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

Plane: added HIL_SUPPORT define

Browse Source 
disable HIL support on APM2 to save flash space
This commit is contained in:
Andrew Tridgell 2015-07-13 16:07:40 +10:00
parent 087e729748
commit 6c07795b63
7 changed files with 33 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/ArduPlane.cpp
View File

@ -137,10 +137,12 @@ void Plane::ahrs_update()
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs_update();
}
#endif
ahrs.update();

2
ArduPlane/Attitude.cpp
View File

@ -995,6 +995,7 @@ void Plane::set_servos(void)
obc.check_crash_plane();
#endif
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// get the servos to the GCS immediately for HIL
if (comm_get_txspace(MAVLINK_COMM_0) >=
@ -1005,6 +1006,7 @@ void Plane::set_servos(void)
return;
}
}
#endif
// send values to the PWM timers for output
// ----------------------------------------

14
ArduPlane/GCS_Mavlink.cpp
View File

@ -69,9 +69,11 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
#if HIL_SUPPORT
if (g.hil_mode == 1) {
base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
#endif
// we are armed if we are not initialising
if (control_mode != INITIALISING && hal.util->get_soft_armed()) {
@ -366,6 +368,7 @@ void Plane::send_servo_out(mavlink_channel_t chan)
void Plane::send_radio_out(mavlink_channel_t chan)
{
#if HIL_SUPPORT
if (g.hil_mode==1 && !g.hil_servos) {
mavlink_msg_servo_output_raw_send(
chan,
@ -381,6 +384,7 @@ void Plane::send_radio_out(mavlink_channel_t chan)
RC_Channel::rc_channel(7)->radio_out);
return;
}
#endif
mavlink_msg_servo_output_raw_send(
chan,
micros(),
@ -416,14 +420,16 @@ void Plane::send_vfr_hud(mavlink_channel_t chan)
/*
keep last HIL_STATE message to allow sending SIM_STATE
*/
#if HIL_SUPPORT
static mavlink_hil_state_t last_hil_state;
#endif
// report simulator state
void Plane::send_simstate(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.simstate_send(chan);
#else
#elif HIL_SUPPORT
if (g.hil_mode == 1) {
mavlink_msg_simstate_send(chan,
last_hil_state.roll,
@ -637,10 +643,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break;
case MSG_SERVO_OUT:
#if HIL_SUPPORT
if (plane.g.hil_mode == 1) {
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
plane.send_servo_out(chan);
}
#endif
break;
case MSG_RADIO_IN:
@ -937,6 +945,7 @@ GCS_MAVLINK::data_stream_send(void)
if (plane.gcs_out_of_time) return;
if (plane.in_mavlink_delay) {
#if HIL_SUPPORT
if (plane.g.hil_mode == 1) {
// in HIL we need to keep sending servo values to ensure
// the simulator doesn't pause, otherwise our sensor
@ -948,6 +957,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_RADIO_OUT);
}
}
#endif
// don't send any other stream types while in the delay callback
return;
}
@ -1606,6 +1616,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_HIL_STATE:
{
#if HIL_SUPPORT
if (plane.g.hil_mode != 1) {
break;
}
@ -1656,6 +1667,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
wrap_PI(fabsf(packet.yaw - plane.ahrs.yaw)) > ToRad(plane.g.hil_err_limit))) {
plane.ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
}
#endif
break;
}

2
ArduPlane/Parameters.cpp
View File

@ -934,12 +934,14 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
// @User: Standard
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0),
#if HIL_SUPPORT
// @Param: HIL_MODE
// @DisplayName: HIL mode enable
// @Description: This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(hil_mode, "HIL_MODE", 0),
#endif
// @Param: HIL_SERVOS
// @DisplayName: HIL Servos enable

2
ArduPlane/Parameters.h
View File

@ -448,7 +448,9 @@ public:
AP_Int16 pitch_trim_cd;
AP_Int16 FBWB_min_altitude_cm;
AP_Int8 hil_servos;
#if HIL_SUPPORT
AP_Int8 hil_mode;
#endif
AP_Int8 compass_enabled;
AP_Int8 flap_1_percent;

6
ArduPlane/config.h
View File

@ -459,6 +459,12 @@
#define CLI_ENABLED DISABLED
#endif
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75
#define HIL_SUPPORT DISABLED
#else
#define HIL_SUPPORT ENABLED
#endif
/*
build a firmware version string.
GIT_VERSION comes from Makefile builds

6
ArduPlane/system.cpp
View File

@ -95,12 +95,14 @@ void Plane::init_ardupilot()
//
load_parameters();
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// set sensors to HIL mode
ins.set_hil_mode();
compass.set_hil_mode();
barometer.set_hil_mode();
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// this must be before BoardConfig.init() so if
@ -536,6 +538,7 @@ void Plane::check_short_failsafe()
void Plane::startup_INS_ground(void)
{
#if HIL_SUPPORT
if (g.hil_mode == 1) {
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
@ -544,6 +547,7 @@ void Plane::startup_INS_ground(void)
hal.scheduler->delay(1000);
}
}
#endif
AP_InertialSensor::Start_style style;
if (g.skip_gyro_cal) {
@ -679,12 +683,14 @@ void Plane::print_comma(void)
*/
void Plane::servo_write(uint8_t ch, uint16_t pwm)
{
#if HIL_SUPPORT
if (g.hil_mode==1 && !g.hil_servos) {
if (ch < 8) {
RC_Channel::rc_channel(ch)->radio_out = pwm;
}
return;
}
#endif
hal.rcout->enable_ch(ch);
hal.rcout->write(ch, pwm);
}