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Plane: integrate AP_Notify

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Randy Mackay 2013-08-24 17:58:32 +09:00 committed by Andrew Tridgell
parent 2658cda4bc
commit ad8bd16725
3 changed files with 27 additions and 36 deletions
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27
ArduPlane/ArduPlane.pde
View File

@ -70,6 +70,11 @@
#include <AP_SpdHgtControl.h>
#include <AP_TECS.h>
#include <AP_Notify.h> // Notify library
#include <AP_BoardLED.h> // BoardLEDs library
#include <ToshibaLED.h> // ToshibaLED library
#include <ToshibaLED_PX4.h> // ToshibaLED library for PX4
// Pre-AP_HAL compatibility
#include "compat.h"
@ -117,7 +122,7 @@ static Parameters g;
// main loop scheduler
static AP_Scheduler scheduler;
// mapping between input channels
static RCMapper rcmap;
@ -384,8 +389,12 @@ static struct {
////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// state of the GPS light (on/off)
static bool GPS_light;
static AP_BoardLED board_led;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static ToshibaLED_PX4 toshiba_led;
#else
static ToshibaLED toshiba_led;
#endif
////////////////////////////////////////////////////////////////////////////////
// GPS variables
@ -713,6 +722,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ read_battery, 5, 1000 },
{ compass_accumulate, 1, 1500 },
{ barometer_accumulate, 1, 900 }, // 20
{ update_toshiba_led, 1, 100 },
{ one_second_loop, 50, 3900 },
{ check_long_failsafe, 15, 1000 },
{ airspeed_ratio_update, 50, 1000 },
@ -733,6 +743,16 @@ void setup() {
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
// arduplane does not use arming nor pre-arm checks
AP_Notify::flags.armed = true;
AP_Notify::flags.pre_arm_check = true;
// initialise board leds
board_led.init();
// initialise toshiba led
toshiba_led.init();
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
@ -992,7 +1012,6 @@ static void update_GPS(void)
{
static uint32_t last_gps_reading;
g_gps->update();
update_GPS_light();
if (g_gps->last_message_time_ms() != last_gps_reading) {
last_gps_reading = g_gps->last_message_time_ms();

32
ArduPlane/system.pde
View File

@ -483,37 +483,13 @@ static void startup_INS_ground(bool do_accel_init)
digitalWrite(C_LED_PIN, LED_OFF);
}
static void update_GPS_light(void)
// update_toshiba_led - updates the status of the toshiba led
// should be called at 50hz
static void update_toshiba_led()
{
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case GPS::NO_FIX:
case GPS::GPS_OK_FIX_2D:
// check if we've blinked since the last gps update
if (g_gps->valid_read) {
g_gps->valid_read = false;
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light) {
digitalWrite(C_LED_PIN, LED_OFF);
}else{
digitalWrite(C_LED_PIN, LED_ON);
}
}
break;
case GPS::GPS_OK_FIX_3D:
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix AND home is set.
break;
default:
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
AP_Notify::update();
}
static void resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;

4
ArduPlane/test.pde
View File

@ -443,10 +443,6 @@ test_gps(uint8_t argc, const Menu::arg *argv)
while(1) {
delay(100);
// Blink GPS LED if we don't have a fix
// ------------------------------------
update_GPS_light();
g_gps->update();
if (g_gps->new_data) {