From 95c2e11b5a28be2ed681f95b1de75bc007ffb6b5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 19 Sep 2013 18:32:57 +1000 Subject: [PATCH] Rover: removed flash_leds() calls --- APMrover2/config.h | 20 -------------------- APMrover2/setup.pde | 10 ++++------ APMrover2/system.pde | 23 ++--------------------- APMrover2/test.pde | 6 ++---- 4 files changed, 8 insertions(+), 51 deletions(-) diff --git a/APMrover2/config.h b/APMrover2/config.h index d8ddae6267..e2b642226a 100644 --- a/APMrover2/config.h +++ b/APMrover2/config.h @@ -60,11 +60,6 @@ #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 # define CONFIG_INS_TYPE CONFIG_INS_OILPAN # define CONFIG_COMPASS AP_COMPASS_HMC5843 -# define A_LED_PIN 37 -# define B_LED_PIN 36 -# define C_LED_PIN 35 -# define LED_ON HIGH -# define LED_OFF LOW # define SLIDE_SWITCH_PIN 40 # define PUSHBUTTON_PIN 41 # define BATTERY_PIN_1 0 @@ -73,11 +68,6 @@ # define CONFIG_INS_TYPE CONFIG_INS_MPU6000 # define CONFIG_COMPASS AP_COMPASS_HMC5843 # define CONFIG_PUSHBUTTON DISABLED -# define A_LED_PIN 27 -# define B_LED_PIN 26 -# define C_LED_PIN 25 -# define LED_ON LOW -# define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED @@ -87,11 +77,6 @@ # define CONFIG_INS_TYPE CONFIG_INS_STUB # define CONFIG_COMPASS AP_COMPASS_HIL # define CONFIG_PUSHBUTTON DISABLED -# define A_LED_PIN 27 -# define B_LED_PIN 26 -# define C_LED_PIN 25 -# define LED_ON LOW -# define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED @@ -101,11 +86,6 @@ # define CONFIG_INS_TYPE CONFIG_INS_PX4 # define CONFIG_COMPASS AP_COMPASS_PX4 # define CONFIG_PUSHBUTTON DISABLED -# define A_LED_PIN 27 -# define B_LED_PIN 26 -# define C_LED_PIN 25 -# define LED_ON LOW -# define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED diff --git a/APMrover2/setup.pde b/APMrover2/setup.pde index a059653071..16b68f2e40 100644 --- a/APMrover2/setup.pde +++ b/APMrover2/setup.pde @@ -411,10 +411,9 @@ setup_accel_scale(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_sample_rate); AP_InertialSensor_UserInteractStream interact(hal.console); - if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) { + if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); } @@ -428,9 +427,8 @@ 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); + ins_sample_rate); + ins.init_accel(); ahrs.set_trim(Vector3f(0, 0, 0)); return(0); } diff --git a/APMrover2/system.pde b/APMrover2/system.pde index 88b64ee9dc..a441b1e194 100644 --- a/APMrover2/system.pde +++ b/APMrover2/system.pde @@ -178,9 +178,6 @@ static void init_ardupilot() init_rc_in(); // sets up rc channels from radio init_rc_out(); // sets up the timer libs - pinMode(C_LED_PIN, OUTPUT); // GPS status LED - pinMode(A_LED_PIN, OUTPUT); // GPS status LED - pinMode(B_LED_PIN, OUTPUT); // GPS status LED #if SLIDE_SWITCH_PIN > 0 pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode #endif @@ -203,7 +200,6 @@ static void init_ardupilot() // #if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED if (digitalRead(SLIDE_SWITCH_PIN) == 0) { - digitalWrite(A_LED_PIN,LED_ON); // turn on setup-mode LED cliSerial->printf_P(PSTR("\n" "Entering interactive setup mode...\n" "\n" @@ -373,21 +369,16 @@ static void startup_INS_ground(bool force_accel_level) ahrs.init(); ahrs.set_fly_forward(true); ins.init(AP_InertialSensor::COLD_START, - ins_sample_rate, - flash_leds); + ins_sample_rate); if (force_accel_level) { // when MANUAL_LEVEL is set to 1 we don't do accelerometer // levelling on each boot, and instead rely on the user to do // it once via the ground station - ins.init_accel(flash_leds); + ins.init_accel(); ahrs.set_trim(Vector3f(0, 0, 0)); } ahrs.reset(); - - digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate INS ready - digitalWrite(A_LED_PIN, LED_OFF); - digitalWrite(C_LED_PIN, LED_OFF); } // updates the notify state @@ -447,16 +438,6 @@ static void check_usb_mux(void) -/* - called by gyro/accel init to flash LEDs so user - has some mesmerising lights to watch while waiting - */ -void flash_leds(bool on) -{ - digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON); - digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF); -} - /* * Read board voltage in millivolts */ diff --git a/APMrover2/test.pde b/APMrover2/test.pde index d68195f191..ae6703587b 100644 --- a/APMrover2/test.pde +++ b/APMrover2/test.pde @@ -371,8 +371,7 @@ test_ins(uint8_t argc, const Menu::arg *argv) ahrs.init(); ahrs.set_fly_forward(true); ins.init(AP_InertialSensor::COLD_START, - ins_sample_rate, - flash_leds); + ins_sample_rate); ahrs.reset(); print_hit_enter(); @@ -437,8 +436,7 @@ test_mag(uint8_t argc, const Menu::arg *argv) // we need the AHRS initialised for this test ins.init(AP_InertialSensor::COLD_START, - ins_sample_rate, - flash_leds); + ins_sample_rate); ahrs.reset(); int counter = 0;