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Rover: added 'level' CLI and reboot command

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This commit is contained in:
Andrew Tridgell 2013-02-22 07:49:07 +11:00
parent 1cb9f71370
commit 52800e52b9
2 changed files with 27 additions and 4 deletions
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23
APMrover2/setup.pde
View File

@ -8,12 +8,13 @@ static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
#if !defined( __AVR_ATmega1280__ )
static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
#endif
static int8_t setup_level (uint8_t argc, const Menu::arg *argv);
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
// Command/function table for the setup menu
static const struct Menu::command setup_menu_commands[] PROGMEM = {
@ -22,6 +23,7 @@ static const struct Menu::command setup_menu_commands[] PROGMEM = {
{"reset", setup_factory},
{"radio", setup_radio},
{"modes", setup_flightmodes},
{"level", setup_level},
#if !defined( __AVR_ATmega1280__ )
{"accel", setup_accel_scale},
#endif
@ -311,6 +313,19 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
}
#endif
static int8_t
setup_level(uint8_t argc, const Menu::arg *argv)
{
cliSerial->println_P(PSTR("Initialising gyros"));
ahrs.init();
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins.init_accel(flash_leds);
ahrs.set_trim(Vector3f(0, 0, 0));
return(0);
}
static int8_t
setup_compass(uint8_t argc, const Menu::arg *argv)
{

8
APMrover2/system.pde
View File

@ -14,6 +14,7 @@ static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
#endif
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
@ -39,12 +40,19 @@ static const struct Menu::command main_menu_commands[] PROGMEM = {
#endif
{"setup", setup_mode},
{"test", test_mode},
{"reboot", reboot_board},
{"help", main_menu_help}
};
// Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands);
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
{
reboot_apm();
return 0;
}
// the user wants the CLI. It never exits
static void run_cli(AP_HAL::UARTDriver *port)
{