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ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters.

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changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
This commit is contained in:
rmackay9 2012-04-04 23:02:29 +09:00
parent 1701cac0b1
commit 5e2147de1f
1 changed files with 67 additions and 83 deletions
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150
ArduCopter/setup.pde
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@ -234,7 +234,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
while(1){
delay(20);
read_radio();
output_motor_test();
motors.output_test();
if(Serial.available() > 0){
g.esc_calibrate.set_and_save(0);
return(0);
@ -460,10 +460,10 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
int max_roll=0, max_pitch=0, min_collective=0, max_collective=0, min_tail=0, max_tail=0;
// initialise swash plate
heli_init_swash();
motors.init_swash();
// source swash plate movements directly from radio
g.heli_servo_manual = true;
motors.servo_manual = true;
// display initial settings
report_heli();
@ -489,7 +489,7 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
read_radio();
// allow swash plate to move
output_motors_armed();
motors.output_armed();
// record min/max
if( state == 1 ) {
@ -529,8 +529,8 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
case 'c':
case 'C':
if( g.rc_3.radio_out >= 900 && g.rc_3.radio_out <= 2100 ) {
g.heli_collective_mid = g.rc_3.radio_out;
Serial.printf_P(PSTR("Collective when blade pitch at zero: %d\n"),(int)g.heli_collective_mid);
motors.collective_mid = g.rc_3.radio_out;
Serial.printf_P(PSTR("Collective when blade pitch at zero: %d\n"),(int)motors.collective_mid);
}
break;
case 'd':
@ -545,11 +545,11 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("Move coll, roll, pitch and tail to extremes, press 'm' when done\n"));
// reset servo ranges
g.heli_roll_max = g.heli_pitch_max = 4500;
g.heli_collective_min = 1000;
g.heli_collective_max = 2000;
g.heli_servo_4.radio_min = 1000;
g.heli_servo_4.radio_max = 2000;
motors.roll_max = motors.pitch_max = 4500;
motors.collective_min = 1000;
motors.collective_max = 2000;
motors._servo_4->radio_min = 1000;
motors._servo_4->radio_max = 2000;
// set sensible values in temp variables
max_roll = abs(g.rc_1.control_in);
@ -563,15 +563,15 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
if( max_roll <= 1000 || max_pitch <= 1000 || (max_collective - min_collective < 200) || (max_tail - min_tail < 200) || min_tail < 1000 || max_tail > 2000 )
Serial.printf_P(PSTR("Invalid min/max captured roll:%d, pitch:%d, collective min: %d max: %d, tail min:%d max:%d\n"),max_roll,max_pitch,min_collective,max_collective,min_tail,max_tail);
else{
g.heli_roll_max = max_roll;
g.heli_pitch_max = max_pitch;
g.heli_collective_min = min_collective;
g.heli_collective_max = max_collective;
g.heli_servo_4.radio_min = min_tail;
g.heli_servo_4.radio_max = max_tail;
motors.roll_max = max_roll;
motors.pitch_max = max_pitch;
motors.collective_min = min_collective;
motors.collective_max = max_collective;
motors._servo_4->radio_min = min_tail;
motors._servo_4->radio_max = max_tail;
// reinitialise swash
heli_init_swash();
motors.init_swash();
// display settings
report_heli();
@ -583,12 +583,12 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
temp = read_num_from_serial();
if( temp >= -360 && temp <= 360 ) {
if( active_servo == CH_1 )
g.heli_servo1_pos = temp;
motors.servo1_pos = temp;
if( active_servo == CH_2 )
g.heli_servo2_pos = temp;
motors.servo2_pos = temp;
if( active_servo == CH_3 )
g.heli_servo3_pos = temp;
heli_init_swash();
motors.servo3_pos = temp;
motors.init_swash();
Serial.printf_P(PSTR("Servo %d\t\tpos:%d\n"),active_servo+1, temp);
}
break;
@ -603,7 +603,7 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
temp -= 1500;
if( temp > -500 && temp < 500 ) {
heli_get_servo(active_servo)->radio_trim = 1500 + temp;
heli_init_swash();
motors.init_swash();
Serial.printf_P(PSTR("Servo %d\t\ttrim:%d\n"),active_servo+1, 1500 + temp);
}
break;
@ -618,12 +618,14 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
if( Serial.available() ) {
value = Serial.read();
if( value == 'a' || value == 'A' ) {
g.heli_servo_averaging = HELI_SERVO_AVERAGING_ANALOG;
Serial.printf_P(PSTR("Analog Servo %dhz\n"),250 / HELI_SERVO_AVERAGING_ANALOG);
g.rc_speed.set_and_save(AP_MOTORS_HELI_SPEED_ANALOG_SERVOS);
//motors._speed_hz = AP_MOTORS_HELI_SPEED_ANALOG_SERVOS; // need to force this update to take effect immediately
Serial.printf_P(PSTR("Analog Servo %dhz\n"),(int)g.rc_speed);
}
if( value == 'd' || value == 'D' ) {
g.heli_servo_averaging = HELI_SERVO_AVERAGING_DIGITAL;
Serial.printf_P(PSTR("Digital Servo 250hz\n"));
g.rc_speed.set_and_save(AP_MOTORS_HELI_SPEED_ANALOG_SERVOS);
//motors._speed_hz = AP_MOTORS_HELI_SPEED_ANALOG_SERVOS; // need to force this update to take effect immediately
Serial.printf_P(PSTR("Digital Servo %dhz\n"),(int)g.rc_speed);
}
}
break;
@ -641,22 +643,21 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
report_heli();
// save to eeprom
g.heli_servo_1.save_eeprom();
g.heli_servo_2.save_eeprom();
g.heli_servo_3.save_eeprom();
g.heli_servo_4.save_eeprom();
g.heli_servo1_pos.save();
g.heli_servo2_pos.save();
g.heli_servo3_pos.save();
g.heli_roll_max.save();
g.heli_pitch_max.save();
g.heli_collective_min.save();
g.heli_collective_max.save();
g.heli_collective_mid.save();
g.heli_servo_averaging.save();
motors._servo_1->save_eeprom();
motors._servo_2->save_eeprom();
motors._servo_3->save_eeprom();
motors._servo_4->save_eeprom();
motors.servo1_pos.save();
motors.servo2_pos.save();
motors.servo3_pos.save();
motors.roll_max.save();
motors.pitch_max.save();
motors.collective_min.save();
motors.collective_max.save();
motors.collective_mid.save();
// return swash plate movements to attitude controller
g.heli_servo_manual = false;
motors.servo_manual = false;
return(0);
}
@ -666,22 +667,22 @@ static int8_t
setup_gyro(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("on"))) {
g.heli_ext_gyro_enabled.set_and_save(true);
motors.ext_gyro_enabled.set_and_save(true);
// optionally capture the gain
if( argc >= 2 && argv[2].i >= 1000 && argv[2].i <= 2000 ) {
g.heli_ext_gyro_gain = argv[2].i;
g.heli_ext_gyro_gain.save();
motors.ext_gyro_gain = argv[2].i;
motors.ext_gyro_gain.save();
}
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
g.heli_ext_gyro_enabled.set_and_save(false);
motors.ext_gyro_enabled.set_and_save(false);
// capture gain if user simply provides a number
} else if( argv[1].i >= 1000 && argv[1].i <= 2000 ) {
g.heli_ext_gyro_enabled.set_and_save(true);
g.heli_ext_gyro_gain = argv[1].i;
g.heli_ext_gyro_gain.save();
motors.ext_gyro_enabled.set_and_save(true);
motors.ext_gyro_gain = argv[1].i;
motors.ext_gyro_gain.save();
}else{
Serial.printf_P(PSTR("\nOp:[on, off] gain\n"));
@ -928,29 +929,22 @@ void report_optflow()
#if FRAME_CONFIG == HELI_FRAME
static void report_heli()
{
int servo_rate;
Serial.printf_P(PSTR("Heli\n"));
print_divider();
// main servo settings
Serial.printf_P(PSTR("Servo \tpos \tmin \tmax \trev\n"));
Serial.printf_P(PSTR("1:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo1_pos, (int)g.heli_servo_1.radio_min, (int)g.heli_servo_1.radio_max, (int)g.heli_servo_1.get_reverse());
Serial.printf_P(PSTR("2:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo2_pos, (int)g.heli_servo_2.radio_min, (int)g.heli_servo_2.radio_max, (int)g.heli_servo_2.get_reverse());
Serial.printf_P(PSTR("3:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo3_pos, (int)g.heli_servo_3.radio_min, (int)g.heli_servo_3.radio_max, (int)g.heli_servo_3.get_reverse());
Serial.printf_P(PSTR("tail:\t\t%d \t%d \t%d\n"), (int)g.heli_servo_4.radio_min, (int)g.heli_servo_4.radio_max, (int)g.heli_servo_4.get_reverse());
Serial.printf_P(PSTR("1:\t%d \t%d \t%d \t%d\n"),(int)motors.servo1_pos, (int)motors._servo_1->radio_min, (int)motors._servo_1->radio_max, (int)motors._servo_1->get_reverse());
Serial.printf_P(PSTR("2:\t%d \t%d \t%d \t%d\n"),(int)motors.servo2_pos, (int)motors._servo_2->radio_min, (int)motors._servo_2->radio_max, (int)motors._servo_2->get_reverse());
Serial.printf_P(PSTR("3:\t%d \t%d \t%d \t%d\n"),(int)motors.servo3_pos, (int)motors._servo_3->radio_min, (int)motors._servo_3->radio_max, (int)motors._servo_3->get_reverse());
Serial.printf_P(PSTR("tail:\t\t%d \t%d \t%d\n"), (int)motors._servo_4->radio_min, (int)motors._servo_4->radio_max, (int)motors._servo_4->get_reverse());
Serial.printf_P(PSTR("roll max: \t%d\n"), (int)g.heli_roll_max);
Serial.printf_P(PSTR("pitch max: \t%d\n"), (int)g.heli_pitch_max);
Serial.printf_P(PSTR("coll min:\t%d\t mid:%d\t max:%d\n"),(int)g.heli_collective_min, (int)g.heli_collective_mid, (int)g.heli_collective_max);
Serial.printf_P(PSTR("roll max: \t%d\n"), (int)motors.roll_max);
Serial.printf_P(PSTR("pitch max: \t%d\n"), (int)motors.pitch_max);
Serial.printf_P(PSTR("coll min:\t%d\t mid:%d\t max:%d\n"),(int)motors.collective_min, (int)motors.collective_mid, (int)motors.collective_max);
// calculate and print servo rate
if( g.heli_servo_averaging <= 1 ) {
servo_rate = 250;
} else {
servo_rate = 250 / g.heli_servo_averaging;
}
Serial.printf_P(PSTR("servo rate:\t%d hz\n"),servo_rate);
Serial.printf_P(PSTR("servo rate:\t%d hz\n"),(int)g.rc_speed);
print_blanks(2);
}
@ -961,9 +955,9 @@ static void report_gyro()
Serial.printf_P(PSTR("Gyro:\n"));
print_divider();
print_enabled( g.heli_ext_gyro_enabled );
if( g.heli_ext_gyro_enabled )
Serial.printf_P(PSTR("gain: %d"),(int)g.heli_ext_gyro_gain);
print_enabled( motors.ext_gyro_enabled );
if( motors.ext_gyro_enabled )
Serial.printf_P(PSTR("gain: %d"),(int)motors.ext_gyro_gain);
print_blanks(2);
}
@ -1052,13 +1046,13 @@ print_gyro_offsets(void)
static RC_Channel *
heli_get_servo(int servo_num){
if( servo_num == CH_1 )
return &g.heli_servo_1;
return motors._servo_1;
if( servo_num == CH_2 )
return &g.heli_servo_2;
return motors._servo_2;
if( servo_num == CH_3 )
return &g.heli_servo_3;
return motors._servo_3;
if( servo_num == CH_4 )
return &g.heli_servo_4;
return motors._servo_4;
return NULL;
}
@ -1116,23 +1110,13 @@ static void print_enabled(boolean b)
static void
init_esc()
{
motors_output_enable();
motors.enable();
motors.armed(true);
while(1){
read_radio();
delay(100);
dancing_light();
APM_RC.OutputCh(MOT_1, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_in);
#if FRAME_CONFIG == OCTA_FRAME
APM_RC.OutputCh(MOT_7, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_in);
#endif
motors.throttle_pass_through();
}
}