Plane: use sensors from board subtypes
This commit is contained in:
Andrew Tridgell
parent
fdeac40135
commit
ae29a24348
@ -154,15 +154,8 @@ static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
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static DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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static DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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static DataFlash_File DataFlash("logs");
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//static DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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static DataFlash_File DataFlash("logs");
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
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#elif defined(HAL_BOARD_LOG_DIRECTORY)
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static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
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#else
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// no dataflash driver
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DataFlash_Empty DataFlash;
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@ -195,57 +188,53 @@ static AP_GPS gps;
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// flight modes convenience array
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static AP_Int8 *flight_modes = &g.flight_mode1;
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#if CONFIG_BARO == AP_BARO_BMP085
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#if CONFIG_BARO == HAL_BARO_BMP085
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_PX4
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#elif CONFIG_BARO == HAL_BARO_PX4
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static AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == AP_BARO_VRBRAIN
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#elif CONFIG_BARO == HAL_BARO_VRBRAIN
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static AP_Baro_VRBRAIN barometer;
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#elif CONFIG_BARO == AP_BARO_HIL
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#elif CONFIG_BARO == HAL_BARO_HIL
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static AP_Baro_HIL barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#elif CONFIG_BARO == HAL_BARO_MS5611
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#else
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#error Unrecognized CONFIG_BARO setting
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#endif
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#if CONFIG_COMPASS == AP_COMPASS_PX4
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#if CONFIG_COMPASS == HAL_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_VRBRAIN
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#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
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static AP_Compass_VRBRAIN compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
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#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HIL
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#elif CONFIG_COMPASS == HAL_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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#if CONFIG_INS_TYPE == CONFIG_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 apm1_adc;
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#endif
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#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
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#if CONFIG_INS_TYPE == HAL_INS_MPU6000
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
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#elif CONFIG_INS_TYPE == HAL_INS_PX4
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AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_VRBRAIN
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#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
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AP_InertialSensor_VRBRAIN ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
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#elif CONFIG_INS_TYPE == HAL_INS_HIL
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AP_InertialSensor_HIL ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &apm1_adc );
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#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
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#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
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AP_InertialSensor_Flymaple ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D
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#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
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AP_InertialSensor_L3G4200D ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_MPU9250
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#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
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AP_InertialSensor_MPU9250 ins;
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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@ -80,56 +80,14 @@
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// main board differences
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//
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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# define CONFIG_BARO AP_BARO_BMP085
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
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# endif
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define CONFIG_INS_TYPE CONFIG_INS_HIL
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# define CONFIG_BARO AP_BARO_HIL
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# define CONFIG_COMPASS AP_COMPASS_HIL
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define CONFIG_INS_TYPE CONFIG_INS_PX4
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# define CONFIG_BARO AP_BARO_PX4
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# define CONFIG_COMPASS AP_COMPASS_PX4
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# define SERIAL0_BAUD 115200
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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# define CONFIG_INS_TYPE CONFIG_INS_FLYMAPLE
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# define CONFIG_BARO AP_BARO_BMP085
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define SERIAL0_BAUD 115200
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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# define BATTERY_VOLT_PIN -1
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# define BATTERY_CURR_PIN -1
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# define CONFIG_INS_TYPE CONFIG_INS_MPU9250
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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# define CONFIG_INS_TYPE CONFIG_INS_VRBRAIN
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# define CONFIG_BARO AP_BARO_VRBRAIN
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# define CONFIG_COMPASS AP_COMPASS_VRBRAIN
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# define SERIAL0_BAUD 115200
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#endif
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// sensor types
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#define CONFIG_INS_TYPE HAL_INS_DEFAULT
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#define CONFIG_BARO HAL_BARO_DEFAULT
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#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
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#ifndef CONFIG_BARO
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# error "CONFIG_BARO not set"
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#endif
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#ifndef CONFIG_COMPASS
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# error "CONFIG_COMPASS not set"
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#ifdef HAL_SERIAL0_BAUD_DEFAULT
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# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
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#endif
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//////////////////////////////////////////////////////////////////////////////
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@ -141,11 +99,11 @@
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef CONFIG_BARO
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#define CONFIG_BARO AP_BARO_HIL
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#define CONFIG_BARO HAL_BARO_HIL
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#undef CONFIG_INS_TYPE
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#define CONFIG_INS_TYPE CONFIG_INS_HIL
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#define CONFIG_INS_TYPE HAL_INS_HIL
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#undef CONFIG_COMPASS
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#define CONFIG_COMPASS AP_COMPASS_HIL
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#define CONFIG_COMPASS HAL_COMPASS_HIL
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#endif
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#ifndef MAV_SYSTEM_ID
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@ -197,29 +197,6 @@ enum log_messages {
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// InertialSensor driver types
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#define CONFIG_INS_OILPAN 1
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#define CONFIG_INS_MPU6000 2
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#define CONFIG_INS_HIL 3
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#define CONFIG_INS_PX4 4
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#define CONFIG_INS_FLYMAPLE 5
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#define CONFIG_INS_L3G4200D 6
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#define CONFIG_INS_VRBRAIN 7
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#define CONFIG_INS_MPU9250 8
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// barometer driver types
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define AP_BARO_PX4 3
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#define AP_BARO_HIL 4
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#define AP_BARO_VRBRAIN 5
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// compass driver types
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#define AP_COMPASS_HMC5843 1
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#define AP_COMPASS_PX4 2
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#define AP_COMPASS_HIL 3
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#define AP_COMPASS_VRBRAIN 4
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// altitude control algorithms
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enum {
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ALT_CONTROL_DEFAULT = 0,
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