,
|
||||
servo6_raw,
|
||||
servo7_raw,
|
||||
servo8_raw);
|
||||
}
|
||||
|
||||
static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
|
||||
{
|
||||
mavlink_msg_statustext_send(chan, severity, (const int8_t*) text);
|
||||
}
|
||||
|
||||
static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id,
|
||||
float param_value, uint8_t param_type,
|
||||
uint16_t param_count, uint16_t param_index)
|
||||
{
|
||||
mavlink_msg_param_value_send(
|
||||
chan,
|
||||
(int8_t *)param_id,
|
||||
param_value,
|
||||
param_count,
|
||||
param_index);
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -115,6 +115,25 @@ static void handle_process_do_command()
|
||||
case MAV_CMD_DO_REPEAT_RELAY:
|
||||
do_repeat_relay();
|
||||
break;
|
||||
|
||||
#if MOUNT == ENABLED
|
||||
// Sets the region of interest (ROI) for a sensor set or the
|
||||
// vehicle itself. This can then be used by the vehicles control
|
||||
// system to control the vehicle attitude and the attitude of various
|
||||
// devices such as cameras.
|
||||
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
|
||||
case MAV_CMD_DO_SET_ROI:
|
||||
camera_mount.set_roi_cmd();
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
|
||||
camera_mount.configure_cmd();
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
|
||||
camera_mount.control_cmd();
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -50,7 +50,7 @@ static void process_next_command()
|
||||
// and loads conditional or immediate commands if applicable
|
||||
|
||||
struct Location temp;
|
||||
byte old_index;
|
||||
byte old_index = 0;
|
||||
|
||||
// these are Navigation/Must commands
|
||||
// ---------------------------------
|
||||
|
||||
@ -331,6 +331,20 @@
|
||||
# define ELEVON_CH2_REVERSE DISABLED
|
||||
#endif
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
// MOUNT (ANTENNA OR CAMERA)
|
||||
//
|
||||
#ifndef MOUNT
|
||||
# define MOUNT DISABLED
|
||||
#endif
|
||||
|
||||
#if defined( __AVR_ATmega1280__ ) && CAMERA == ENABLED
|
||||
// The small ATmega1280 chip does not have enough memory for camera support
|
||||
// so disable CLI, this will allow camera support and other improvements to fit.
|
||||
// This should almost have no side effects, because the APM planner can now do a complete board setup.
|
||||
#define CLI_ENABLED DISABLED
|
||||
#endif
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
@ -1,46 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?>
|
||||
|
||||
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="de.innot.avreclipse.toolchain.winavr.base.594686435">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="de.innot.avreclipse.toolchain.winavr.base.594686435" moduleId="org.eclipse.cdt.core.settings" name="Default">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" id="de.innot.avreclipse.toolchain.winavr.base.594686435" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="de.innot.avreclipse.toolchain.winavr.base.594686435.1498078133" name="/" resourcePath="">
|
||||
<toolChain id="de.innot.avreclipse.toolchain.winavr.base.689630969" name="de.innot.avreclipse.toolchain.winavr.base" superClass="de.innot.avreclipse.toolchain.winavr.base">
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash.1566359540" name="Generate HEX file for Flash memory" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom.765758890" name="Generate HEX file for EEPROM" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.objdump.840297081" name="Generate Extended Listing (Source + generated Assembler)" superClass="de.innot.avreclipse.toolchain.options.toolchain.objdump"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.size.379504817" name="Print Size" superClass="de.innot.avreclipse.toolchain.options.toolchain.size"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.avrdude.1978944089" name="AVRDude" superClass="de.innot.avreclipse.toolchain.options.toolchain.avrdude"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="de.innot.avreclipse.targetplatform.avr.1167300306" name="AVR Cross-Target" osList="all" superClass="de.innot.avreclipse.targetplatform.avr"/>
|
||||
<builder id="de.innot.avreclipse.target.builder.winavr.base.1810593476" managedBuildOn="false" name="AVR GNU Make Builder.Default" superClass="de.innot.avreclipse.target.builder.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.assembler.winavr.base.583552593" name="AVR Assembler" superClass="de.innot.avreclipse.tool.assembler.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.compiler.winavr.base.745023243" name="AVR Compiler" superClass="de.innot.avreclipse.tool.compiler.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.cppcompiler.base.789662243" name="AVR C++ Compiler" superClass="de.innot.avreclipse.tool.cppcompiler.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.linker.winavr.base.2119909020" name="AVR C Linker" superClass="de.innot.avreclipse.tool.linker.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.cpplinker.base.1744690341" name="AVR C++ Linker" superClass="de.innot.avreclipse.tool.cpplinker.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.archiver.winavr.base.1982272787" name="AVR Archiver" superClass="de.innot.avreclipse.tool.archiver.winavr.base"/>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="ArduRover.null.866863111" name="ArduRover"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
@ -1,79 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>ArduRover</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
<dictionary>
|
||||
<key>?name?</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.append_environment</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.stopOnError</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@ -1,26 +0,0 @@
|
||||
// Libraries
|
||||
#include <Wire.h>
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
#include <APM_RC.h>
|
||||
#include <AP_RangeFinder.h>
|
||||
#include <GCS_MAVLink.h>
|
||||
#include <AP_ADC.h>
|
||||
#include <AP_DCM.h>
|
||||
#include <AP_Compass.h>
|
||||
#include <Wire.h>
|
||||
#include <AP_GPS.h>
|
||||
#include <AP_IMU.h>
|
||||
#include <APM_BMP085.h>
|
||||
#include <ModeFilter.h>
|
||||
#include <APO.h>
|
||||
#include <WProgram.h>
|
||||
|
||||
// Vehicle Configuration
|
||||
#include "CarStampede.h"
|
||||
|
||||
// ArduPilotOne Default Setup
|
||||
#include "APO_DefaultSetup.h"
|
||||
|
||||
#include <WProgram.h>; int main(void) {init();setup();for(;;) loop(); return 0; }
|
||||
// vim:ts=4:sw=4:expandtab
|
||||
103
CMakeLists.txt
103
CMakeLists.txt
@ -1,4 +1,4 @@
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
cmake_minimum_required(VERSION 2.8.5)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake)
|
||||
@ -42,6 +42,12 @@ if (NOT DEFINED BOARD)
|
||||
set(BOARD "mega")
|
||||
endif()
|
||||
|
||||
if (NOT DEFINED PORT)
|
||||
message(STATUS "please define the upload port (for example: cmake
|
||||
-DPORT=/dev/ttyUSB0, assuming /dev/ttyUSB0")
|
||||
set(PORT "/dev/ttyUSB0")
|
||||
endif()
|
||||
|
||||
# cpack settings
|
||||
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A universal autopilot system for the ArduPilotMega board.")
|
||||
set(CPACK_PACKAGE_VENDOR "DIYDRONES")
|
||||
@ -72,31 +78,84 @@ if (NOT DEFINED BOARD)
|
||||
endif()
|
||||
message(STATUS "Board configured as: ${BOARD}")
|
||||
|
||||
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
|
||||
# add a sketch
|
||||
macro(add_sketch SKETCH_NAME BOARD PORT)
|
||||
|
||||
# standard apm project setup
|
||||
macro(apm_project PROJECT_NAME BOARD SRCS)
|
||||
message(STATUS "creating apo project ${PROJECT_NAME}")
|
||||
set(${PROJECT_NAME}_BOARD ${BOARD})
|
||||
set(${PROJECT_NAME}_AFLAGS "-assembler-with-cpp")
|
||||
file(GLOB HDRS ${PROJECT_NAME}/*.h)
|
||||
file(GLOB PDE ${PROJECT_NAME}/*.pde)
|
||||
set(${PROJECT_NAME}_SRCS ${SRCS} ${HDRS} ${PDE})
|
||||
set(${PROJECT_NAME}_LIBS c)
|
||||
message(STATUS "sources: ${SRCS}")
|
||||
message(STATUS "headers: ${HDRS}")
|
||||
message(STATUS "pde: ${PDE}")
|
||||
generate_arduino_firmware(${PROJECT_NAME})
|
||||
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
|
||||
message(STATUS "Generating sketch ${SKETCH_NAME}")
|
||||
|
||||
# files
|
||||
set(SKETCH_CPP ${CMAKE_CURRENT_BINARY_DIR}/${SKETCH_NAME}/${SKETCH_NAME}.cpp)
|
||||
set(SKETCH_PDE ${CMAKE_CURRENT_SOURCE_DIR}/${SKETCH_NAME}/${SKETCH_NAME}.pde)
|
||||
message(STATUS "SKETCH_PDE:\n${SKETCH_PDE}")
|
||||
message(STATUS "SKETCH_CPP:\n${SKETCH_CPP}")
|
||||
|
||||
# settings
|
||||
set(${SKETCH_NAME}_BOARD ${BOARD})
|
||||
set(${SKETCH_NAME}_PORT ${PORT})
|
||||
set(${SKETCH_NAME}_SRCS ${SKETCH_CPP})
|
||||
set(${SKETCH_NAME}_LIBS m c)
|
||||
|
||||
# find pde files
|
||||
file(GLOB PDE_SOURCES ${SKETCH_NAME}/*.pde)
|
||||
|
||||
# find the head of the main pde
|
||||
file(WRITE ${SKETCH_CPP} "// automatically generated by arduino-cmake\n")
|
||||
file(READ ${SKETCH_PDE} FILE)
|
||||
|
||||
string(FIND "${FILE}" "#include" POS1 REVERSE)
|
||||
string(LENGTH "${FILE}" FILE_LENGTH)
|
||||
math(EXPR LENGTH_STR1 "${FILE_LENGTH}-${POS1}")
|
||||
string(SUBSTRING "${FILE}" ${POS1} ${LENGTH_STR1} STR1)
|
||||
string(FIND "${STR1}" "\n" POS2)
|
||||
math(EXPR POS3 "${POS1}+${POS2}")
|
||||
string(SUBSTRING "${FILE}" 0 ${POS3} FILE_HEAD)
|
||||
message(STATUS "FILE_HEAD:\n${FILE_HEAD}")
|
||||
|
||||
# find the body of the main pde
|
||||
math(EXPR BODY_LENGTH "${FILE_LENGTH}-${POS3}-1")
|
||||
string(SUBSTRING "${FILE}" "${POS3}+1" "${BODY_LENGTH}" FILE_BODY)
|
||||
message(STATUS "BODY:\n${FILE_BODY}")
|
||||
|
||||
# write the file head
|
||||
file(APPEND ${SKETCH_CPP} "${FILE_HEAD}")
|
||||
file(APPEND ${SKETCH_CPP} "\n#include \"WProgram.h\"\n")
|
||||
|
||||
# write prototypes
|
||||
foreach(PDE ${PDE_SOURCES})
|
||||
message(STATUS "pde: ${PDE}")
|
||||
file(READ ${PDE} FILE)
|
||||
string(REGEX MATCHALL "[\n]([a-zA-Z]+[ ])*[_a-zA-Z0-9]+([ ]*[\n][\t]*|[ ])[_a-zA-Z0-9]+[ ]?[\n]?[\t]*[ ]*[(]([\t]*[ ]*[*]?[ ]?[a-zA-Z0-9_][,]?[ ]*[\n]?)*[)]" PROTOTYPES ${FILE})
|
||||
foreach(PROTOTYPE ${PROTOTYPES})
|
||||
message(STATUS "\tprototype: ${PROTOTYPE};")
|
||||
file(APPEND ${SKETCH_CPP} "${PROTOTYPE};")
|
||||
endforeach()
|
||||
endforeach()
|
||||
|
||||
|
||||
# write source
|
||||
file(APPEND ${SKETCH_CPP} "\n${FILE_BODY}")
|
||||
list(REMOVE_ITEM PDE_SOURCES ${SKETCH_PDE})
|
||||
list(SORT PDE_SOURCES)
|
||||
foreach (PDE ${PDE_SOURCES})
|
||||
file(READ ${PDE} FILE)
|
||||
file(APPEND ${SKETCH_CPP} "${FILE}")
|
||||
endforeach()
|
||||
|
||||
# generate firmware
|
||||
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/${SKETCH_NAME})
|
||||
generate_arduino_firmware(${SKETCH_NAME})
|
||||
set_target_properties(${SKETCH_NAME} PROPERTIES LINKER_LANGUAGE CXX)
|
||||
|
||||
# install settings
|
||||
install(FILES
|
||||
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex
|
||||
${CMAKE_CURRENT_BINARY_DIR}/${SKETCH_NAME}.hex
|
||||
DESTINATION bin
|
||||
)
|
||||
endmacro()
|
||||
|
||||
# projects
|
||||
apm_project(apo ${BOARD} apo/apo.cpp)
|
||||
apm_project(ArduRover ${BOARD} ArduRover/ArduRover.cpp)
|
||||
apm_project(ArduBoat ${BOARD} ArduBoat/ArduBoat.cpp)
|
||||
#apm_project(ArduPlane ${BOARD} ArduPlane/ArduPlane.cpp)
|
||||
#apm_project(ArduCopter ${BOARD} ArduCopter/ArduCopter.cpp)
|
||||
add_sketch(apo ${BOARD} ${PORT})
|
||||
add_sketch(ArduRover ${BOARD} ${PORT})
|
||||
add_sketch(ArduBoat ${BOARD} ${PORT})
|
||||
add_sketch(ArduPlane ${BOARD} ${PORT})
|
||||
#add_sketch(ArduCopter ${BOARD} ${PORT})
|
||||
|
||||
52
README.txt
52
README.txt
@ -17,6 +17,55 @@ Building using cmake
|
||||
- cmake ..
|
||||
- make (will build every sketch)
|
||||
- make ArduPlane (will build just ArduPlane etc.)
|
||||
|
||||
Building using eclipse
|
||||
-----------------------------------------------
|
||||
|
||||
Getting the Source:
|
||||
|
||||
assuming source located here: /home/name/apm-src
|
||||
You can either download it or grab it from git:
|
||||
git clone https://code.google.com/p/ardupilot-mega/ /home/name/apm-src
|
||||
|
||||
Generating the Eclipse Project for Your System:
|
||||
|
||||
mkdir /home/name/apm-build
|
||||
cd /home/name/apm-build
|
||||
cmake -G"Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug ../apm-src -D BOARD=mega -D PORT=/dev/ttyUSB0
|
||||
|
||||
Note: Unix can be substituted for MinGW/ MSYS/ NMake (for windows)
|
||||
(see http://www.vtk.org/Wiki/Eclipse_CDT4_Generator)
|
||||
|
||||
PORT is the port for uploading to the board, COM0 etc on windows.
|
||||
BOARD is your board type, mega for the 1280 or mega2560 for the 2560 boards.
|
||||
|
||||
Importing the Eclipse Build Project:
|
||||
|
||||
Import project using Menu File->Import
|
||||
Select General->Existing projects into workspace:
|
||||
Browse where your build tree is and select the root build tree directory.
|
||||
Keep "Copy projects into workspace" unchecked.
|
||||
You get a fully functional eclipse project
|
||||
|
||||
Importing the Eclipse Source Project:
|
||||
|
||||
You can also import the source repository (/home/name/apm-src) if you want to modify the source/ commit using git.
|
||||
|
||||
Settings up Eclipse to Recognize PDE files:
|
||||
|
||||
Window > Preferences > General > Content Types. This tree associates a
|
||||
filename or filename pattern with its content type so that tools can treat it
|
||||
properly. Source and header files for most languages are under the Text tree.
|
||||
Add "*.pde" as a C++ Source.
|
||||
|
||||
Autocompletion:
|
||||
|
||||
Right click on source project -> Properties -> Project References -> apm-build Project
|
||||
|
||||
Advanced:
|
||||
|
||||
* Regenerating the eclipse source project file:
|
||||
cmake -G"Eclipse CDT4 - Unix Makefiles" -DECLIPSE_CDT4_GENERATE_SOURCE_PROJECT=TRUE /home/name/apm-src
|
||||
|
||||
Build a package using cpack
|
||||
-----------------------------------------------
|
||||
@ -24,3 +73,6 @@ Build a package using cpack
|
||||
- cmake ..
|
||||
- make package
|
||||
- make package_source
|
||||
|
||||
|
||||
vim:ts=4:sw=4:expandtab
|
||||
|
||||
@ -5,13 +5,15 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
|
||||
/root/apm/ardupilot-mega/ArduCopter/Parameters.h:407: warning: overflow in implicit constant conversion
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
|
||||
/root/apm/ardupilot-mega/ArduCopter/heli.pde:64: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
|
||||
/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'int heli_get_scaled_throttle(int)':
|
||||
/root/apm/ardupilot-mega/ArduCopter/heli.pde:205: warning: unused variable 'scaled_throttle'
|
||||
/root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)':
|
||||
/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function
|
||||
/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function
|
||||
@ -19,7 +21,9 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function
|
||||
/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function
|
||||
/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function
|
||||
autogenerated: At global scope:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:179: warning: 'int alt_hold_velocity()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:209: warning: 'int get_angle_boost(int)' defined but not used
|
||||
autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
|
||||
autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
|
||||
autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
|
||||
@ -28,36 +32,39 @@ autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but nev
|
||||
autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined
|
||||
autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
|
||||
autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/Log.pde:835: warning: 'void Log_Write_Attitude()' defined but not used
|
||||
autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
|
||||
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|
||||
autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
|
||||
autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:438: warning: 'void set_failsafe(boolean)' defined but not used
|
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|
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||||
autogenerated:215: warning: 'void debug_motors()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
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|
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||||
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|
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autogenerated:241: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
|
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/root/apm/ardupilot-mega/ArduCopter/radio.pde:134: warning: 'void throttle_failsafe(uint16_t)' defined but not used
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|
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|
||||
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|
||||
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|
||||
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|
||||
autogenerated:255: warning: 'void zero_airspeed()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/system.pde:456: warning: 'void set_failsafe(boolean)' defined but not used
|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:362: warning: 'abs_pressure' defined but not used
|
||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:347: warning: 'old_altitude' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:348: warning: 'old_rate' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:366: warning: 'abs_pressure' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:367: warning: 'ground_pressure' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:368: warning: 'ground_temperature' defined but not used
|
||||
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|
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|
||||
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/root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
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@ -5,13 +5,15 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
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/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
|
||||
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@ -19,7 +21,9 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
|
||||
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autogenerated: At global scope:
|
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@ -28,36 +32,39 @@ autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but nev
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@ -5,17 +5,21 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
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|
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||||
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||||
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|
||||
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|
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||||
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@ -23,24 +27,25 @@ autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but ne
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@ -5,17 +5,21 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
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|
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|
||||
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|
||||
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|
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@ -23,24 +27,25 @@ autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but ne
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -95,7 +95,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
|
||||
<name>ArduCopter V2.0.49 Beta Heli (2560 only)</name>
|
||||
<name>ArduCopter V2.0.50 Beta Heli (2560 only)</name>
|
||||
<desc>
|
||||
#define AUTO_RESET_LOITER 0
|
||||
#define FRAME_CONFIG HELI_FRAME
|
||||
@ -137,7 +137,7 @@
|
||||
#define NAV_LOITER_IMAX 10
|
||||
|
||||
</desc>
|
||||
<format_version>111</format_version>
|
||||
<format_version>112</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
|
||||
@ -157,7 +157,7 @@
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
|
||||
<name>ArduCopter V2.0.49 Beta Heli Hil</name>
|
||||
<name>ArduCopter V2.0.50 Beta Heli Hil</name>
|
||||
<desc>
|
||||
|
||||
#define HIL_MODE HIL_MODE_ATTITUDE
|
||||
@ -203,6 +203,6 @@
|
||||
|
||||
|
||||
</desc>
|
||||
<format_version>111</format_version>
|
||||
<format_version>112</format_version>
|
||||
</Firmware>
|
||||
</options>
|
||||
|
||||
@ -1,36 +1,545 @@
|
||||
From https://code.google.com/p/ardupilot-mega
|
||||
8a21477..b0bfa54 APM_Camera -> origin/APM_Camera
|
||||
6f44fff..076459c master -> origin/master
|
||||
Updating 6f44fff..076459c
|
||||
b0bfa54..8d3fb35 APM_Camera -> origin/APM_Camera
|
||||
cd1bcd6..34c9a18 master -> origin/master
|
||||
Updating cd1bcd6..34c9a18
|
||||
Fast-forward
|
||||
ArduCopter/control_modes.pde | 16 +
|
||||
.gitignore | 4 +-
|
||||
ArduBoat/ArduBoat.cpp | 7 +-
|
||||
ArduBoat/ArduBoat.pde | 2 +-
|
||||
ArduBoat/BoatGeneric.h | 39 +-
|
||||
ArduBoat/ControllerBoat.h | 157 +-
|
||||
ArduCopter/APM_Config.h | 7 +-
|
||||
ArduCopter/ArduCopter.pde | 64 +-
|
||||
ArduCopter/Attitude.pde | 54 +-
|
||||
ArduCopter/CMakeLists.txt | 165 -
|
||||
ArduCopter/GCS.h | 7 +-
|
||||
ArduCopter/GCS_Mavlink.pde | 23 +-
|
||||
ArduCopter/Log.pde | 261 +-
|
||||
ArduCopter/Parameters.h | 12 +-
|
||||
ArduCopter/config.h | 45 +-
|
||||
ArduCopter/control_modes.pde | 8 +-
|
||||
ArduCopter/defines.h | 1 +
|
||||
ArduCopter/system.pde | 4 +
|
||||
ArduPlane/ArduPlane.pde | 10 +-
|
||||
ArduPlane/Parameters.h | 3 +
|
||||
ArduPlane/config.h | 8 +
|
||||
Tools/ArduTracker/tags |148411 --------------------
|
||||
Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs | 2 +
|
||||
Tools/ArdupilotMegaPlanner/Log.cs | 174 +-
|
||||
Tools/ArdupilotMegaPlanner/MainV2.cs | 9 +-
|
||||
ArduCopter/heli.pde | 25 +
|
||||
ArduCopter/motors.pde | 4 +-
|
||||
ArduCopter/navigation.pde | 42 +-
|
||||
ArduCopter/radio.pde | 14 +-
|
||||
ArduCopter/system.pde | 36 +-
|
||||
ArduPlane/.gitignore | 1 -
|
||||
ArduPlane/ArduPlane.pde | 27 +-
|
||||
ArduPlane/CMakeLists.txt | 168 -
|
||||
ArduPlane/GCS.h | 7 +-
|
||||
ArduPlane/GCS_Mavlink.pde | 464 +++-
|
||||
ArduPlane/Log.pde | 10 +-
|
||||
ArduPlane/Mavlink_compat.h | 172 +
|
||||
ArduPlane/Parameters.h | 12 +-
|
||||
ArduPlane/commands.pde | 65 +-
|
||||
ArduPlane/commands_logic.pde | 152 +-
|
||||
ArduPlane/commands_process.pde | 183 +-
|
||||
ArduPlane/config.h | 5 +
|
||||
ArduPlane/defines.h | 3 +-
|
||||
ArduPlane/navigation.pde | 2 +-
|
||||
ArduPlane/system.pde | 21 +-
|
||||
ArduPlane/test.pde | 6 +-
|
||||
ArduRover/ArduRover.cpp | 6 +-
|
||||
ArduRover/ArduRover.pde | 1 +
|
||||
ArduRover/CarStampede.h | 31 +-
|
||||
ArduRover/ControllerCar.h | 158 +-
|
||||
ArduRover/ControllerTank.h | 176 +-
|
||||
ArduRover/TankGeneric.h | 16 +-
|
||||
CMakeLists.txt | 9 +-
|
||||
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj | 9 +
|
||||
Tools/ArdupilotMegaPlanner/Camera.Designer.cs | 421 +++
|
||||
Tools/ArdupilotMegaPlanner/Camera.cs | 139 +
|
||||
Tools/ArdupilotMegaPlanner/Camera.resx | 120 +
|
||||
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs | 12 +-
|
||||
Tools/ArdupilotMegaPlanner/CurrentState.cs | 81 +-
|
||||
.../GCSViews/Configuration.Designer.cs | 137 +-
|
||||
.../ArdupilotMegaPlanner/GCSViews/Configuration.cs | 47 +-
|
||||
.../GCSViews/Configuration.resx | 2088 +++++-------
|
||||
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs | 12 +-
|
||||
.../GCSViews/FlightData.Designer.cs | 155 +-
|
||||
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs | 164 +-
|
||||
.../ArdupilotMegaPlanner/GCSViews/FlightData.resx | 604 ++--
|
||||
.../ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs | 4 +-
|
||||
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs | 18 +-
|
||||
Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs | 7 +
|
||||
Tools/ArdupilotMegaPlanner/Joystick.cs | 50 +-
|
||||
.../ArdupilotMegaPlanner/JoystickSetup.Designer.cs | 276 ++-
|
||||
Tools/ArdupilotMegaPlanner/JoystickSetup.cs | 125 +-
|
||||
Tools/ArdupilotMegaPlanner/JoystickSetup.resx | 763 ++++-
|
||||
Tools/ArdupilotMegaPlanner/MAVLink.cs | 11 +-
|
||||
Tools/ArdupilotMegaPlanner/MainV2.cs | 87 +-
|
||||
Tools/ArdupilotMegaPlanner/MavlinkLog.cs | 9 +-
|
||||
Tools/ArdupilotMegaPlanner/Program.cs | 1 +
|
||||
.../Properties/AssemblyInfo.cs | 2 +-
|
||||
Tools/ArdupilotMegaPlanner/SerialOutput.cs | 13 +-
|
||||
Tools/ArdupilotMegaPlanner/Setup/Setup.cs | 4 +-
|
||||
Tools/ArdupilotMegaPlanner/Updater/Updater.csproj | 2 +-
|
||||
.../bin/Release/ArdupilotMegaPlanner.application | 2 +-
|
||||
.../bin/Release/ArdupilotMegaPlanner.exe | Bin 2194432 -> 2194944 bytes
|
||||
.../bin/Release/ArdupilotMegaPlanner.exe | Bin 2194944 -> 2188288 bytes
|
||||
.../bin/Release/GCSViews/Configuration.resx | 2088 +++++-------
|
||||
.../bin/Release/GCSViews/FlightData.resx | 604 ++--
|
||||
.../bin/Release/JoystickSetup.resx | 763 ++++-
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/Updater.exe | Bin 8192 -> 8192 bytes
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/resedit.exe | Bin 20480 -> 20480 bytes
|
||||
.../ru-RU/ArdupilotMegaPlanner.resources.dll | Bin 53248 -> 53248 bytes
|
||||
.../zh-Hans/ArdupilotMegaPlanner.resources.dll | Bin 380928 -> 380928 bytes
|
||||
apo/ControllerQuad.h | 51 +-
|
||||
apo/QuadArducopter.h | 10 +-
|
||||
libraries/APO/AP_ArmingMechanism.cpp | 57 +
|
||||
libraries/APO/AP_ArmingMechanism.h | 67 +
|
||||
libraries/APO/AP_BatteryMonitor.cpp | 2 +
|
||||
libraries/APO/AP_BatteryMonitor.h | 58 +-
|
||||
libraries/APO/AP_Guide.h | 1 +
|
||||
libraries/APO/AP_HardwareAbstractionLayer.h | 13 +
|
||||
libraries/APO/AP_Navigator.cpp | 20 +-
|
||||
libraries/Desktop/support/FastSerial.cpp | 283 +-
|
||||
27 files changed, 517 insertions(+), 148687 deletions(-)
|
||||
delete mode 100644 Tools/ArduTracker/tags
|
||||
create mode 100644 libraries/APO/AP_ArmingMechanism.cpp
|
||||
create mode 100644 libraries/APO/AP_ArmingMechanism.h
|
||||
Tools/scripts/format.sh | 13 +
|
||||
apo/ControllerPlane.h | 329 +-
|
||||
apo/ControllerQuad.h | 414 +--
|
||||
apo/PlaneEasystar.h | 18 +-
|
||||
apo/QuadArducopter.h | 17 +-
|
||||
apo/apo.pde | 5 +-
|
||||
libraries/APM_BMP085/APM_BMP085.h | 2 +-
|
||||
libraries/APM_PI/APM_PI.cpp | 8 +-
|
||||
libraries/APO/APO.h | 6 +-
|
||||
libraries/APO/APO_DefaultSetup.h | 321 +-
|
||||
libraries/APO/AP_ArmingMechanism.cpp | 14 +-
|
||||
libraries/APO/AP_ArmingMechanism.h | 10 +-
|
||||
libraries/APO/AP_Autopilot.cpp | 461 ++--
|
||||
libraries/APO/AP_Autopilot.h | 195 +-
|
||||
libraries/APO/AP_BatteryMonitor.h | 1 -
|
||||
libraries/APO/AP_CommLink.cpp | 1280 ++++----
|
||||
libraries/APO/AP_CommLink.h | 126 +-
|
||||
libraries/APO/AP_Controller.cpp | 111 +-
|
||||
libraries/APO/AP_Controller.h | 402 ++-
|
||||
libraries/APO/AP_Guide.cpp | 429 ++-
|
||||
libraries/APO/AP_Guide.h | 203 +-
|
||||
libraries/APO/AP_HardwareAbstractionLayer.cpp | 1 +
|
||||
libraries/APO/AP_HardwareAbstractionLayer.h | 258 +-
|
||||
libraries/APO/AP_MavlinkCommand.cpp | 304 +-
|
||||
libraries/APO/AP_MavlinkCommand.h | 654 ++--
|
||||
libraries/APO/AP_Navigator.cpp | 298 +-
|
||||
libraries/APO/AP_Navigator.h | 358 +-
|
||||
libraries/APO/AP_RcChannel.cpp | 125 +-
|
||||
libraries/APO/AP_RcChannel.h | 103 +-
|
||||
libraries/APO/AP_Var_keys.h | 21 +-
|
||||
libraries/APO/constants.h | 1 +
|
||||
libraries/APO/examples/MavlinkTest/MavlinkTest.pde | 64 +-
|
||||
libraries/APO/examples/ServoManual/ServoManual.pde | 144 +-
|
||||
libraries/APO/examples/ServoSweep/ServoSweep.pde | 184 +-
|
||||
libraries/AP_Common/AP_Common.h | 20 +-
|
||||
libraries/AP_Common/AP_Test.h | 4 +-
|
||||
libraries/AP_Common/AP_Var.cpp | 80 +-
|
||||
libraries/AP_Common/AP_Var.h | 12 +-
|
||||
libraries/AP_Common/c++.cpp | 22 +-
|
||||
libraries/AP_Common/examples/menu/menu.pde | 22 +-
|
||||
libraries/AP_Common/include/menu.h | 186 +-
|
||||
libraries/AP_Common/menu.cpp | 198 +-
|
||||
libraries/AP_DCM/AP_DCM_HIL.cpp | 12 +-
|
||||
libraries/AP_GPS/AP_GPS_406.cpp | 72 +-
|
||||
libraries/AP_GPS/AP_GPS_406.h | 8 +-
|
||||
libraries/AP_GPS/AP_GPS_Auto.cpp | 316 +-
|
||||
libraries/AP_GPS/AP_GPS_Auto.h | 58 +-
|
||||
libraries/AP_GPS/AP_GPS_HIL.cpp | 18 +-
|
||||
libraries/AP_GPS/AP_GPS_HIL.h | 10 +-
|
||||
libraries/AP_GPS/AP_GPS_IMU.cpp | 294 +-
|
||||
libraries/AP_GPS/AP_GPS_IMU.h | 68 +-
|
||||
libraries/AP_GPS/AP_GPS_MTK.cpp | 226 +-
|
||||
libraries/AP_GPS/AP_GPS_MTK.h | 74 +-
|
||||
libraries/AP_GPS/AP_GPS_MTK16.cpp | 240 +-
|
||||
libraries/AP_GPS/AP_GPS_MTK16.h | 78 +-
|
||||
libraries/AP_GPS/AP_GPS_NMEA.cpp | 528 ++--
|
||||
libraries/AP_GPS/AP_GPS_NMEA.h | 118 +-
|
||||
libraries/AP_GPS/AP_GPS_None.h | 8 +-
|
||||
libraries/AP_GPS/AP_GPS_SIRF.cpp | 280 +-
|
||||
libraries/AP_GPS/AP_GPS_SIRF.h | 130 +-
|
||||
libraries/AP_GPS/AP_GPS_Shim.h | 38 +-
|
||||
libraries/AP_GPS/AP_GPS_UBLOX.cpp | 292 +-
|
||||
libraries/AP_GPS/AP_GPS_UBLOX.h | 184 +-
|
||||
libraries/AP_GPS/GPS.cpp | 50 +-
|
||||
libraries/AP_GPS/GPS.h | 330 +-
|
||||
.../AP_GPS/examples/GPS_406_test/GPS_406_test.pde | 62 +-
|
||||
.../examples/GPS_AUTO_test/GPS_AUTO_test.pde | 42 +-
|
||||
.../AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde | 60 +-
|
||||
.../examples/GPS_NMEA_test/GPS_NMEA_test.pde | 81 +-
|
||||
.../examples/GPS_UBLOX_test/GPS_UBLOX_test.pde | 60 +-
|
||||
libraries/Desktop/Desktop.mk | 2 +-
|
||||
libraries/Desktop/Makefile.desktop | 3 +
|
||||
libraries/GCS_MAVLink/GCS_MAVLink.cpp | 6 +-
|
||||
libraries/GCS_MAVLink/GCS_MAVLink.h | 18 +-
|
||||
.../include/ardupilotmega/ardupilotmega.h | 74 +-
|
||||
.../include/ardupilotmega/mavlink_msg_ap_adc.h | 254 ++
|
||||
.../ardupilotmega/mavlink_msg_digicam_configure.h | 364 ++
|
||||
.../ardupilotmega/mavlink_msg_digicam_control.h | 342 ++
|
||||
.../ardupilotmega/mavlink_msg_mount_configure.h | 254 ++
|
||||
.../ardupilotmega/mavlink_msg_mount_control.h | 254 ++
|
||||
.../ardupilotmega/mavlink_msg_mount_status.h | 232 ++
|
||||
.../GCS_MAVLink/include/ardupilotmega/testsuite.h | 340 ++
|
||||
.../GCS_MAVLink/include/ardupilotmega/version.h | 2 +-
|
||||
libraries/GCS_MAVLink/include/bittest.c | 39 -
|
||||
libraries/GCS_MAVLink/include/common/common.h | 52 +-
|
||||
.../mavlink_msg_attitude_controller_output.h | 169 -
|
||||
.../include/common/mavlink_msg_attitude_new.h | 268 --
|
||||
.../include/common/mavlink_msg_auth_key.h | 6 +-
|
||||
.../common/mavlink_msg_change_operator_control.h | 6 +-
|
||||
.../include/common/mavlink_msg_debug_vect.h | 6 +-
|
||||
.../include/common/mavlink_msg_full_state.h | 428 ---
|
||||
.../include/common/mavlink_msg_gps_status.h | 30 +-
|
||||
.../include/common/mavlink_msg_named_value_float.h | 6 +-
|
||||
.../include/common/mavlink_msg_named_value_int.h | 6 +-
|
||||
.../common/mavlink_msg_object_detection_event.h | 6 +-
|
||||
.../common/mavlink_msg_param_request_read.h | 6 +-
|
||||
.../include/common/mavlink_msg_param_set.h | 6 +-
|
||||
.../include/common/mavlink_msg_param_value.h | 6 +-
|
||||
.../mavlink_msg_position_controller_output.h | 169 -
|
||||
.../mavlink_msg_request_dynamic_gyro_calibration.h | 177 -
|
||||
.../mavlink_msg_request_static_calibration.h | 138 -
|
||||
.../common/mavlink_msg_set_roll_pitch_yaw.h | 184 -
|
||||
.../common/mavlink_msg_set_roll_pitch_yaw_speed.h | 184 -
|
||||
.../include/common/mavlink_msg_statustext.h | 6 +-
|
||||
.../mavlink_msg_waypoint_set_global_reference.h | 294 --
|
||||
libraries/GCS_MAVLink/include/common/testsuite.h | 30 +-
|
||||
libraries/GCS_MAVLink/include/common/version.h | 2 +-
|
||||
libraries/GCS_MAVLink/include/documentation.dox | 41 -
|
||||
libraries/GCS_MAVLink/include/mavlink_helpers.h | 8 +-
|
||||
libraries/GCS_MAVLink/include/minimal/mavlink.h | 11 -
|
||||
.../include/minimal/mavlink_msg_heartbeat.h | 132 -
|
||||
libraries/GCS_MAVLink/include/minimal/minimal.h | 45 -
|
||||
libraries/GCS_MAVLink/include/pixhawk/mavlink.h | 11 -
|
||||
.../include/pixhawk/mavlink_msg_attitude_control.h | 257 --
|
||||
.../include/pixhawk/mavlink_msg_aux_status.h | 204 -
|
||||
.../include/pixhawk/mavlink_msg_brief_feature.h | 249 --
|
||||
.../include/pixhawk/mavlink_msg_control_status.h | 203 -
|
||||
.../mavlink_msg_data_transmission_handshake.h | 174 -
|
||||
.../include/pixhawk/mavlink_msg_debug_vect.h | 156 -
|
||||
.../pixhawk/mavlink_msg_encapsulated_data.h | 124 -
|
||||
.../pixhawk/mavlink_msg_encapsulated_image.h | 76 -
|
||||
.../include/pixhawk/mavlink_msg_get_image_ack.h | 104 -
|
||||
.../include/pixhawk/mavlink_msg_image_available.h | 586 ---
|
||||
.../pixhawk/mavlink_msg_image_trigger_control.h | 101 -
|
||||
.../include/pixhawk/mavlink_msg_image_triggered.h | 352 --
|
||||
.../include/pixhawk/mavlink_msg_manual_control.h | 191 -
|
||||
.../include/pixhawk/mavlink_msg_marker.h | 236 --
|
||||
.../include/pixhawk/mavlink_msg_pattern_detected.h | 160 -
|
||||
.../pixhawk/mavlink_msg_point_of_interest.h | 241 --
|
||||
.../mavlink_msg_point_of_interest_connection.h | 307 --
|
||||
.../mavlink_msg_position_control_offset_set.h | 206 -
|
||||
.../mavlink_msg_position_control_setpoint.h | 192 -
|
||||
.../mavlink_msg_position_control_setpoint_set.h | 226 --
|
||||
.../include/pixhawk/mavlink_msg_raw_aux.h | 226 --
|
||||
.../pixhawk/mavlink_msg_request_data_stream.h | 118 -
|
||||
.../mavlink_msg_request_dynamic_gyro_calibration.h | 123 -
|
||||
.../mavlink_msg_request_static_calibration.h | 90 -
|
||||
.../include/pixhawk/mavlink_msg_set_altitude.h | 78 -
|
||||
.../include/pixhawk/mavlink_msg_set_cam_shutter.h | 197 -
|
||||
.../include/pixhawk/mavlink_msg_watchdog_command.h | 158 -
|
||||
.../pixhawk/mavlink_msg_watchdog_heartbeat.h | 124 -
|
||||
.../pixhawk/mavlink_msg_watchdog_process_info.h | 186 -
|
||||
.../pixhawk/mavlink_msg_watchdog_process_status.h | 200 -
|
||||
libraries/GCS_MAVLink/include/pixhawk/pixhawk.h | 79 -
|
||||
libraries/GCS_MAVLink/include/protocol.h | 37 +-
|
||||
libraries/GCS_MAVLink/include/slugs/mavlink.h | 11 -
|
||||
.../include/slugs/mavlink_msg_air_data.h | 148 -
|
||||
.../include/slugs/mavlink_msg_cpu_load.h | 138 -
|
||||
.../include/slugs/mavlink_msg_ctrl_srfc_pt.h | 121 -
|
||||
.../include/slugs/mavlink_msg_data_log.h | 216 --
|
||||
.../include/slugs/mavlink_msg_diagnostic.h | 210 --
|
||||
.../include/slugs/mavlink_msg_filtered_data.h | 216 --
|
||||
.../include/slugs/mavlink_msg_gps_date_time.h | 203 -
|
||||
.../include/slugs/mavlink_msg_mid_lvl_cmds.h | 167 -
|
||||
.../GCS_MAVLink/include/slugs/mavlink_msg_pid.h | 130 -
|
||||
.../include/slugs/mavlink_msg_pilot_console.h | 145 -
|
||||
.../include/slugs/mavlink_msg_pwm_commands.h | 235 --
|
||||
.../include/slugs/mavlink_msg_sensor_bias.h | 216 --
|
||||
.../include/slugs/mavlink_msg_slugs_action.h | 138 -
|
||||
.../include/slugs/mavlink_msg_slugs_navigation.h | 272 --
|
||||
libraries/GCS_MAVLink/include/slugs/slugs.h | 56 -
|
||||
libraries/GCS_MAVLink/include/ualberta/mavlink.h | 11 -
|
||||
.../include/ualberta/mavlink_msg_nav_filter_bias.h | 242 --
|
||||
.../ualberta/mavlink_msg_radio_calibration.h | 204 -
|
||||
.../mavlink_msg_request_radio_calibration.h | 59 -
|
||||
.../ualberta/mavlink_msg_request_rc_channels.h | 101 -
|
||||
.../ualberta/mavlink_msg_ualberta_sys_status.h | 135 -
|
||||
libraries/GCS_MAVLink/include/ualberta/ualberta.h | 79 -
|
||||
.../include_v1.0/ardupilotmega/ardupilotmega.h | 122 +
|
||||
.../include_v1.0/ardupilotmega/mavlink.h | 27 +
|
||||
.../ardupilotmega/mavlink_msg_ap_adc.h | 254 ++
|
||||
.../ardupilotmega/mavlink_msg_digicam_configure.h | 364 ++
|
||||
.../ardupilotmega/mavlink_msg_digicam_control.h | 342 ++
|
||||
.../ardupilotmega/mavlink_msg_meminfo.h | 166 +
|
||||
.../ardupilotmega/mavlink_msg_mount_configure.h | 254 ++
|
||||
.../ardupilotmega/mavlink_msg_mount_control.h | 254 ++
|
||||
.../ardupilotmega/mavlink_msg_mount_status.h | 232 ++
|
||||
.../ardupilotmega/mavlink_msg_sensor_offsets.h | 386 ++
|
||||
.../ardupilotmega/mavlink_msg_set_mag_offsets.h | 232 ++
|
||||
.../include_v1.0/ardupilotmega/testsuite.h | 538 +++
|
||||
.../include_v1.0/ardupilotmega/version.h | 12 +
|
||||
libraries/GCS_MAVLink/include_v1.0/checksum.h | 89 +
|
||||
libraries/GCS_MAVLink/include_v1.0/common/common.h | 429 +++
|
||||
.../GCS_MAVLink/include_v1.0/common/mavlink.h | 27 +
|
||||
.../include_v1.0/common/mavlink_msg_attitude.h | 276 ++
|
||||
.../common/mavlink_msg_attitude_quaternion.h | 298 ++
|
||||
.../include_v1.0/common/mavlink_msg_auth_key.h | 144 +
|
||||
.../common/mavlink_msg_change_operator_control.h | 204 +
|
||||
.../mavlink_msg_change_operator_control_ack.h | 188 +
|
||||
.../include_v1.0/common/mavlink_msg_command_ack.h | 166 +
|
||||
.../include_v1.0/common/mavlink_msg_command_long.h | 364 ++
|
||||
.../include_v1.0/common/mavlink_msg_data_stream.h | 188 +
|
||||
.../include_v1.0/common/mavlink_msg_debug.h | 188 +
|
||||
.../include_v1.0/common/mavlink_msg_debug_vect.h | 226 ++
|
||||
.../common/mavlink_msg_extended_message.h | 188 +
|
||||
.../common/mavlink_msg_global_position_int.h | 320 ++
|
||||
.../mavlink_msg_global_position_setpoint_int.h | 232 ++
|
||||
.../mavlink_msg_global_vision_position_estimate.h | 276 ++
|
||||
.../common/mavlink_msg_gps_global_origin.h | 188 +
|
||||
.../include_v1.0/common/mavlink_msg_gps_raw_int.h | 342 ++
|
||||
.../include_v1.0/common/mavlink_msg_gps_status.h | 252 ++
|
||||
.../include_v1.0/common/mavlink_msg_heartbeat.h | 251 ++
|
||||
.../include_v1.0/common/mavlink_msg_hil_controls.h | 364 ++
|
||||
.../common/mavlink_msg_hil_rc_inputs_raw.h | 430 +++
|
||||
.../include_v1.0/common/mavlink_msg_hil_state.h | 474 +++
|
||||
.../common/mavlink_msg_local_position_ned.h | 276 ++
|
||||
.../common/mavlink_msg_local_position_setpoint.h | 232 ++
|
||||
.../common/mavlink_msg_manual_control.h | 320 ++
|
||||
.../include_v1.0/common/mavlink_msg_memory_vect.h | 204 +
|
||||
.../include_v1.0/common/mavlink_msg_mission_ack.h | 188 +
|
||||
.../common/mavlink_msg_mission_clear_all.h | 166 +
|
||||
.../common/mavlink_msg_mission_count.h | 188 +
|
||||
.../common/mavlink_msg_mission_current.h | 144 +
|
||||
.../include_v1.0/common/mavlink_msg_mission_item.h | 430 +++
|
||||
.../common/mavlink_msg_mission_item_reached.h | 144 +
|
||||
.../common/mavlink_msg_mission_request.h | 188 +
|
||||
.../common/mavlink_msg_mission_request_list.h | 166 +
|
||||
.../mavlink_msg_mission_request_partial_list.h | 210 ++
|
||||
.../common/mavlink_msg_mission_set_current.h | 188 +
|
||||
.../mavlink_msg_mission_write_partial_list.h | 210 ++
|
||||
.../common/mavlink_msg_named_value_float.h | 182 +
|
||||
.../common/mavlink_msg_named_value_int.h | 182 +
|
||||
.../common/mavlink_msg_nav_controller_output.h | 298 ++
|
||||
.../include_v1.0/common/mavlink_msg_optical_flow.h | 254 ++
|
||||
.../common/mavlink_msg_param_request_list.h | 166 +
|
||||
.../common/mavlink_msg_param_request_read.h | 204 +
|
||||
.../include_v1.0/common/mavlink_msg_param_set.h | 226 ++
|
||||
.../include_v1.0/common/mavlink_msg_param_value.h | 226 ++
|
||||
.../include_v1.0/common/mavlink_msg_ping.h | 210 ++
|
||||
.../include_v1.0/common/mavlink_msg_raw_imu.h | 342 ++
|
||||
.../include_v1.0/common/mavlink_msg_raw_pressure.h | 232 ++
|
||||
.../common/mavlink_msg_rc_channels_override.h | 342 ++
|
||||
.../common/mavlink_msg_rc_channels_raw.h | 364 ++
|
||||
.../common/mavlink_msg_rc_channels_scaled.h | 364 ++
|
||||
.../common/mavlink_msg_request_data_stream.h | 232 ++
|
||||
...link_msg_roll_pitch_yaw_speed_thrust_setpoint.h | 232 ++
|
||||
.../mavlink_msg_roll_pitch_yaw_thrust_setpoint.h | 232 ++
|
||||
.../common/mavlink_msg_safety_allowed_area.h | 276 ++
|
||||
.../common/mavlink_msg_safety_set_allowed_area.h | 320 ++
|
||||
.../include_v1.0/common/mavlink_msg_scaled_imu.h | 342 ++
|
||||
.../common/mavlink_msg_scaled_pressure.h | 210 ++
|
||||
.../common/mavlink_msg_servo_output_raw.h | 342 ++
|
||||
.../mavlink_msg_set_global_position_setpoint_int.h | 232 ++
|
||||
.../common/mavlink_msg_set_gps_global_origin.h | 210 ++
|
||||
.../mavlink_msg_set_local_position_setpoint.h | 276 ++
|
||||
.../include_v1.0/common/mavlink_msg_set_mode.h | 188 +
|
||||
.../mavlink_msg_set_roll_pitch_yaw_speed_thrust.h | 254 ++
|
||||
.../common/mavlink_msg_set_roll_pitch_yaw_thrust.h | 254 ++
|
||||
.../common/mavlink_msg_state_correction.h | 320 ++
|
||||
.../include_v1.0/common/mavlink_msg_statustext.h | 160 +
|
||||
.../include_v1.0/common/mavlink_msg_sys_status.h | 408 ++
|
||||
.../include_v1.0/common/mavlink_msg_system_time.h | 166 +
|
||||
.../include_v1.0/common/mavlink_msg_vfr_hud.h | 254 ++
|
||||
.../common}/mavlink_msg_vicon_position_estimate.h | 198 +-
|
||||
.../common}/mavlink_msg_vision_position_estimate.h | 198 +-
|
||||
.../common}/mavlink_msg_vision_speed_estimate.h | 148 +-
|
||||
.../GCS_MAVLink/include_v1.0/common/testsuite.h | 3908 ++++++++++++++++++++
|
||||
.../GCS_MAVLink/include_v1.0/common/version.h | 12 +
|
||||
.../GCS_MAVLink/include_v1.0/mavlink_helpers.h | 488 +++
|
||||
libraries/GCS_MAVLink/include_v1.0/mavlink_types.h | 182 +
|
||||
libraries/GCS_MAVLink/include_v1.0/protocol.h | 319 ++
|
||||
.../message_definitions/ardupilotmega.xml | 132 +
|
||||
libraries/GCS_MAVLink/message_definitions/test.xml | 31 +
|
||||
.../message_definitions_v1.0/ardupilotmega.xml | 177 +
|
||||
.../message_definitions_v1.0/common.xml | 1536 ++++++++
|
||||
.../message_definitions_v1.0/minimal.xml | 16 +
|
||||
.../message_definitions_v1.0/pixhawk.xml | 193 +
|
||||
.../GCS_MAVLink/message_definitions_v1.0/slugs.xml | 144 +
|
||||
.../GCS_MAVLink/message_definitions_v1.0/test.xml | 31 +
|
||||
.../message_definitions_v1.0/ualberta.xml | 54 +
|
||||
libraries/RC_Channel/RC_Channel.cpp | 2 +-
|
||||
libraries/RC_Channel/RC_Channel.h | 8 +-
|
||||
libraries/RC_Channel/RC_Channel_aux.cpp | 2 +-
|
||||
libraries/RC_Channel/RC_Channel_aux.h | 1 +
|
||||
355 files changed, 43388 insertions(+), 22115 deletions(-)
|
||||
delete mode 100644 ArduCopter/CMakeLists.txt
|
||||
delete mode 100644 ArduPlane/.gitignore
|
||||
delete mode 100644 ArduPlane/CMakeLists.txt
|
||||
create mode 100644 ArduPlane/Mavlink_compat.h
|
||||
create mode 100644 Tools/ArdupilotMegaPlanner/Camera.Designer.cs
|
||||
create mode 100644 Tools/ArdupilotMegaPlanner/Camera.cs
|
||||
create mode 100644 Tools/ArdupilotMegaPlanner/Camera.resx
|
||||
create mode 100755 Tools/scripts/format.sh
|
||||
create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_digicam_configure.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_digicam_control.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_mount_configure.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_mount_control.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_mount_status.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/bittest.c
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_attitude_controller_output.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_attitude_new.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_full_state.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_position_controller_output.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_request_dynamic_gyro_calibration.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_request_static_calibration.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_set_roll_pitch_yaw.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_set_roll_pitch_yaw_speed.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_set_global_reference.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/documentation.dox
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/minimal/mavlink.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/minimal/mavlink_msg_heartbeat.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/minimal/minimal.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_attitude_control.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_aux_status.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_brief_feature.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_control_status.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_data_transmission_handshake.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_debug_vect.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_encapsulated_data.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_encapsulated_image.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_get_image_ack.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_available.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_trigger_control.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_triggered.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_manual_control.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_marker.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_pattern_detected.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_point_of_interest.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_point_of_interest_connection.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_offset_set.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_setpoint.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_raw_aux.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_request_data_stream.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_request_dynamic_gyro_calibration.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_request_static_calibration.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_set_altitude.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_set_cam_shutter.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_command.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_process_info.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_process_status.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/pixhawk.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_air_data.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_cpu_load.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_ctrl_srfc_pt.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_data_log.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_diagnostic.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_filtered_data.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_gps_date_time.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_mid_lvl_cmds.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_pid.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_pilot_console.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_pwm_commands.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_sensor_bias.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_slugs_action.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_slugs_navigation.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/slugs/slugs.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_nav_filter_bias.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_radio_calibration.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_request_radio_calibration.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_request_rc_channels.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_ualberta_sys_status.h
|
||||
delete mode 100644 libraries/GCS_MAVLink/include/ualberta/ualberta.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/ardupilotmega.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ap_adc.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_digicam_control.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_meminfo.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_configure.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_control.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_status.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/testsuite.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/version.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/checksum.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/common.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_attitude.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_attitude_quaternion.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_auth_key.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_change_operator_control.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_change_operator_control_ack.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_command_ack.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_command_long.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_data_stream.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_debug.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_debug_vect.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_extended_message.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position_int.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position_setpoint_int.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_vision_position_estimate.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_global_origin.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_raw_int.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_status.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_heartbeat.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_controls.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_state.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position_ned.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position_setpoint.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_manual_control.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_memory_vect.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_ack.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_clear_all.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_count.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_current.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_item.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_item_reached.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_request.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_request_list.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_request_partial_list.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_set_current.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_write_partial_list.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_named_value_float.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_named_value_int.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_nav_controller_output.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_optical_flow.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_request_list.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_request_read.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_set.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_value.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_ping.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_raw_imu.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_raw_pressure.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_rc_channels_override.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_rc_channels_raw.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_rc_channels_scaled.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_request_data_stream.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_safety_allowed_area.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_safety_set_allowed_area.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_scaled_imu.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_scaled_pressure.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_servo_output_raw.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_gps_global_origin.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_local_position_setpoint.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_mode.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_state_correction.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_statustext.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_sys_status.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_system_time.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_vfr_hud.h
|
||||
rename libraries/GCS_MAVLink/{include/pixhawk => include_v1.0/common}/mavlink_msg_vicon_position_estimate.h (54%)
|
||||
rename libraries/GCS_MAVLink/{include/pixhawk => include_v1.0/common}/mavlink_msg_vision_position_estimate.h (54%)
|
||||
rename libraries/GCS_MAVLink/{include/pixhawk => include_v1.0/common}/mavlink_msg_vision_speed_estimate.h (57%)
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/testsuite.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/version.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/mavlink_helpers.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/mavlink_types.h
|
||||
create mode 100644 libraries/GCS_MAVLink/include_v1.0/protocol.h
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions/test.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/ardupilotmega.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/common.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/minimal.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/pixhawk.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/slugs.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/test.xml
|
||||
create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/ualberta.xml
|
||||
|
||||
@ -488,6 +488,11 @@ namespace ArdupilotMega.GCSViews
|
||||
((DomainUpDown)text[0]).SelectedIndex = index;
|
||||
((DomainUpDown)text[0]).BackColor = Color.Green;
|
||||
}
|
||||
else
|
||||
{
|
||||
((DomainUpDown)text[0]).Text = option;
|
||||
((DomainUpDown)text[0]).BackColor = Color.Green;
|
||||
}
|
||||
}
|
||||
}
|
||||
catch { }
|
||||
@ -515,8 +520,11 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
int index = line.IndexOf(',');
|
||||
|
||||
int index2 = line.IndexOf(',', index + 1);
|
||||
if (index == -1)
|
||||
continue;
|
||||
if (index2 != -1)
|
||||
line = line.Replace(',','.');
|
||||
|
||||
string name = line.Substring(0, index);
|
||||
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
|
||||
@ -569,7 +577,7 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
MAVLink.modifyParamForDisplay(false, row.Cells[0].Value.ToString(), ref value);
|
||||
|
||||
sw.WriteLine(row.Cells[0].Value.ToString() + "," + value);
|
||||
sw.WriteLine(row.Cells[0].Value.ToString() + "," + value.ToString(new System.Globalization.CultureInfo("en-US")));
|
||||
}
|
||||
sw.Close();
|
||||
}
|
||||
|
||||
@ -34,5 +34,5 @@ using System.Resources;
|
||||
// by using the '*' as shown below:
|
||||
// [assembly: AssemblyVersion("1.0.*")]
|
||||
[assembly: AssemblyVersion("1.0.0.0")]
|
||||
[assembly: AssemblyFileVersion("1.0.87")]
|
||||
[assembly: AssemblyFileVersion("1.0.88")]
|
||||
[assembly: NeutralResourcesLanguageAttribute("")]
|
||||
|
||||
@ -2,12 +2,6 @@
|
||||
<configuration>
|
||||
<configSections>
|
||||
</configSections>
|
||||
<!--
|
||||
<startup useLegacyV2RuntimeActivationPolicy="true">
|
||||
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/>
|
||||
<supportedRuntime version="v4.0"/>
|
||||
</startup>
|
||||
-->
|
||||
<startup>
|
||||
<supportedRuntime version="v2.0.50727"/>
|
||||
</startup>
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
|
||||
</dsig:Transforms>
|
||||
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
|
||||
<dsig:DigestValue>S+dMQOC9TeJyQiYvhw37LpJxZU0=</dsig:DigestValue>
|
||||
<dsig:DigestValue>wRpim3tDq7ttru3QnVS/G/tNt8A=</dsig:DigestValue>
|
||||
</hash>
|
||||
</dependentAssembly>
|
||||
</dependency>
|
||||
|
||||
@ -2,12 +2,6 @@
|
||||
<configuration>
|
||||
<configSections>
|
||||
</configSections>
|
||||
<!--
|
||||
<startup useLegacyV2RuntimeActivationPolicy="true">
|
||||
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/>
|
||||
<supportedRuntime version="v4.0"/>
|
||||
</startup>
|
||||
-->
|
||||
<startup>
|
||||
<supportedRuntime version="v2.0.50727"/>
|
||||
</startup>
|
||||
|
||||
@ -22,10 +22,15 @@
|
||||
</ATT>
|
||||
<NTUN>
|
||||
<F1>WP Dist</F1>
|
||||
<F2>WP Verify</F2>
|
||||
<F3>Target Bear</F3>
|
||||
<F4>Long Err</F4>
|
||||
<F5>Lat Err</F5>
|
||||
<F2>Target Bear</F2>
|
||||
<F3>Long Err</F3>
|
||||
<F4>Lat Err</F4>
|
||||
<F5>nav lon</F5>
|
||||
<F6>nav lat</F6>
|
||||
<F7>nav lon I</F7>
|
||||
<F8>nav lat I</F8>
|
||||
<F9>Loiter Lon I</F9>
|
||||
<F10>Loiter Lat I</F10>
|
||||
</NTUN>
|
||||
<CTUN>
|
||||
<F1>Yaw Sensor</F1>
|
||||
|
||||
@ -22,10 +22,15 @@
|
||||
</ATT>
|
||||
<NTUN>
|
||||
<F1>WP Dist</F1>
|
||||
<F2>WP Verify</F2>
|
||||
<F3>Target Bear</F3>
|
||||
<F4>Long Err</F4>
|
||||
<F5>Lat Err</F5>
|
||||
<F2>Target Bear</F2>
|
||||
<F3>Long Err</F3>
|
||||
<F4>Lat Err</F4>
|
||||
<F5>nav lon</F5>
|
||||
<F6>nav lat</F6>
|
||||
<F7>nav lon I</F7>
|
||||
<F8>nav lat I</F8>
|
||||
<F9>Loiter Lon I</F9>
|
||||
<F10>Loiter Lat I</F10>
|
||||
</NTUN>
|
||||
<CTUN>
|
||||
<F1>Yaw Sensor</F1>
|
||||
|
||||
40
Tools/autotest/ArduCopter.parm
Normal file
40
Tools/autotest/ArduCopter.parm
Normal file
@ -0,0 +1,40 @@
|
||||
FRAME 0
|
||||
RC1_MAX 2000.000000
|
||||
RC1_MIN 1000.000000
|
||||
RC1_TRIM 1500.000000
|
||||
RC2_MAX 2000.000000
|
||||
RC2_MIN 1000.000000
|
||||
RC2_TRIM 1500.000000
|
||||
RC3_MAX 2000.000000
|
||||
RC3_MIN 1000.000000
|
||||
RC3_TRIM 1500.000000
|
||||
RC4_MAX 2000.000000
|
||||
RC4_MIN 1000.000000
|
||||
RC4_TRIM 1500.000000
|
||||
RC5_MAX 2000.000000
|
||||
RC5_MIN 1000.000000
|
||||
RC5_TRIM 1500.000000
|
||||
RC6_MAX 2000.000000
|
||||
RC6_MIN 1000.000000
|
||||
RC6_TRIM 1500.000000
|
||||
RC7_MAX 2000.000000
|
||||
RC7_MIN 1000.000000
|
||||
RC7_TRIM 1500.000000
|
||||
RC8_MAX 2000.000000
|
||||
RC8_MIN 1000.000000
|
||||
RC8_TRIM 1500.000000
|
||||
FLTMODE1 3
|
||||
FLTMODE2 1
|
||||
FLTMODE3 2
|
||||
FLTMODE4 6
|
||||
FLTMODE5 5
|
||||
FLTMODE6 0
|
||||
NAV_LAT_I 0
|
||||
NAV_LON_I 0
|
||||
NAV_LAT_P 1
|
||||
NAV_LON_P 1
|
||||
STB_PIT_P 2
|
||||
STB_RLL_P 2
|
||||
XTRACK_P 1
|
||||
RATE_PIT_P 0.1
|
||||
RATE_RLL_P 0.1
|
||||
1
Tools/autotest/README
Normal file
1
Tools/autotest/README
Normal file
@ -0,0 +1 @@
|
||||
This is an automated test suite for APM
|
||||
324
Tools/autotest/arducopter.py
Normal file
324
Tools/autotest/arducopter.py
Normal file
@ -0,0 +1,324 @@
|
||||
# fly ArduCopter in SIL
|
||||
|
||||
import util, pexpect, sys, time, math, shutil, os
|
||||
|
||||
# get location of scripts
|
||||
testdir=os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
sys.path.insert(0, util.reltopdir('../pymavlink'))
|
||||
import mavutil
|
||||
|
||||
HOME_LOCATION='-35.362938,149.165085,650,270'
|
||||
|
||||
# a list of pexpect objects to read while waiting for
|
||||
# messages. This keeps the output to stdout flowing
|
||||
expect_list = []
|
||||
|
||||
def message_hook(mav, msg):
|
||||
'''called as each mavlink msg is received'''
|
||||
global expect_list
|
||||
if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT' ]:
|
||||
print(msg)
|
||||
for p in expect_list:
|
||||
try:
|
||||
p.read_nonblocking(100, timeout=0)
|
||||
except pexpect.TIMEOUT:
|
||||
pass
|
||||
|
||||
def expect_callback(e):
|
||||
'''called when waiting for a expect pattern'''
|
||||
global expect_list
|
||||
for p in expect_list:
|
||||
if p == e:
|
||||
continue
|
||||
try:
|
||||
while p.read_nonblocking(100, timeout=0):
|
||||
pass
|
||||
except pexpect.TIMEOUT:
|
||||
pass
|
||||
|
||||
|
||||
class location(object):
|
||||
'''represent a GPS coordinate'''
|
||||
def __init__(self, lat, lng, alt=0):
|
||||
self.lat = lat
|
||||
self.lng = lng
|
||||
self.alt = alt
|
||||
|
||||
def get_distance(loc1, loc2):
|
||||
'''get ground distance between two locations'''
|
||||
dlat = loc2.lat - loc1.lat
|
||||
dlong = loc2.lng - loc1.lng
|
||||
return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
|
||||
|
||||
def get_bearing(loc1, loc2):
|
||||
'''get bearing from loc1 to loc2'''
|
||||
off_x = loc2.lng - loc1.lng
|
||||
off_y = loc2.lat - loc1.lat
|
||||
bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
|
||||
if bearing < 0:
|
||||
bearing += 360.00
|
||||
return bearing;
|
||||
|
||||
def current_location(mav):
|
||||
'''return current location'''
|
||||
return location(mav.messages['GPS_RAW'].lat,
|
||||
mav.messages['GPS_RAW'].lon,
|
||||
mav.messages['VFR_HUD'].alt)
|
||||
|
||||
def wait_altitude(mav, alt_min, alt_max, timeout=30):
|
||||
'''wait for a given altitude range'''
|
||||
tstart = time.time()
|
||||
print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
if m.alt >= alt_min and m.alt <= alt_max:
|
||||
return True
|
||||
print("Failed to attain altitude range")
|
||||
return False
|
||||
|
||||
|
||||
def arm_motors(mavproxy):
|
||||
'''arm motors'''
|
||||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('rc 3 1000\n')
|
||||
mavproxy.send('rc 4 2000\n')
|
||||
mavproxy.expect('APM: ARMING MOTORS')
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
print("MOTORS ARMED OK")
|
||||
|
||||
def disarm_motors(mavproxy):
|
||||
'''disarm motors'''
|
||||
mavproxy.send('rc 3 1000\n')
|
||||
mavproxy.send('rc 4 1000\n')
|
||||
mavproxy.expect('APM: DISARMING MOTORS')
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
print("MOTORS DISARMED OK")
|
||||
|
||||
|
||||
def takeoff(mavproxy, mav):
|
||||
'''takeoff get to 30m altitude'''
|
||||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('rc 3 1500\n')
|
||||
wait_altitude(mav, 30, 40)
|
||||
print("TAKEOFF COMPLETE")
|
||||
|
||||
|
||||
def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
|
||||
'''hold loiter position'''
|
||||
mavproxy.send('switch 5\n') # loiter mode
|
||||
mavproxy.expect('LOITER>')
|
||||
mavproxy.send('status\n')
|
||||
mavproxy.expect('>')
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
start_altitude = m.alt
|
||||
tstart = time.time()
|
||||
tholdstart = time.time()
|
||||
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
if math.fabs(m.alt - start_altitude) > maxaltchange:
|
||||
tholdstart = time.time()
|
||||
if time.time() - tholdstart > holdtime:
|
||||
print("Loiter OK for %u seconds" % holdtime)
|
||||
return True
|
||||
print("Loiter FAILED")
|
||||
return False
|
||||
|
||||
|
||||
def wait_heading(mav, heading, accuracy=5, timeout=30):
|
||||
'''wait for a given heading'''
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Heading %u" % m.heading)
|
||||
if math.fabs(m.heading - heading) <= accuracy:
|
||||
return True
|
||||
print("Failed to attain heading %u" % heading)
|
||||
return False
|
||||
|
||||
|
||||
def wait_distance(mav, distance, accuracy=5, timeout=30):
|
||||
'''wait for flight of a given distance'''
|
||||
tstart = time.time()
|
||||
start = current_location(mav)
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='GPS_RAW', blocking=True)
|
||||
pos = current_location(mav)
|
||||
delta = get_distance(start, pos)
|
||||
print("Distance %.2f meters" % delta)
|
||||
if math.fabs(delta - distance) <= accuracy:
|
||||
return True
|
||||
print("Failed to attain distance %u" % distance)
|
||||
return False
|
||||
|
||||
def wait_location(mav, loc, accuracy=5, timeout=30):
|
||||
'''wait for arrival at a location'''
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='GPS_RAW', blocking=True)
|
||||
pos = current_location(mav)
|
||||
delta = get_distance(loc, pos)
|
||||
print("Distance %.2f meters" % delta)
|
||||
if delta <= accuracy:
|
||||
return True
|
||||
print("Failed to attain location")
|
||||
return False
|
||||
|
||||
|
||||
def fly_square(mavproxy, mav, side=50, timeout=120):
|
||||
'''fly a square, flying N then E'''
|
||||
mavproxy.send('switch 6\n')
|
||||
mavproxy.expect('STABILIZE>')
|
||||
tstart = time.time()
|
||||
mavproxy.send('rc 3 1430\n')
|
||||
mavproxy.send('rc 4 1610\n')
|
||||
if not wait_heading(mav, 0):
|
||||
return False
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
|
||||
print("Going north %u meters" % side)
|
||||
mavproxy.send('rc 2 1390\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
print("Going east %u meters" % side)
|
||||
mavproxy.send('rc 1 1610\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
|
||||
print("Going south %u meters" % side)
|
||||
mavproxy.send('rc 2 1610\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
print("Going west %u meters" % side)
|
||||
mavproxy.send('rc 1 1390\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
return ok
|
||||
|
||||
|
||||
|
||||
|
||||
def land(mavproxy, mav, timeout=60):
|
||||
'''land the quad'''
|
||||
print("STARTING LANDING")
|
||||
mavproxy.send('switch 6\n')
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('status\n')
|
||||
mavproxy.expect('>')
|
||||
|
||||
# start by dropping throttle till we have lost 5m
|
||||
mavproxy.send('rc 3 1380\n')
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
wait_altitude(mav, 0, m.alt-5)
|
||||
|
||||
# now let it settle gently
|
||||
mavproxy.send('rc 3 1400\n')
|
||||
tstart = time.time()
|
||||
if wait_altitude(mav, -5, 0):
|
||||
print("LANDING OK")
|
||||
return True
|
||||
else:
|
||||
print("LANDING FAILED")
|
||||
return False
|
||||
|
||||
|
||||
def fly_mission(mavproxy, mav, filename, timeout=120):
|
||||
'''fly a mission from a file'''
|
||||
startloc = current_location(mav)
|
||||
mavproxy.send('wp load %s\n' % filename)
|
||||
mavproxy.expect('flight plan received')
|
||||
mavproxy.send('wp list\n')
|
||||
mavproxy.expect('Requesting [0-9]+ waypoints')
|
||||
mavproxy.send('switch 1\n') # auto mode
|
||||
mavproxy.expect('AUTO>')
|
||||
wait_distance(mav, 30, timeout=120)
|
||||
wait_location(mav, startloc, timeout=300)
|
||||
|
||||
|
||||
def setup_rc(mavproxy):
|
||||
'''setup RC override control'''
|
||||
for chan in range(1,9):
|
||||
mavproxy.send('rc %u 1500\n' % chan)
|
||||
# zero throttle
|
||||
mavproxy.send('rc 3 1000\n')
|
||||
|
||||
|
||||
def fly_ArduCopter():
|
||||
'''fly ArduCopter in SIL'''
|
||||
global expect_list
|
||||
|
||||
util.rmfile('eeprom.bin')
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter')
|
||||
mavproxy.expect('Please Run Setup')
|
||||
|
||||
# we need to restart it after eeprom erase
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
# reboot with new parameters
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --out=192.168.2.15:14550 --quadcopter --streamrate=1')
|
||||
mavproxy.expect('Logging to (\S+)')
|
||||
logfile = mavproxy.match.group(1)
|
||||
print("LOGFILE %s" % logfile)
|
||||
mavproxy.expect("Ready to FLY")
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
util.expect_setup_callback(mavproxy, expect_callback)
|
||||
|
||||
# start hil_quad.py
|
||||
util.run_cmd('pkill -f hil_quad.py', checkfail=False)
|
||||
hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
|
||||
logfile=sys.stdout, timeout=10)
|
||||
hquad.expect('Starting at')
|
||||
|
||||
expect_list.extend([hquad, sil, mavproxy])
|
||||
|
||||
# get a mavlink connection going
|
||||
mav = mavutil.mavlink_connection('127.0.0.1:14550', robust_parsing=True)
|
||||
mav.message_hooks.append(message_hook)
|
||||
|
||||
failed = False
|
||||
try:
|
||||
mav.wait_heartbeat()
|
||||
mav.recv_match(type='GPS_RAW')
|
||||
setup_rc(mavproxy)
|
||||
arm_motors(mavproxy)
|
||||
takeoff(mavproxy, mav)
|
||||
fly_square(mavproxy, mav)
|
||||
loiter(mavproxy, mav)
|
||||
land(mavproxy, mav)
|
||||
fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"))
|
||||
disarm_motors(mavproxy)
|
||||
except pexpect.TIMEOUT, e:
|
||||
failed = True
|
||||
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
hquad.close()
|
||||
|
||||
shutil.copy(logfile, util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
|
||||
util.run_cmd(util.reltopdir("../pymavlink/examples/mavtogpx.py") + " " + util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
|
||||
util.run_cmd(util.reltopdir("../bin/gpxtokml") + " " + util.reltopdir("../buildlogs/ArduCopter-test.mavlog.gpx"))
|
||||
|
||||
if failed:
|
||||
print("FAILED: %s" % e)
|
||||
sys.exit(1)
|
||||
|
||||
76
Tools/autotest/autotest.py
Executable file
76
Tools/autotest/autotest.py
Executable file
@ -0,0 +1,76 @@
|
||||
#!/usr/bin/env python
|
||||
# APM automatic test suite
|
||||
# Andrew Tridgell, October 2011
|
||||
|
||||
import pexpect, os, util, sys, shutil, arducopter
|
||||
import optparse, fnmatch
|
||||
|
||||
os.putenv('TMPDIR', util.reltopdir('tmp'))
|
||||
|
||||
def get_default_params(atype):
|
||||
'''get default parameters'''
|
||||
util.rmfile('eeprom.bin')
|
||||
sil = util.start_SIL(atype)
|
||||
mavproxy = util.start_MAVProxy_SIL(atype)
|
||||
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
|
||||
if idx == 0:
|
||||
# we need to restart it after eeprom erase
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL(atype)
|
||||
mavproxy = util.start_MAVProxy_SIL(atype)
|
||||
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
|
||||
parmfile = mavproxy.match.group(1)
|
||||
dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
|
||||
shutil.copy(parmfile, dest)
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
print("Saved defaults for %s to %s" % (atype, dest))
|
||||
|
||||
|
||||
############## main program #############
|
||||
parser = optparse.OptionParser("autotest")
|
||||
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
|
||||
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
|
||||
|
||||
opts, args = parser.parse_args()
|
||||
|
||||
steps = [
|
||||
'build.ArduPlane',
|
||||
'build.ArduCopter',
|
||||
'defaults.ArduPlane',
|
||||
'defaults.ArduCopter',
|
||||
'fly.ArduCopter'
|
||||
]
|
||||
|
||||
skipsteps = opts.skip.split(',')
|
||||
|
||||
def skip_step(step):
|
||||
'''see if a step should be skipped'''
|
||||
for skip in skipsteps:
|
||||
if fnmatch.fnmatch(step, skip):
|
||||
return True
|
||||
return False
|
||||
|
||||
# kill any previous instance
|
||||
util.kill('ArduCopter.elf')
|
||||
util.kill('ArduPilot.elf')
|
||||
|
||||
for step in steps:
|
||||
if skip_step(step):
|
||||
continue
|
||||
if step == 'build.ArduPlane':
|
||||
util.build_SIL('ArduPlane')
|
||||
elif step == 'build.ArduCopter':
|
||||
util.build_SIL('ArduCopter')
|
||||
elif step == 'defaults.ArduPlane':
|
||||
get_default_params('ArduPlane')
|
||||
elif step == 'defaults.ArduCopter':
|
||||
get_default_params('ArduCopter')
|
||||
elif step == 'fly.ArduCopter':
|
||||
arducopter.fly_ArduCopter()
|
||||
else:
|
||||
raise RuntimeError("Unknown step %s" % step)
|
||||
|
||||
util.kill('ArduCopter.elf')
|
||||
util.kill('ArduPilot.elf')
|
||||
11
Tools/autotest/mission1.txt
Normal file
11
Tools/autotest/mission1.txt
Normal file
@ -0,0 +1,11 @@
|
||||
QGC WPL 110
|
||||
0 1 3 0 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 582.000000 1
|
||||
1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362324 149.164291 120.000000 1
|
||||
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363670 149.164505 120.000000 1
|
||||
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362358 149.163651 120.000000 1
|
||||
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363777 149.163895 120.000000 1
|
||||
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362411 149.163071 120.000000 1
|
||||
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363865 149.163223 120.000000 1
|
||||
7 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362431 149.162384 120.000000 1
|
||||
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363968 149.162567 120.000000 1
|
||||
9 0 3 20 0.000000 0.000000 0.000000 0.000000 -35.363228 149.161896 30.000000 1
|
||||
88
Tools/autotest/util.py
Normal file
88
Tools/autotest/util.py
Normal file
@ -0,0 +1,88 @@
|
||||
# utility code for autotest
|
||||
|
||||
import os, pexpect, sys, time
|
||||
from subprocess import call, check_call,Popen, PIPE
|
||||
|
||||
|
||||
def topdir():
|
||||
'''return top of git tree where autotest is running from'''
|
||||
d = os.path.dirname(os.path.realpath(__file__))
|
||||
assert(os.path.basename(d)=='autotest')
|
||||
d = os.path.dirname(d)
|
||||
assert(os.path.basename(d)=='Tools')
|
||||
d = os.path.dirname(d)
|
||||
return d
|
||||
|
||||
def reltopdir(path):
|
||||
'''return a path relative to topdir()'''
|
||||
return os.path.normpath(os.path.join(topdir(), path))
|
||||
|
||||
|
||||
def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
|
||||
'''run a shell command'''
|
||||
if show:
|
||||
print("Running: '%s' in '%s'" % (cmd, dir))
|
||||
if output:
|
||||
return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
|
||||
elif checkfail:
|
||||
return check_call(cmd, shell=True, cwd=dir)
|
||||
else:
|
||||
return call(cmd, shell=True, cwd=dir)
|
||||
|
||||
def rmfile(path):
|
||||
'''remove a file if it exists'''
|
||||
try:
|
||||
os.unlink('eeprom.bin')
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def deltree(path):
|
||||
'''delete a tree of files'''
|
||||
run_cmd('rm -rf %s' % path)
|
||||
|
||||
|
||||
|
||||
def build_SIL(atype):
|
||||
'''build desktop SIL'''
|
||||
run_cmd("make -f ../libraries/Desktop/Makefile.desktop clean hil",
|
||||
dir=reltopdir(atype),
|
||||
checkfail=True)
|
||||
|
||||
def start_SIL(atype):
|
||||
'''launch a SIL instance'''
|
||||
ret = pexpect.spawn('tmp/%s.build/%s.elf' % (atype, atype),
|
||||
logfile=sys.stdout, timeout=5)
|
||||
ret.expect('Waiting for connection')
|
||||
return ret
|
||||
|
||||
def start_MAVProxy_SIL(atype, options=''):
|
||||
'''launch mavproxy connected to a SIL instance'''
|
||||
MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
|
||||
ret = pexpect.spawn('%s --master=tcp:127.0.0.1:5760 --aircraft=test.%s %s' % (
|
||||
MAVPROXY,atype,options),
|
||||
logfile=sys.stdout, timeout=60)
|
||||
return ret
|
||||
|
||||
|
||||
def kill(name):
|
||||
'''kill a process'''
|
||||
run_cmd('killall -9 -q %s' % name, checkfail=False)
|
||||
|
||||
|
||||
def expect_setup_callback(e, callback):
|
||||
'''setup a callback that is called once a second while waiting for
|
||||
patterns'''
|
||||
def _expect_callback(pattern, timeout=e.timeout):
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
try:
|
||||
ret = e.expect_saved(pattern, timeout=1)
|
||||
return ret
|
||||
except pexpect.TIMEOUT:
|
||||
e.expect_user_callback(e)
|
||||
pass
|
||||
raise pexpect.TIMEOUT
|
||||
|
||||
e.expect_user_callback = callback
|
||||
e.expect_saved = e.expect
|
||||
e.expect = _expect_callback
|
||||
@ -1,46 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?>
|
||||
|
||||
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="de.innot.avreclipse.toolchain.winavr.base.394129733">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="de.innot.avreclipse.toolchain.winavr.base.394129733" moduleId="org.eclipse.cdt.core.settings" name="Default">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" id="de.innot.avreclipse.toolchain.winavr.base.394129733" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="de.innot.avreclipse.toolchain.winavr.base.394129733.231173920" name="/" resourcePath="">
|
||||
<toolChain id="de.innot.avreclipse.toolchain.winavr.base.1572708284" name="de.innot.avreclipse.toolchain.winavr.base" superClass="de.innot.avreclipse.toolchain.winavr.base">
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash.630916939" name="Generate HEX file for Flash memory" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom.1019241228" name="Generate HEX file for EEPROM" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.objdump.1029096770" name="Generate Extended Listing (Source + generated Assembler)" superClass="de.innot.avreclipse.toolchain.options.toolchain.objdump"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.size.1221033519" name="Print Size" superClass="de.innot.avreclipse.toolchain.options.toolchain.size"/>
|
||||
<option id="de.innot.avreclipse.toolchain.options.toolchain.avrdude.1918477271" name="AVRDude" superClass="de.innot.avreclipse.toolchain.options.toolchain.avrdude"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="de.innot.avreclipse.targetplatform.avr.439246581" name="AVR Cross-Target" osList="all" superClass="de.innot.avreclipse.targetplatform.avr"/>
|
||||
<builder id="de.innot.avreclipse.target.builder.winavr.base.666588525" managedBuildOn="false" name="AVR GNU Make Builder.Default" superClass="de.innot.avreclipse.target.builder.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.assembler.winavr.base.530847775" name="AVR Assembler" superClass="de.innot.avreclipse.tool.assembler.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.compiler.winavr.base.752046336" name="AVR Compiler" superClass="de.innot.avreclipse.tool.compiler.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.cppcompiler.base.920729075" name="AVR C++ Compiler" superClass="de.innot.avreclipse.tool.cppcompiler.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.linker.winavr.base.778684722" name="AVR C Linker" superClass="de.innot.avreclipse.tool.linker.winavr.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.cpplinker.base.1086108831" name="AVR C++ Linker" superClass="de.innot.avreclipse.tool.cpplinker.base"/>
|
||||
<tool id="de.innot.avreclipse.tool.archiver.winavr.base.2066059097" name="AVR Archiver" superClass="de.innot.avreclipse.tool.archiver.winavr.base"/>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="apo.null.958255624" name="apo"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
79
apo/.project
79
apo/.project
@ -1,79 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>apo</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
<dictionary>
|
||||
<key>?name?</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.append_environment</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.stopOnError</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@ -14,7 +14,6 @@
|
||||
#include <APM_BMP085.h>
|
||||
#include <ModeFilter.h>
|
||||
#include <APO.h>
|
||||
#include <WProgram.h>
|
||||
|
||||
// Vehicle Configuration
|
||||
//#include "QuadArducopter.h"
|
||||
|
||||
@ -1,270 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?>
|
||||
|
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|
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<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<parser enabled="true"/>
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<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
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<openAction enabled="true" filePath=""/>
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|
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<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
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<buildTargets>
|
||||
<target name="AP_Var" path="AP_Common/examples/AP_Var" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="AP_Compass" path="AP_Compass/examples/AP_Compass_test" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
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<buildArguments/>
|
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|
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<stopOnError>true</stopOnError>
|
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<useDefaultCommand>true</useDefaultCommand>
|
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<runAllBuilders>true</runAllBuilders>
|
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|
||||
@ -1,79 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>libraries</name>
|
||||
<comment></comment>
|
||||
<projects>
|
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</projects>
|
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|
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|
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|
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|
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|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@ -220,7 +220,7 @@ void AP_GPS_IMU::GPS_join_data(void)
|
||||
*
|
||||
****************************************************************/
|
||||
// checksum algorithm
|
||||
void AP_GPS_IMU::checksum(byte data)
|
||||
void AP_GPS_IMU::checksum(unsigned char data)
|
||||
{
|
||||
ck_a += data;
|
||||
ck_b += ck_a;
|
||||
|
||||
296
libraries/AP_Mount/AP_Mount.cpp
Normal file
296
libraries/AP_Mount/AP_Mount.cpp
Normal file
@ -0,0 +1,296 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
#include <AP_Mount.h>
|
||||
|
||||
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
AP_Mount::AP_Mount(GPS *gps, AP_DCM *dcm)
|
||||
{
|
||||
_dcm=dcm;
|
||||
_dcm_hil=NULL;
|
||||
_gps=gps;
|
||||
//set_mode(MAV_MOUNT_MODE_RETRACT);
|
||||
//set_mode(MAV_MOUNT_MODE_RC_TARGETING); // FIXME: This is just to test without mavlink
|
||||
set_mode(MAV_MOUNT_MODE_GPS_POINT); // FIXME: this is to test ONLY targeting
|
||||
|
||||
_retract_angles.x=0;
|
||||
_retract_angles.y=0;
|
||||
_retract_angles.z=0;
|
||||
}
|
||||
|
||||
AP_Mount::AP_Mount(GPS *gps, AP_DCM_HIL *dcm)
|
||||
{
|
||||
_dcm=NULL;
|
||||
_dcm_hil=dcm;
|
||||
_gps=gps;
|
||||
//set_mode(MAV_MOUNT_MODE_RETRACT);
|
||||
//set_mode(MAV_MOUNT_MODE_RC_TARGETING); // FIXME: This is just to test without mavlink
|
||||
set_mode(MAV_MOUNT_MODE_MAVLINK_TARGETING); // FIXME: this is to test ONLY targeting
|
||||
|
||||
_retract_angles.x=0;
|
||||
_retract_angles.y=0;
|
||||
_retract_angles.z=0;
|
||||
}
|
||||
|
||||
//sets the servo angles for retraction, note angles are * 100
|
||||
void AP_Mount::set_retract_angles(int roll, int pitch, int yaw)
|
||||
{
|
||||
_retract_angles.x=roll;
|
||||
_retract_angles.y=pitch;
|
||||
_retract_angles.z=yaw;
|
||||
}
|
||||
|
||||
//sets the servo angles for neutral, note angles are * 100
|
||||
void AP_Mount::set_neutral_angles(int roll, int pitch, int yaw)
|
||||
{
|
||||
_neutral_angles.x=roll;
|
||||
_neutral_angles.y=pitch;
|
||||
_neutral_angles.z=yaw;
|
||||
}
|
||||
|
||||
//sets the servo angles for MAVLink, note angles are * 100
|
||||
void AP_Mount::set_mavlink_angles(int roll, int pitch, int yaw)
|
||||
{
|
||||
_mavlink_angles.x = roll;
|
||||
_mavlink_angles.y = pitch;
|
||||
_mavlink_angles.z = yaw;
|
||||
}
|
||||
|
||||
// used to tell the mount to track GPS location
|
||||
void AP_Mount::set_GPS_target_location(Location targetGPSLocation)
|
||||
{
|
||||
_target_GPS_location=targetGPSLocation;
|
||||
}
|
||||
|
||||
// This one should be called periodically
|
||||
void AP_Mount::update_mount_position()
|
||||
{
|
||||
Matrix3f m; //holds 3 x 3 matrix, var is used as temp in calcs
|
||||
Vector3f targ; //holds target vector, var is used as temp in calcs
|
||||
Vector3f aux_vec; //holds target vector, var is used as temp in calcs
|
||||
|
||||
switch(_mount_mode)
|
||||
{
|
||||
case MAV_MOUNT_MODE_RETRACT:
|
||||
roll_angle =100*_retract_angles.x;
|
||||
pitch_angle=100*_retract_angles.y;
|
||||
yaw_angle =100*_retract_angles.z;
|
||||
break;
|
||||
|
||||
case MAV_MOUNT_MODE_NEUTRAL:
|
||||
roll_angle =100*_neutral_angles.x;
|
||||
pitch_angle=100*_neutral_angles.y;
|
||||
yaw_angle =100*_neutral_angles.z;
|
||||
break;
|
||||
|
||||
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
|
||||
{
|
||||
aux_vec.x = _mavlink_angles.x;
|
||||
aux_vec.y = _mavlink_angles.y;
|
||||
aux_vec.z = _mavlink_angles.z;
|
||||
m = _dcm?_dcm->get_dcm_transposed():_dcm_hil->get_dcm_transposed();
|
||||
//rotate vector
|
||||
targ = m*aux_vec;
|
||||
// TODO The next three lines are probably not correct yet
|
||||
roll_angle = _stab_roll? degrees(atan2( targ.y,targ.z))*100:_mavlink_angles.y; //roll
|
||||
pitch_angle = _stab_pitch?degrees(atan2(-targ.x,targ.z))*100:_neutral_angles.x; //pitch
|
||||
yaw_angle = _stab_yaw? degrees(atan2(-targ.x,targ.y))*100:_neutral_angles.z; //yaw
|
||||
break;
|
||||
}
|
||||
|
||||
case MAV_MOUNT_MODE_RC_TARGETING: // radio manual control
|
||||
{
|
||||
// TODO It does work, but maybe is a good idea to replace this simplified implementation with a proper one
|
||||
if (_dcm)
|
||||
{
|
||||
roll_angle = -_dcm->roll_sensor;
|
||||
pitch_angle = -_dcm->pitch_sensor;
|
||||
yaw_angle = -_dcm->yaw_sensor;
|
||||
}
|
||||
if (_dcm_hil)
|
||||
{
|
||||
roll_angle = -_dcm_hil->roll_sensor;
|
||||
pitch_angle = -_dcm_hil->pitch_sensor;
|
||||
yaw_angle = -_dcm_hil->yaw_sensor;
|
||||
}
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_roll])
|
||||
roll_angle = rc_map(g_rc_function[RC_Channel_aux::k_mount_roll]);
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_pitch])
|
||||
pitch_angle = rc_map(g_rc_function[RC_Channel_aux::k_mount_pitch]);
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_yaw])
|
||||
yaw_angle = rc_map(g_rc_function[RC_Channel_aux::k_mount_yaw]);
|
||||
break;
|
||||
}
|
||||
|
||||
case MAV_MOUNT_MODE_GPS_POINT:
|
||||
{
|
||||
if(_gps->fix)
|
||||
{
|
||||
calc_GPS_target_vector(&_target_GPS_location);
|
||||
}
|
||||
m = (_dcm)?_dcm->get_dcm_transposed():_dcm_hil->get_dcm_transposed();
|
||||
targ = m*_GPS_vector;
|
||||
/* disable stabilization for now, this will help debug */
|
||||
_stab_roll = 0;_stab_pitch=0;_stab_yaw=0;
|
||||
/**/
|
||||
// TODO The next three lines are probably not correct yet
|
||||
roll_angle = _stab_roll? degrees(atan2( targ.y,targ.z))*100:_GPS_vector.y; //roll
|
||||
pitch_angle = _stab_pitch?degrees(atan2(-targ.x,targ.z))*100:0; //pitch
|
||||
yaw_angle = _stab_yaw? degrees(atan2(-targ.x,targ.y))*100:degrees(atan2(-_GPS_vector.x,_GPS_vector.y))*100; //yaw
|
||||
break;
|
||||
}
|
||||
default:
|
||||
//do nothing
|
||||
break;
|
||||
}
|
||||
|
||||
// write the results to the servos
|
||||
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
|
||||
G_RC_AUX(k_mount_roll)->closest_limit(roll_angle/10);
|
||||
G_RC_AUX(k_mount_pitch)->closest_limit(pitch_angle/10);
|
||||
G_RC_AUX(k_mount_yaw)->closest_limit(yaw_angle/10);
|
||||
}
|
||||
|
||||
void AP_Mount::set_mode(enum MAV_MOUNT_MODE mode)
|
||||
{
|
||||
_mount_mode=mode;
|
||||
}
|
||||
|
||||
void AP_Mount::configure_msg(mavlink_message_t* msg)
|
||||
{
|
||||
__mavlink_mount_configure_t packet;
|
||||
mavlink_msg_mount_configure_decode(msg, &packet);
|
||||
if (mavlink_check_target(packet.target_system, packet.target_component)) {
|
||||
// not for us
|
||||
return;
|
||||
}
|
||||
set_mode((enum MAV_MOUNT_MODE)packet.mount_mode);
|
||||
_stab_pitch = packet.stab_pitch;
|
||||
_stab_roll = packet.stab_roll;
|
||||
_stab_yaw = packet.stab_yaw;
|
||||
}
|
||||
|
||||
void AP_Mount::control_msg(mavlink_message_t *msg)
|
||||
{
|
||||
__mavlink_mount_control_t packet;
|
||||
mavlink_msg_mount_control_decode(msg, &packet);
|
||||
if (mavlink_check_target(packet.target_system, packet.target_component)) {
|
||||
// not for us
|
||||
return;
|
||||
}
|
||||
|
||||
switch (_mount_mode)
|
||||
{
|
||||
case MAV_MOUNT_MODE_RETRACT: // Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization
|
||||
set_retract_angles(packet.input_b, packet.input_a, packet.input_c);
|
||||
if (packet.save_position)
|
||||
{
|
||||
// TODO: Save current trimmed position on EEPROM
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_MOUNT_MODE_NEUTRAL: // Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM
|
||||
set_neutral_angles(packet.input_b, packet.input_a, packet.input_c);
|
||||
if (packet.save_position)
|
||||
{
|
||||
// TODO: Save current trimmed position on EEPROM
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_MOUNT_MODE_MAVLINK_TARGETING: // Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
|
||||
set_mavlink_angles(packet.input_b, packet.input_a, packet.input_c);
|
||||
break;
|
||||
|
||||
case MAV_MOUNT_MODE_RC_TARGETING: // Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
|
||||
break;
|
||||
|
||||
case MAV_MOUNT_MODE_GPS_POINT: // Load neutral position and start to point to Lat,Lon,Alt
|
||||
Location targetGPSLocation;
|
||||
targetGPSLocation.lat = packet.input_a;
|
||||
targetGPSLocation.lng = packet.input_b;
|
||||
targetGPSLocation.alt = packet.input_c;
|
||||
set_GPS_target_location(targetGPSLocation);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void AP_Mount::status_msg(mavlink_message_t *msg)
|
||||
{
|
||||
__mavlink_mount_status_t packet;
|
||||
mavlink_msg_mount_status_decode(msg, &packet);
|
||||
if (mavlink_check_target(packet.target_system, packet.target_component)) {
|
||||
// not for us
|
||||
return;
|
||||
}
|
||||
|
||||
switch (_mount_mode)
|
||||
{
|
||||
case MAV_MOUNT_MODE_RETRACT: // safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization
|
||||
case MAV_MOUNT_MODE_NEUTRAL: // neutral position (Roll,Pitch,Yaw) from EEPROM
|
||||
case MAV_MOUNT_MODE_MAVLINK_TARGETING: // neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
|
||||
case MAV_MOUNT_MODE_RC_TARGETING: // neutral position and start RC Roll,Pitch,Yaw control with stabilization
|
||||
packet.pointing_b = roll_angle; ///< degrees*100
|
||||
packet.pointing_a = pitch_angle; ///< degrees*100
|
||||
packet.pointing_c = yaw_angle; ///< degrees*100
|
||||
break;
|
||||
case MAV_MOUNT_MODE_GPS_POINT: // neutral position and start to point to Lat,Lon,Alt
|
||||
packet.pointing_a = _target_GPS_location.lat; ///< latitude
|
||||
packet.pointing_b = _target_GPS_location.lng; ///< longitude
|
||||
packet.pointing_c = _target_GPS_location.alt; ///< altitude
|
||||
break;
|
||||
}
|
||||
|
||||
// status reply
|
||||
// TODO: is COMM_3 correct ?
|
||||
mavlink_msg_mount_status_send(MAVLINK_COMM_3, packet.target_system, packet.target_component,
|
||||
packet.pointing_a, packet.pointing_b, packet.pointing_c);
|
||||
}
|
||||
|
||||
void AP_Mount::set_roi_cmd()
|
||||
{
|
||||
// TODO get the information out of the mission command and use it
|
||||
}
|
||||
|
||||
void AP_Mount::configure_cmd()
|
||||
{
|
||||
// TODO get the information out of the mission command and use it
|
||||
}
|
||||
|
||||
void AP_Mount::control_cmd()
|
||||
{
|
||||
// TODO get the information out of the mission command and use it
|
||||
}
|
||||
|
||||
|
||||
void AP_Mount::calc_GPS_target_vector(struct Location *target)
|
||||
{
|
||||
_GPS_vector.x = (target->lng-_gps->longitude) * cos((_gps->latitude+target->lat)/2)*.01113195;
|
||||
_GPS_vector.y = (target->lat-_gps->latitude)*.01113195;
|
||||
_GPS_vector.z = (_gps->altitude-target->alt);
|
||||
}
|
||||
|
||||
void
|
||||
AP_Mount::update_mount_type()
|
||||
{
|
||||
// Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] == NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
|
||||
{
|
||||
_mount_type = k_pan_tilt;
|
||||
}
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] == NULL))
|
||||
{
|
||||
_mount_type = k_tilt_roll;
|
||||
}
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
|
||||
{
|
||||
_mount_type = k_pan_tilt_roll;
|
||||
}
|
||||
}
|
||||
|
||||
// This function is needed to let the HIL code compile
|
||||
long
|
||||
AP_Mount::rc_map(RC_Channel_aux* rc_ch)
|
||||
{
|
||||
return (rc_ch->radio_in - rc_ch->radio_min) * (rc_ch->angle_max - rc_ch->angle_min) / (rc_ch->radio_max - rc_ch->radio_min) + rc_ch->angle_min;
|
||||
}
|
||||
|
||||
96
libraries/AP_Mount/AP_Mount.h
Normal file
96
libraries/AP_Mount/AP_Mount.h
Normal file
@ -0,0 +1,96 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/************************************************************
|
||||
* AP_mount -- library to control a 2 or 3 axis mount. *
|
||||
* *
|
||||
* Author: Joe Holdsworth; *
|
||||
* Ritchie Wilson; *
|
||||
* Amilcar Lucas; *
|
||||
* *
|
||||
* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
|
||||
* Used for mount to track targets or stabilise *
|
||||
* camera plus other modes. *
|
||||
* *
|
||||
* Usage: Use in main code to control mounts attached to *
|
||||
* vehicle. *
|
||||
* *
|
||||
*Comments: All angles in degrees * 100, distances in meters*
|
||||
* unless otherwise stated. *
|
||||
************************************************************/
|
||||
#ifndef AP_Mount_H
|
||||
#define AP_Mount_H
|
||||
|
||||
//#include <AP_Common.h>
|
||||
#include <AP_Math.h>
|
||||
#include <AP_GPS.h>
|
||||
#include <AP_DCM.h>
|
||||
#include <GCS_MAVLink.h>
|
||||
#include <../RC_Channel/RC_Channel_aux.h>
|
||||
|
||||
class AP_Mount
|
||||
{
|
||||
public:
|
||||
//Constructors
|
||||
AP_Mount(GPS *gps, AP_DCM *dcm);
|
||||
AP_Mount(GPS *gps, AP_DCM_HIL *dcm); // constructor for HIL usage
|
||||
|
||||
//enums
|
||||
enum MountType{
|
||||
k_pan_tilt = 0, ///< yaw-pitch
|
||||
k_tilt_roll = 1, ///< pitch-roll
|
||||
k_pan_tilt_roll = 2, ///< yaw-pitch-roll
|
||||
};
|
||||
|
||||
// MAVLink methods
|
||||
void configure_msg(mavlink_message_t* msg);
|
||||
void control_msg(mavlink_message_t* msg);
|
||||
void status_msg(mavlink_message_t* msg);
|
||||
void set_roi_cmd();
|
||||
void configure_cmd();
|
||||
void control_cmd();
|
||||
|
||||
// should be called periodically
|
||||
void update_mount_position();
|
||||
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||||
|
||||
// Accessors
|
||||
enum MountType get_mount_type();
|
||||
|
||||
private:
|
||||
|
||||
//methods
|
||||
void set_mode(enum MAV_MOUNT_MODE mode);
|
||||
|
||||
void set_retract_angles(int roll, int pitch, int yaw); ///< set mount retracted position
|
||||
void set_neutral_angles(int roll, int pitch, int yaw);
|
||||
void set_mavlink_angles(int roll, int pitch, int yaw);
|
||||
void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
|
||||
|
||||
// internal methods
|
||||
void calc_GPS_target_vector(struct Location *target);
|
||||
long rc_map(RC_Channel_aux* rc_ch);
|
||||
|
||||
//members
|
||||
AP_DCM *_dcm;
|
||||
AP_DCM_HIL *_dcm_hil;
|
||||
GPS *_gps;
|
||||
|
||||
int roll_angle; ///< degrees*100
|
||||
int pitch_angle; ///< degrees*100
|
||||
int yaw_angle; ///< degrees*100
|
||||
|
||||
uint8_t _stab_roll; ///< (1 = yes, 0 = no)
|
||||
uint8_t _stab_pitch; ///< (1 = yes, 0 = no)
|
||||
uint8_t _stab_yaw; ///< (1 = yes, 0 = no)
|
||||
|
||||
enum MAV_MOUNT_MODE _mount_mode;
|
||||
MountType _mount_type;
|
||||
|
||||
struct Location _target_GPS_location;
|
||||
|
||||
Vector3i _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
Vector3i _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
Vector3i _mavlink_angles; ///< mavlink position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
Vector3f _GPS_vector; ///< target vector calculated stored in meters
|
||||
};
|
||||
#endif
|
||||
@ -2,17 +2,32 @@ This provides some support files for building APM on normal desktop
|
||||
systems. This makes it possible to use debugging tools (such as gdb
|
||||
and valgrind) on the APM code
|
||||
|
||||
To build it do this:
|
||||
The code can then run on the PC instead of on the Arduino board and
|
||||
simulate the behaviour of the real system by integrating it with
|
||||
X-Plane of FlightGear to build a Software-In-the-Loop (SIL) simulator.
|
||||
|
||||
cd ArduPlane
|
||||
make -f ../libraries/Desktop/Makefile.desktop hil
|
||||
It will use TCP sockets to communicate between the several software
|
||||
components (ArduPilot, GCS and Flight simulator). All the ArduPilot
|
||||
serial ports that get initialised map to separate TCP ports, which
|
||||
means you can separately test the telemetry port and the main serial
|
||||
port. It also makes using a debugger easier, as the debugger can use
|
||||
stdin/stdout.
|
||||
|
||||
currently only 'hil' builds work.
|
||||
So the new usage is:
|
||||
|
||||
It currently runs with the first serial port mapped to
|
||||
stdin/stdout. To test it, you can use mavproxy like this:
|
||||
1) build with "make -f ../libraries/Desktop/Makefile.desktop hil"
|
||||
|
||||
mavproxy.py --master=/tmp/ArduPlane/ArduPlane.elf
|
||||
2) start in a terminal like this: /tmp/ArduPlane.build/ArduPlane.elf
|
||||
it will say something like this:
|
||||
|
||||
that will run ArduPlane as a child process, and will give you the
|
||||
ability to control ArduPlane over MAVLink.
|
||||
Serial port 0 on TCP port 5760
|
||||
Waiting for connection ....
|
||||
|
||||
3) start a GCS, pointing it at localhost:5760. For the current
|
||||
mavproxy, you would use:
|
||||
|
||||
mavproxy.py --master=tcp:localhost:5760
|
||||
|
||||
MichaelO has also added support in the GCS mission planner for TCP.
|
||||
You will see a TCP option in the drop down for the serial port, then
|
||||
choose port 5760.
|
||||
|
||||
@ -45,6 +45,7 @@
|
||||
#include <sys/types.h>
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include "desktop.h"
|
||||
|
||||
#define LISTEN_BASE_PORT 5760
|
||||
#define BUFFER_SIZE 128
|
||||
@ -305,3 +306,19 @@ void FastSerial::_freeBuffer(Buffer *buffer)
|
||||
{
|
||||
}
|
||||
|
||||
/*
|
||||
return true if any bytes are pending
|
||||
*/
|
||||
void desktop_serial_select_setup(fd_set *fds, int *fd_high)
|
||||
{
|
||||
int i;
|
||||
|
||||
for (i=0; i<FS_MAX_PORTS; i++) {
|
||||
if (tcp_state[i].connected) {
|
||||
FD_SET(tcp_state[i].fd, fds);
|
||||
if (tcp_state[i].fd > *fd_high) {
|
||||
*fd_high = tcp_state[i].fd;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
2
libraries/Desktop/support/desktop.h
Normal file
2
libraries/Desktop/support/desktop.h
Normal file
@ -0,0 +1,2 @@
|
||||
void desktop_serial_select_setup(fd_set *fds, int *fd_high);
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
#include <sys/time.h>
|
||||
#include <sched.h>
|
||||
#include <wiring.h>
|
||||
#include "desktop.h"
|
||||
|
||||
void setup(void);
|
||||
void loop(void);
|
||||
@ -16,15 +17,17 @@ int main(void)
|
||||
setup();
|
||||
while (true) {
|
||||
struct timeval tv;
|
||||
unsigned long t1, t2;
|
||||
t1 = micros();
|
||||
fd_set fds;
|
||||
int fd_high = 0;
|
||||
|
||||
FD_ZERO(&fds);
|
||||
loop();
|
||||
t2 = micros();
|
||||
if (t2 - t1 < 2) {
|
||||
tv.tv_sec = 0;
|
||||
tv.tv_usec = 1;
|
||||
select(0, NULL, NULL, NULL, &tv);
|
||||
}
|
||||
|
||||
desktop_serial_select_setup(&fds, &fd_high);
|
||||
tv.tv_sec = 0;
|
||||
tv.tv_usec = 100;
|
||||
|
||||
select(fd_high+1, &fds, NULL, NULL, &tv);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -190,6 +190,10 @@ RC_Channel::pwm_to_angle()
|
||||
{
|
||||
int radio_trim_high = radio_trim + _dead_zone;
|
||||
int radio_trim_low = radio_trim - _dead_zone;
|
||||
|
||||
// prevent div by 0
|
||||
if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0)
|
||||
return 0;
|
||||
|
||||
if(radio_in > radio_trim_high){
|
||||
return _reverse * ((long)_high * (long)(radio_in - radio_trim_high)) / (long)(radio_max - radio_trim_high);
|
||||
|
||||
@ -5,6 +5,42 @@
|
||||
|
||||
RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
int16_t
|
||||
RC_Channel_aux::closest_limit(int16_t angle)
|
||||
{
|
||||
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
|
||||
int16_t min = angle_min / 10;
|
||||
int16_t max = angle_max / 10;
|
||||
|
||||
// Make sure the angle lies in the interval [-180 .. 180[ degrees
|
||||
while (angle < -1800) angle += 3600;
|
||||
while (angle >= 1800) angle -= 3600;
|
||||
|
||||
// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
|
||||
while (min < -1800) min += 3600;
|
||||
while (min >= 1800) min -= 3600;
|
||||
while (max < -1800) max += 3600;
|
||||
while (max >= 1800) max -= 3600;
|
||||
// This is done every time because the user might change the min, max values on the fly
|
||||
set_range(min, max);
|
||||
|
||||
// If the angle is outside servo limits, saturate the angle to the closest limit
|
||||
// On a circle the closest angular position must be carefully calculated to account for wrap-around
|
||||
if ((angle < min) && (angle > max)){
|
||||
// angle error if min limit is used
|
||||
int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
|
||||
// angle error if max limit is used
|
||||
int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
|
||||
angle = err_min<err_max?min:max;
|
||||
}
|
||||
|
||||
servo_out = angle;
|
||||
// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
|
||||
calc_pwm();
|
||||
|
||||
return angle;
|
||||
}
|
||||
|
||||
// map a function to a servo channel and output it
|
||||
void
|
||||
RC_Channel_aux::output_ch(unsigned char ch_nr)
|
||||
@ -53,4 +89,14 @@ void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Ch
|
||||
G_RC_AUX(k_flap_auto)->set_range(0,100);
|
||||
G_RC_AUX(k_aileron)->set_angle(4500);
|
||||
G_RC_AUX(k_flaperon)->set_range(0,100);
|
||||
G_RC_AUX(k_mount_yaw)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
|
||||
G_RC_AUX(k_mount_pitch)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
|
||||
G_RC_AUX(k_mount_roll)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
|
||||
G_RC_AUX(k_mount_open)->set_range(0,100);
|
||||
}
|
||||
|
||||
@ -14,6 +14,7 @@
|
||||
|
||||
/// @class RC_Channel_aux
|
||||
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
|
||||
/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
|
||||
class RC_Channel_aux : public RC_Channel{
|
||||
public:
|
||||
/// Constructor
|
||||
@ -23,7 +24,9 @@ public:
|
||||
///
|
||||
RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
|
||||
RC_Channel(key, name),
|
||||
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0) // suppress name if group has no name
|
||||
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0), // suppress name if group has no name
|
||||
angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
|
||||
angle_max (&_group, 6, 4500, name ? PSTR("ANGLE_MAX") : 0) // assume 45 degrees max deflection
|
||||
{}
|
||||
|
||||
typedef enum
|
||||
@ -34,10 +37,18 @@ public:
|
||||
k_flap_auto = 3, // flap automated
|
||||
k_aileron = 4, // aileron
|
||||
k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
|
||||
k_mount_yaw = 6, // mount yaw (pan)
|
||||
k_mount_pitch = 7, // mount pitch (tilt)
|
||||
k_mount_roll = 8, // mount roll
|
||||
k_mount_open = 9, // mount open (deploy) / close (retract)
|
||||
k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
|
||||
} Aux_servo_function_t;
|
||||
|
||||
AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
|
||||
AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
|
||||
AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
|
||||
|
||||
int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
|
||||
|
||||
void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user