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

Compilation fixes per request

Browse Source 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1671 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok 2011-02-17 09:36:33 +00:00
parent b51e4dbd06
commit facda81c5a
22 changed files with 1783 additions and 544 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

970
ArduCopterMega/.cproject Normal file
View File

@ -0,0 +1,970 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?>
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="de.innot.avreclipse.configuration.app.debug.209204982">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="de.innot.avreclipse.configuration.app.debug.209204982" moduleId="org.eclipse.cdt.core.settings" name="Debug">
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildArtefactType="de.innot.avreclipse.buildArtefactType.app" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=de.innot.avreclipse.buildArtefactType.app" description="" id="de.innot.avreclipse.configuration.app.debug.209204982" name="Debug" parent="de.innot.avreclipse.configuration.app.debug">
<folderInfo id="de.innot.avreclipse.configuration.app.debug.209204982." name="/" resourcePath="">
<toolChain id="de.innot.avreclipse.toolchain.winavr.app.debug.127049746" name="AVR-GCC Toolchain" superClass="de.innot.avreclipse.toolchain.winavr.app.debug">
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash.app.debug.1729256683" name="Generate HEX file for Flash memory" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash.app.debug"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom.app.debug.1556783230" name="Generate HEX file for EEPROM" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom.app.debug"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.objdump.app.debug.1264327501" name="Generate Extended Listing (Source + generated Assembler)" superClass="de.innot.avreclipse.toolchain.options.toolchain.objdump.app.debug"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.size.app.debug.652325549" name="Print Size" superClass="de.innot.avreclipse.toolchain.options.toolchain.size.app.debug"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.avrdude.app.debug.2132646233" name="AVRDude" superClass="de.innot.avreclipse.toolchain.options.toolchain.avrdude.app.debug"/>
<targetPlatform id="de.innot.avreclipse.targetplatform.winavr.app.debug.829529077" name="AVR Cross-Target" superClass="de.innot.avreclipse.targetplatform.winavr.app.debug"/>
<builder buildPath="${workspace_loc:/ArduCopterMega/Debug}" id="de.innot.avreclipse.target.builder.winavr.app.debug.415033847" managedBuildOn="true" name="AVR GNU Make Builder.Debug" superClass="de.innot.avreclipse.target.builder.winavr.app.debug"/>
<tool id="de.innot.avreclipse.tool.assembler.winavr.app.debug.1159550357" name="AVR Assembler" superClass="de.innot.avreclipse.tool.assembler.winavr.app.debug">
<option id="de.innot.avreclipse.assembler.option.debug.level.1930900785" superClass="de.innot.avreclipse.assembler.option.debug.level"/>
<inputType id="de.innot.avreclipse.tool.assembler.input.73954639" superClass="de.innot.avreclipse.tool.assembler.input"/>
</tool>
<tool id="de.innot.avreclipse.tool.compiler.winavr.app.debug.975106596" name="AVR Compiler" superClass="de.innot.avreclipse.tool.compiler.winavr.app.debug">
<option id="de.innot.avreclipse.compiler.option.debug.level.2144345028" superClass="de.innot.avreclipse.compiler.option.debug.level"/>
<option id="de.innot.avreclipse.compiler.option.optimize.1149123917" superClass="de.innot.avreclipse.compiler.option.optimize"/>
<inputType id="de.innot.avreclipse.compiler.winavr.input.530067244" name="C Source Files" superClass="de.innot.avreclipse.compiler.winavr.input"/>
</tool>
<tool id="de.innot.avreclipse.tool.cppcompiler.app.debug.945672097" name="AVR C++ Compiler" superClass="de.innot.avreclipse.tool.cppcompiler.app.debug">
<option id="de.innot.avreclipse.cppcompiler.option.debug.level.130848868" superClass="de.innot.avreclipse.cppcompiler.option.debug.level"/>
<option id="de.innot.avreclipse.cppcompiler.option.optimize.1993764367" superClass="de.innot.avreclipse.cppcompiler.option.optimize"/>
<inputType id="de.innot.avreclipse.cppcompiler.input.1628857766" superClass="de.innot.avreclipse.cppcompiler.input"/>
</tool>
<tool id="de.innot.avreclipse.tool.linker.winavr.app.debug.912457473" name="AVR C Linker" superClass="de.innot.avreclipse.tool.linker.winavr.app.debug"/>
<tool id="de.innot.avreclipse.tool.cpplinker.app.debug.1764002217" name="AVR C++ Linker" superClass="de.innot.avreclipse.tool.cpplinker.app.debug">
<inputType id="de.innot.avreclipse.tool.cpplinker.input.1966465789" name="OBJ Files" superClass="de.innot.avreclipse.tool.cpplinker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
</inputType>
</tool>
<tool id="de.innot.avreclipse.tool.archiver.winavr.base.795322887" name="AVR Archiver" superClass="de.innot.avreclipse.tool.archiver.winavr.base"/>
<tool id="de.innot.avreclipse.tool.objdump.winavr.app.debug.1999150249" name="AVR Create Extended Listing" superClass="de.innot.avreclipse.tool.objdump.winavr.app.debug"/>
<tool id="de.innot.avreclipse.tool.objcopy.flash.winavr.app.debug.374736298" name="AVR Create Flash image" superClass="de.innot.avreclipse.tool.objcopy.flash.winavr.app.debug"/>
<tool id="de.innot.avreclipse.tool.objcopy.eeprom.winavr.app.debug.1933625724" name="AVR Create EEPROM image" superClass="de.innot.avreclipse.tool.objcopy.eeprom.winavr.app.debug"/>
<tool id="de.innot.avreclipse.tool.size.winavr.app.debug.1402280744" name="Print Size" superClass="de.innot.avreclipse.tool.size.winavr.app.debug"/>
<tool id="de.innot.avreclipse.tool.avrdude.app.debug.1380833995" name="AVRDude" superClass="de.innot.avreclipse.tool.avrdude.app.debug"/>
</toolChain>
</folderInfo>
</configuration>
</storageModule>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.;de.innot.avreclipse.tool.cppcompiler.app.release.1058643775;de.innot.avreclipse.cppcompiler.input.215275685">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP"/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.;de.innot.avreclipse.tool.compiler.winavr.app.release.1540978713;de.innot.avreclipse.compiler.winavr.input.1826705086">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC"/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC"/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
<buildTargets>
<target name="ArduCopterMega" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget/>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cconfiguration>
<cconfiguration id="de.innot.avreclipse.configuration.app.release.1087441780">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="de.innot.avreclipse.configuration.app.release.1087441780" moduleId="org.eclipse.cdt.core.settings" name="Release">
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildArtefactType="de.innot.avreclipse.buildArtefactType.app" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release,org.eclipse.cdt.build.core.buildArtefactType=de.innot.avreclipse.buildArtefactType.app" description="" id="de.innot.avreclipse.configuration.app.release.1087441780" name="Release" parent="de.innot.avreclipse.configuration.app.release">
<folderInfo id="de.innot.avreclipse.configuration.app.release.1087441780." name="/" resourcePath="">
<toolChain id="de.innot.avreclipse.toolchain.winavr.app.release.959376757" name="AVR-GCC Toolchain" superClass="de.innot.avreclipse.toolchain.winavr.app.release">
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash.app.release.1186339972" name="Generate HEX file for Flash memory" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.flash.app.release"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom.app.release.1476883532" name="Generate HEX file for EEPROM" superClass="de.innot.avreclipse.toolchain.options.toolchain.objcopy.eeprom.app.release"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.objdump.app.release.969282505" name="Generate Extended Listing (Source + generated Assembler)" superClass="de.innot.avreclipse.toolchain.options.toolchain.objdump.app.release"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.size.app.release.1474677980" name="Print Size" superClass="de.innot.avreclipse.toolchain.options.toolchain.size.app.release"/>
<option id="de.innot.avreclipse.toolchain.options.toolchain.avrdude.app.release.265966189" name="AVRDude" superClass="de.innot.avreclipse.toolchain.options.toolchain.avrdude.app.release"/>
<targetPlatform id="de.innot.avreclipse.targetplatform.winavr.app.release.1542916267" name="AVR Cross-Target" superClass="de.innot.avreclipse.targetplatform.winavr.app.release"/>
<builder buildPath="${workspace_loc:/ArduCopterMega/Release}" id="de.innot.avreclipse.target.builder.winavr.app.release.1459354658" managedBuildOn="true" name="AVR GNU Make Builder.Release" superClass="de.innot.avreclipse.target.builder.winavr.app.release"/>
<tool id="de.innot.avreclipse.tool.assembler.winavr.app.release.852425672" name="AVR Assembler" superClass="de.innot.avreclipse.tool.assembler.winavr.app.release">
<option id="de.innot.avreclipse.assembler.option.debug.level.1459932655" superClass="de.innot.avreclipse.assembler.option.debug.level" value="de.innot.avreclipse.assembler.option.debug.level.none" valueType="enumerated"/>
<inputType id="de.innot.avreclipse.tool.assembler.input.1941174236" superClass="de.innot.avreclipse.tool.assembler.input"/>
</tool>
<tool id="de.innot.avreclipse.tool.compiler.winavr.app.release.1540978713" name="AVR Compiler" superClass="de.innot.avreclipse.tool.compiler.winavr.app.release">
<option id="de.innot.avreclipse.compiler.option.debug.level.97960433" superClass="de.innot.avreclipse.compiler.option.debug.level" value="de.innot.avreclipse.compiler.option.debug.level.none" valueType="enumerated"/>
<option id="de.innot.avreclipse.compiler.option.optimize.752547436" superClass="de.innot.avreclipse.compiler.option.optimize" value="de.innot.avreclipse.compiler.optimize.size" valueType="enumerated"/>
<inputType id="de.innot.avreclipse.compiler.winavr.input.1826705086" name="C Source Files" superClass="de.innot.avreclipse.compiler.winavr.input"/>
</tool>
<tool id="de.innot.avreclipse.tool.cppcompiler.app.release.1058643775" name="AVR C++ Compiler" superClass="de.innot.avreclipse.tool.cppcompiler.app.release">
<option id="de.innot.avreclipse.cppcompiler.option.debug.level.641137087" superClass="de.innot.avreclipse.cppcompiler.option.debug.level" value="de.innot.avreclipse.cppcompiler.option.debug.level.none" valueType="enumerated"/>
<option id="de.innot.avreclipse.cppcompiler.option.optimize.994407813" superClass="de.innot.avreclipse.cppcompiler.option.optimize" value="de.innot.avreclipse.cppcompiler.optimize.size" valueType="enumerated"/>
<inputType id="de.innot.avreclipse.cppcompiler.input.215275685" superClass="de.innot.avreclipse.cppcompiler.input"/>
</tool>
<tool id="de.innot.avreclipse.tool.linker.winavr.app.release.1634447980" name="AVR C Linker" superClass="de.innot.avreclipse.tool.linker.winavr.app.release"/>
<tool id="de.innot.avreclipse.tool.cpplinker.app.release.2087416315" name="AVR C++ Linker" superClass="de.innot.avreclipse.tool.cpplinker.app.release">
<inputType id="de.innot.avreclipse.tool.cpplinker.input.1124040683" name="OBJ Files" superClass="de.innot.avreclipse.tool.cpplinker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
</inputType>
</tool>
<tool id="de.innot.avreclipse.tool.archiver.winavr.base.399676219" name="AVR Archiver" superClass="de.innot.avreclipse.tool.archiver.winavr.base"/>
<tool id="de.innot.avreclipse.tool.objdump.winavr.app.release.918233152" name="AVR Create Extended Listing" superClass="de.innot.avreclipse.tool.objdump.winavr.app.release"/>
<tool id="de.innot.avreclipse.tool.objcopy.flash.winavr.app.release.260988538" name="AVR Create Flash image" superClass="de.innot.avreclipse.tool.objcopy.flash.winavr.app.release"/>
<tool id="de.innot.avreclipse.tool.objcopy.eeprom.winavr.app.release.1951301138" name="AVR Create EEPROM image" superClass="de.innot.avreclipse.tool.objcopy.eeprom.winavr.app.release"/>
<tool id="de.innot.avreclipse.tool.size.winavr.app.release.267882564" name="Print Size" superClass="de.innot.avreclipse.tool.size.winavr.app.release"/>
<tool id="de.innot.avreclipse.tool.avrdude.app.release.1940466170" name="AVRDude" superClass="de.innot.avreclipse.tool.avrdude.app.release"/>
</toolChain>
</folderInfo>
</configuration>
</storageModule>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.;de.innot.avreclipse.tool.cppcompiler.app.release.1058643775;de.innot.avreclipse.cppcompiler.input.215275685">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP"/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.;de.innot.avreclipse.tool.compiler.winavr.app.release.1540978713;de.innot.avreclipse.compiler.winavr.input.1826705086">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC"/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="de.innot.avreclipse.configuration.app.release.1087441780;de.innot.avreclipse.configuration.app.release.1087441780.">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC"/>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="makefileGenerator">
<runAction arguments="-E -P -v -dD" command="" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileC">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="avr-gcc" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
<profile id="de.innot.avreclipse.core.AVRGCCManagedMakePerProjectProfileCPP">
<buildOutputProvider>
<openAction enabled="true" filePath=""/>
<parser enabled="true"/>
</buildOutputProvider>
<scannerInfoProvider id="specsFile">
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="avr-g++" useDefault="true"/>
<parser enabled="true"/>
</scannerInfoProvider>
</profile>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
<buildTargets>
<target name="ArduCopterMega" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget/>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cconfiguration>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="ArduCopterMega.de.innot.avreclipse.project.winavr.elf_2.1.0.1993795713" name="AVR Cross Target Application" projectType="de.innot.avreclipse.project.winavr.elf_2.1.0"/>
</storageModule>
</cproject>

84
ArduCopterMega/.project Normal file
View File

@ -0,0 +1,84 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>ArduCopterMega</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
<dictionary>
<key>?name?</key>
<value></value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.append_environment</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
<value>all</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildArguments</key>
<value></value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildCommand</key>
<value>make</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildLocation</key>
<value>${workspace_loc:/ArduCopterMega/Debug}</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
<value>clean</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.contents</key>
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
<value>false</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
<value>all</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.stopOnError</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
<value>true</value>
</dictionary>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
<nature>de.innot.avreclipse.core.avrnature</nature>
</natures>
</projectDescription>

52
ArduCopterMega/ArduCopterMega.pde
View File

@ -32,12 +32,12 @@ version 2.1 of the License, or (at your option) any later version.
#include <Wire.h> // Arduino I2C lib
#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_Compass_HMC5843.h> // ArduPilot Mega Magnetometer Library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_IMU.h> // ArduPilot Mega IMU Library
#include <AP_DCM.h> // ArduPilot Mega DCM Library
#include <PID.h> // ArduPilot Mega RC Library
//#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <GCS_MAVLink.h> // MAVLink GCS definitions
// Configuration
@ -47,6 +47,7 @@ version 2.1 of the License, or (at your option) any later version.
#include "defines.h"
#include "Parameters.h"
#include "global_data.h"
#include "GCS.h"
////////////////////////////////////////////////////////////////////////////////
// Serial ports
@ -107,17 +108,18 @@ AP_GPS_None GPS(NULL);
# error Must define GPS_PROTOCOL in your configuration file.
#endif
*/
GPS *g_gps;
#if GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_None gps(NULL);
AP_GPS_None GPS(NULL);
#else
GPS *gps;
AP_GPS_Auto GPS(&Serial1, &gps);
AP_GPS_Auto GPS(&Serial1, &g_gps);
#endif // GPS PROTOCOL
AP_IMU_Oilpan imu(&adc, EE_IMU_OFFSET);
AP_DCM dcm(&imu, &GPS);
AP_DCM dcm(&imu, g_gps);
////////////////////////////////////////////////////////////////////////////////
// GCS selection
@ -358,7 +360,7 @@ struct Location tell_command; // command for telemetry
struct Location next_command; // command preloaded
long target_altitude; // used for
long offset_altitude; // used for
boolean home_is_set; // Flag for if we have gps lock and have set the home location
boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
// IMU variables
@ -505,8 +507,8 @@ void medium_loop()
case 1:
medium_loopCounter++;
if(gps->new_data){
gps->new_data = false;
if(g_gps->new_data){
g_gps->new_data = false;
dTnav = millis() - nav_loopTimer;
nav_loopTimer = millis();
@ -557,7 +559,7 @@ void medium_loop()
if (g.log_bitmask & MASK_LOG_GPS){
if(home_is_set)
Log_Write_GPS(gps->time, current_loc.lat, current_loc.lng, gps->altitude, current_loc.alt, (long) gps->ground_speed, gps->ground_course, gps->fix, gps->num_sats);
Log_Write_GPS(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, (long) g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats);
}
gcs.send_message(MSG_ATTITUDE); // Sends attitude data
break;
@ -662,7 +664,7 @@ void slow_loop()
// between 1 and 5 Hz
#else
gcs.send_message(MSG_LOCATION);
gcs.send_message(MSG_CPU_LOAD, load*100);
// XXX gcs.send_message(MSG_CPU_LOAD, load*100);
#endif
gcs.send_message(MSG_HEARTBEAT); // XXX This is running at 3 1/3 Hz instead of 1 Hz
@ -678,14 +680,14 @@ void slow_loop()
void update_GPS(void)
{
gps->update();
g_gps->update();
update_GPS_light();
// !!! comment out after testing
//fake_out_gps();
//if (gps->new_data && gps->fix) {
if (gps->new_data){
//if (g_gps->new_data && g_gps->fix) {
if (g_gps->new_data){
send_message(MSG_LOCATION);
// for performance
@ -715,27 +717,27 @@ void update_GPS(void)
nav_loopTimer = millis();
init_home();
// init altitude
current_loc.alt = gps->altitude;
current_loc.alt = g_gps->altitude;
ground_start_count = 0;
}
}
/* disabled for now
// baro_offset is an integrator for the gps altitude error
baro_offset += altitude_gain * (float)(gps->altitude - current_loc.alt);
// baro_offset is an integrator for the g_gps altitude error
baro_offset += altitude_gain * (float)(g_gps->altitude - current_loc.alt);
*/
current_loc.lng = gps->longitude; // Lon * 10 * *7
current_loc.lat = gps->latitude; // Lat * 10 * *7
current_loc.lng = g_gps->longitude; // Lon * 10 * *7
current_loc.lat = g_gps->latitude; // Lat * 10 * *7
/*Serial.printf_P(PSTR("Lat: %.7f, Lon: %.7f, Alt: %dm, GSP: %d COG: %d, dist: %d, #sats: %d\n"),
((float)gps->latitude / T7),
((float)gps->longitude / T7),
(int)gps->altitude / 100,
(int)gps->ground_speed / 100,
(int)gps->ground_course / 100,
((float)g_gps->latitude / T7),
((float)g_gps->longitude / T7),
(int)g_gps->altitude / 100,
(int)g_gps->ground_speed / 100,
(int)g_gps->ground_course / 100,
(int)wp_distance,
(int)gps->num_sats);
(int)g_gps->num_sats);
*/
}else{
//Serial.println("No fix");

2
ArduCopterMega/Attitude.pde
View File

@ -36,7 +36,7 @@ void output_stabilize_roll()
error = constrain(error, -2500, 2500);
// write out angles back to servo out - this will be converted to PWM by RC_Channel
g.rc_1.servo_out = g.g.pid_stabilize_roll.get_pid(error, delta_ms_fast_loop, 1.0);
g.rc_1.servo_out = g.pid_stabilize_roll.get_pid(error, delta_ms_fast_loop, 1.0);
// We adjust the output by the rate of rotation:
// Rate control through bias corrected gyro rates

2
ArduCopterMega/Camera.pde
View File

@ -17,7 +17,7 @@ camera_stabilization()
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
// allow control mixing
g.rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2);
g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor / 2);
// dont allow control mixing
//rc_camera_pitch.servo_out = dcm.pitch_sensor / 2;

173
ArduCopterMega/GCS.h Normal file
View File

@ -0,0 +1,173 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file GCS.h
/// @brief Interface definition for the various Ground Control System protocols.
#ifndef __GCS_H
#define __GCS_H
#include <BetterStream.h>
#include <AP_Common.h>
#include <GCS_MAVLink.h>
#include <GPS.h>
#include <Stream.h>
#include <stdint.h>
///
/// @class GCS
/// @brief Class describing the interface between the APM code
/// proper and the GCS implementation.
///
/// GCS' are currently implemented inside the sketch and as such have
/// access to all global state. The sketch should not, however, call GCS
/// internal functions - all calls to the GCS should be routed through
/// this interface (or functions explicitly exposed by a subclass).
///
class GCS_Class
{
public:
/// Startup initialisation.
///
/// This routine performs any one-off initialisation required before
/// GCS messages are exchanged.
///
/// @note The stream is expected to be set up and configured for the
/// correct bitrate before ::init is called.
///
/// @note The stream is currently BetterStream so that we can use the _P
/// methods; this may change if Arduino adds them to Print.
///
/// @param port The stream over which messages are exchanged.
///
void init(BetterStream *port) { _port = port; }
/// Update GCS state.
///
/// This may involve checking for received bytes on the stream,
/// or sending additional periodic messages.
void update(void) {}
/// Send a message with a single numeric parameter.
///
/// This may be a standalone message, or the GCS driver may
/// have its own way of locating additional parameters to send.
///
/// @param id ID of the message to send.
/// @param param Explicit message parameter.
///
void send_message(uint8_t id, int32_t param = 0) {}
/// Send a text message.
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text(uint8_t severity, const char *str) {}
/// Send acknowledgement for a message.
///
/// @param id The message ID being acknowledged.
/// @param sum1 Checksum byte 1 from the message being acked.
/// @param sum2 Checksum byte 2 from the message being acked.
///
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) {}
/// Emit an update of the "current" waypoints, often previous, current and
/// next.
///
void print_current_waypoints() {}
//
// The following interfaces are not currently implemented as their counterparts
// are not called in the mainline code. XXX ripe for re-specification.
//
/// Send a text message with printf-style formatting.
///
/// @param severity A value describing the importance of the message.
/// @param fmt The format string to send.
/// @param ... Additional arguments to the format string.
///
// void send_message(uint8_t severity, const char *fmt, ...) {}
/// Log a waypoint
///
/// @param wp The waypoint to log.
/// @param index The index of the waypoint.
// void print_waypoint(struct Location *wp, uint8_t index) {}
// test if frequency within range requested for loop
// used by data_stream_send
static bool freqLoopMatch(uint16_t freq, uint16_t freqMin, uint16_t freqMax)
{
if (freq != 0 && freq >= freqMin && freq < freqMax) return true;
else return false;
}
// send streams which match frequency range
void data_stream_send(uint16_t freqMin, uint16_t freqMax);
protected:
/// The stream we are communicating over
BetterStream *_port;
};
//
// GCS class definitions.
//
// These are here so that we can declare the GCS object early in the sketch
// and then reference it statically rather than via a pointer.
//
///
/// @class GCS_MAVLINK
/// @brief The mavlink protocol for qgroundcontrol
///
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK || HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK
class GCS_MAVLINK : public GCS_Class
{
public:
GCS_MAVLINK();
void update(void);
void init(BetterStream *port);
void send_message(uint8_t id, uint32_t param = 0);
void send_text(uint8_t severity, const char *str);
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
void data_stream_send(uint16_t freqMin, uint16_t freqMax);
private:
void handleMessage(mavlink_message_t * msg);
/// Perform queued sending operations
///
void _queued_send();
AP_Var *_queued_parameter; ///< next parameter to be sent in queue
uint16_t _queued_parameter_index; ///< next queued parameter's index
/// Count the number of reportable parameters.
///
/// Not all parameters can be reported via MAVlink. We count the number that are
/// so that we can report to a GCS the number of parameters it should expect when it
/// requests the full set.
///
/// @return The number of reportable parameters.
///
uint16_t _count_parameters(); ///< count reportable parameters
uint16_t _parameter_count; ///< cache of reportable parameters
AP_Var *_find_parameter(uint16_t index); ///< find a reportable parameter by index
mavlink_channel_t chan;
uint16_t packet_drops;
uint16_t rawSensorStreamRate;
uint16_t attitudeStreamRate;
uint16_t positionStreamRate;
uint16_t rawControllerStreamRate;
uint16_t rcStreamRate;
uint16_t extraStreamRate[3];
};
#endif // GCS_PROTOCOL_MAVLINK
#endif // __GCS_H

4
ArduCopterMega/GCS_Ardupilot.pde
View File

@ -99,7 +99,7 @@ void print_position(void)
SendSer(",LON:");
SendSer(current_loc.lng/10,DEC); //wp_current_lat
SendSer(",SPD:");
SendSer(gps->ground_speed/100,DEC);
SendSer(g_gps->ground_speed/100,DEC);
SendSer(",CRT:");
SendSer(climb_rate,DEC);
SendSer(",ALT:");
@ -119,7 +119,7 @@ void print_position(void)
SendSer(",RSP:");
SendSer(g.rc_1.servo_out/100,DEC);
SendSer(",TOW:");
SendSer(gps->time);
SendSer(g_gps->time);
SendSerln(",***");
}

10
ArduCopterMega/GCS_IMU_ouput.pde
View File

@ -150,16 +150,16 @@ void print_location(void)
Serial.print(",ALT:");
Serial.print(current_loc.alt/100); // meters
Serial.print(",COG:");
Serial.print(gps->ground_course);
Serial.print(g_gps->ground_course);
Serial.print(",SOG:");
Serial.print(gps->ground_speed);
Serial.print(g_gps->ground_speed);
Serial.print(",FIX:");
Serial.print((int)gps->fix);
Serial.print((int)g_gps->fix);
Serial.print(",SAT:");
Serial.print((int)gps->num_sats);
Serial.print((int)g_gps->num_sats);
Serial.print (",");
Serial.print("TOW:");
Serial.print(gps->time);
Serial.print(g_gps->time);
Serial.println("***");
}

6
ArduCopterMega/GCS_Standard.pde
View File

@ -97,11 +97,11 @@ void send_message(byte id, long param) {
mess_buffer[9] = (templong >> 16) & 0xff;
mess_buffer[10] = (templong >> 24) & 0xff;
tempint = gps->altitude / 100; // Altitude MSL in meters * 10 in 2 bytes
tempint = g_gps->altitude / 100; // Altitude MSL in meters * 10 in 2 bytes
mess_buffer[11] = tempint & 0xff;
mess_buffer[12] = (tempint >> 8) & 0xff;
tempint = gps->ground_speed; // Speed in M / S * 100 in 2 bytes
tempint = g_gps->ground_speed; // Speed in M / S * 100 in 2 bytes
mess_buffer[13] = tempint & 0xff;
mess_buffer[14] = (tempint >> 8) & 0xff;
@ -109,7 +109,7 @@ void send_message(byte id, long param) {
mess_buffer[15] = tempint & 0xff;
mess_buffer[16] = (tempint >> 8) & 0xff;
templong = gps->time; // Time of Week (milliseconds) in 4 bytes
templong = g_gps->time; // Time of Week (milliseconds) in 4 bytes
mess_buffer[17] = templong & 0xff;
mess_buffer[18] = (templong >> 8) & 0xff;
mess_buffer[19] = (templong >> 16) & 0xff;

2
ArduCopterMega/Log.pde
View File

@ -494,7 +494,7 @@ void Log_Read_GPS()
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/t7, 7); // Longitude
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/100.0); // Baro/gps altitude mix
Serial.print((float)DataFlash.ReadLong()/100.0); // Baro/g_gps altitude mix
Serial.print(comma);
Serial.print((float)DataFlash.ReadLong()/100.0); // GPS altitude
Serial.print(comma);

10
ArduCopterMega/Makefile Normal file
View File

@ -0,0 +1,10 @@
#
# Trivial makefile for building APM
#
#
# Select 'mega' for the original APM, or 'mega2560' for the V2 APM.
#
BOARD = mega
include ../libraries/AP_Common/Arduino.mk

18
ArduCopterMega/Mavlink_Common.h
View File

@ -137,8 +137,8 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
{
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
mavlink_msg_global_position_int_send(chan,current_loc.lat,
current_loc.lng,current_loc.alt*10,gps.ground_speed/1.0e2*rot.a.x,
gps.ground_speed/1.0e2*rot.b.x,gps.ground_speed/1.0e2*rot.c.x);
current_loc.lng,current_loc.alt*10,g_gps.ground_speed/1.0e2*rot.a.x,
g_gps.ground_speed/1.0e2*rot.b.x,g_gps.ground_speed/1.0e2*rot.c.x);
break;
}
case MSG_LOCAL_LOCATION:
@ -146,15 +146,15 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
mavlink_msg_local_position_send(chan,timeStamp,ToRad((current_loc.lat-home.lat)/1.0e7)*radius_of_earth,
ToRad((current_loc.lng-home.lng)/1.0e7)*radius_of_earth*cos(ToRad(home.lat/1.0e7)),
(current_loc.alt-home.alt)/1.0e2, gps.ground_speed/1.0e2*rot.a.x,
gps.ground_speed/1.0e2*rot.b.x,gps.ground_speed/1.0e2*rot.c.x);
(current_loc.alt-home.alt)/1.0e2, g_gps.ground_speed/1.0e2*rot.a.x,
g_gps.ground_speed/1.0e2*rot.b.x,g_gps.ground_speed/1.0e2*rot.c.x);
break;
}
case MSG_GPS_RAW:
{
mavlink_msg_gps_raw_send(chan,timeStamp,gps.status(),
gps.latitude/1.0e7,gps.longitude/1.0e7,gps.altitude/100.0,
gps.hdop,0.0,gps.ground_speed/100.0,gps.ground_course/100.0);
mavlink_msg_gps_raw_send(chan,timeStamp,g_gps.status(),
g_gps.latitude/1.0e7,g_gps.longitude/1.0e7,g_gps.altitude/100.0,
g_gps.hdop,0.0,g_gps.ground_speed/100.0,g_gps.ground_course/100.0);
break;
}
case MSG_SERVO_OUT:
@ -200,7 +200,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
}
case MSG_VFR_HUD:
{
mavlink_msg_vfr_hud_send(chan, (float)airspeed/100.0, (float)gps.ground_speed/100.0, dcm.yaw_sensor, current_loc.alt/100.0,
mavlink_msg_vfr_hud_send(chan, (float)airspeed/100.0, (float)g_gps.ground_speed/100.0, dcm.yaw_sensor, current_loc.alt/100.0,
climb_rate, (int)rc[CH_THROTTLE]->servo_out);
break;
}
@ -224,7 +224,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
case MSG_GPS_STATUS:
{
mavlink_msg_gps_status_send(chan,gps.num_sats,NULL,NULL,NULL,NULL,NULL);
mavlink_msg_gps_status_send(chan,g_gps.num_sats,NULL,NULL,NULL,NULL,NULL);
break;
}

4
ArduCopterMega/Parameters.h
View File

@ -256,8 +256,8 @@ public:
rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_8, PSTR("RC9_")),
rc_camera_roll (k_param_rc_8, PSTR("RC10_")),
rc_camera_pitch (k_param_rc_9, PSTR("RC9_")),
rc_camera_roll (k_param_rc_10, PSTR("RC10_")),
// PID controller group key name initial P initial I initial D initial imax

18
ArduCopterMega/commands.pde
View File

@ -58,7 +58,7 @@ struct Location get_wp_with_index(int i)
void set_wp_with_index(struct Location temp, int i)
{
i = constrain(i, 0, g.waypoint_total);
i = constrain(i, 0, g.waypoint_total.get()); // XXX if i was unsigned this could be simply < g.waypoint_total
uint32_t mem = WP_START_BYTE + (i * WP_SIZE);
eeprom_write_byte((uint8_t *) mem, temp.id);
@ -80,9 +80,9 @@ void increment_WP_index()
{
if(g.waypoint_index < g.waypoint_total){
g.waypoint_index.set_and_save(g.waypoint_index + 1);
Serial.printf_P(PSTR("WP index is incremented to %d\n"),g.waypoint_index);
Serial.printf_P(PSTR("WP index is incremented to %d\n"),(int)g.waypoint_index);
}else{
Serial.printf_P(PSTR("WP Failed to incremented WP index of %d\n"),g.waypoint_index);
Serial.printf_P(PSTR("WP Failed to incremented WP index of %d\n"),(int)g.waypoint_index);
}
SendDebugln(g.waypoint_index,DEC);
}
@ -154,7 +154,7 @@ It looks to see what the next command type is and finds the last command.
void
set_next_WP(struct Location *wp)
{
Serial.printf_P(PSTR("set_next_WP, wp_index %d\n"), g.waypoint_index);
Serial.printf_P(PSTR("set_next_WP, wp_index %d\n"), (int)g.waypoint_index);
send_message(MSG_COMMAND, g.waypoint_index);
// copy the current WP into the OldWP slot
@ -208,14 +208,14 @@ void init_home()
// block until we get a good fix
// -----------------------------
while (!gps->new_data || !gps->fix) {
gps->update();
while (!g_gps->new_data || !g_gps->fix) {
g_gps->update();
}
home.id = CMD_WAYPOINT;
home.lng = gps->longitude; // Lon * 10**7
home.lat = gps->latitude; // Lat * 10**7
home.alt = gps->altitude;
home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7
home.alt = g_gps->altitude;
home_is_set = true;
// ground altitude in centimeters for pressure alt calculations

4
ArduCopterMega/commands_process.pde
View File

@ -138,7 +138,7 @@ void process_must()
next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
next_WP.alt = current_loc.alt + takeoff_altitude;
takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
//set_next_WP(&next_WP);
break;
@ -158,7 +158,7 @@ void process_must()
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
next_WP.alt = home.alt;
land_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
land_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
break;
case CMD_ALTITUDE: // Loiter indefinitely

2
ArduCopterMega/defines.h
View File

@ -244,7 +244,7 @@
// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
// Tested value : 418
#define ToRad(x) (x * 0.01745329252) // *pi/180
//#define ToRad(x) (x * 0.01745329252) // *pi/180
//#define ToDeg(x) (x * 57.2957795131) // *180/pi

8
ArduCopterMega/events.pde
View File

@ -93,22 +93,22 @@ void perform_event()
}
switch(event_id) {
case CH_4_TOGGLE:
event_undo_value = rc_5.radio_out;
event_undo_value = g.rc_5.radio_out;
APM_RC.OutputCh(CH_5, event_value); // send to Servos
undo_event = 2;
break;
case CH_5_TOGGLE:
event_undo_value = rc_6.radio_out;
event_undo_value = g.rc_6.radio_out;
APM_RC.OutputCh(CH_6, event_value); // send to Servos
undo_event = 2;
break;
case CH_6_TOGGLE:
event_undo_value = rc_7.radio_out;
event_undo_value = g.rc_7.radio_out;
APM_RC.OutputCh(CH_7, event_value); // send to Servos
undo_event = 2;
break;
case CH_7_TOGGLE:
event_undo_value = rc_8.radio_out;
event_undo_value = g.rc_8.radio_out;
APM_RC.OutputCh(CH_8, event_value); // send to Servos
undo_event = 2;
event_undo_value = 1;

2
ArduCopterMega/motors.pde
View File

@ -43,7 +43,7 @@ set_servos_4()
int out_min = g.rc_3.radio_min;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out.get(), 0, 1000);
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + 50;

14
ArduCopterMega/navigation.pde
View File

@ -7,9 +7,9 @@ void navigate()
{
// do not navigate with corrupt data
// ---------------------------------
if (gps->fix == 0)
if (g_gps->fix == 0)
{
gps->new_data = false;
g_gps->new_data = false;
return;
}
@ -84,8 +84,8 @@ void calc_nav()
nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
nav_pitch = -((float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y);
nav_roll = constrain(nav_roll, -g.pitch_max, g.pitch_max);
nav_pitch = constrain(nav_pitch, -g.pitch_max, g.pitch_max);
nav_roll = constrain(nav_roll, -g.pitch_max.get(), g.pitch_max.get());
nav_pitch = constrain(nav_pitch, -g.pitch_max.get(), g.pitch_max.get());
}
/*
@ -116,7 +116,7 @@ void calc_distance_error()
// this wants to work only while moving, but it should filter out jumpy GPS reads
// scale gs to whole deg (50hz / 100) scale bearing error down to whole deg
//distance_estimate += (float)gps->ground_speed * .0002 * cos(radians(bearing_error / 100));
//distance_estimate += (float)g_gps->ground_speed * .0002 * cos(radians(bearing_error / 100));
//distance_estimate -= distance_gain * (float)(distance_estimate - GPS_wp_distance);
//wp_distance = distance_estimate;
}
@ -132,7 +132,7 @@ void calc_altitude_error()
{
if(control_mode == AUTO && offset_altitude != 0) {
// limit climb rates - we draw a straight line between first location and edge of waypoint_radius
target_altitude = next_WP.alt - ((wp_distance * offset_altitude) / (wp_totalDistance - waypoint_radius));
target_altitude = next_WP.alt - ((wp_distance * offset_altitude) / (wp_totalDistance - g.waypoint_radius));
// stay within a certain range
if(prev_WP.alt > next_WP.alt){
@ -186,7 +186,7 @@ void update_crosstrack(void)
// ----------------
if (abs(target_bearing - crosstrack_bearing) < 4500) { // If we are too far off or too close we don't do track following
crosstrack_error = sin(radians((target_bearing - crosstrack_bearing) / 100)) * wp_distance; // Meters we are off track line
nav_bearing += constrain(crosstrack_error * g.crosstrack_gain, -g.crosstrack_entry_angle, g.crosstrack_entry_angle);
nav_bearing += constrain(crosstrack_error * g.crosstrack_gain, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
nav_bearing = wrap_360(nav_bearing);
}
}

28
ArduCopterMega/setup.pde
View File

@ -833,9 +833,9 @@ void report_xtrack()
Serial.printf_P(PSTR("XTRACK: %4.2f\n"
"XTRACK angle: %d\n"
"PITCH_MAX: %ld"),
g.crosstrack_gain,
g.crosstrack_entry_angle,
g.pitch_max);
(float)g.crosstrack_gain,
(int)g.crosstrack_entry_angle,
(long)g.pitch_max);
print_blanks(1);
}
@ -851,9 +851,9 @@ void report_throttle()
"cruise: %d\n"
"failsafe_enabled: %d\n"
"failsafe_value: %d"),
g.throttle_min,
g.throttle_max,
g.throttle_cruise,
(int)g.throttle_min,
(int)g.throttle_max,
(int)g.throttle_cruise,
throttle_failsafe_enabled,
throttle_failsafe_value);
print_blanks(1);
@ -921,14 +921,14 @@ print_PID(PID * pid)
void
print_radio_values()
{
Serial.printf_P(PSTR("CH1: %d | %d\n"), g.rc_1.radio_min, g.rc_1.radio_max);
Serial.printf_P(PSTR("CH2: %d | %d\n"), g.rc_2.radio_min, g.rc_2.radio_max);
Serial.printf_P(PSTR("CH3: %d | %d\n"), g.rc_3.radio_min, g.rc_3.radio_max);
Serial.printf_P(PSTR("CH4: %d | %d\n"), g.rc_4.radio_min, g.rc_4.radio_max);
Serial.printf_P(PSTR("CH5: %d | %d\n"), g.rc_5.radio_min, g.rc_5.radio_max);
Serial.printf_P(PSTR("CH6: %d | %d\n"), g.rc_6.radio_min, g.rc_6.radio_max);
Serial.printf_P(PSTR("CH7: %d | %d\n"), g.rc_7.radio_min, g.rc_7.radio_max);
Serial.printf_P(PSTR("CH8: %d | %d\n"), g.rc_8.radio_min, g.rc_8.radio_max);
Serial.printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
Serial.printf_P(PSTR("CH2: %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_max);
Serial.printf_P(PSTR("CH3: %d | %d\n"), (int)g.rc_3.radio_min, (int)g.rc_3.radio_max);
Serial.printf_P(PSTR("CH4: %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_max);
Serial.printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
Serial.printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
Serial.printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
Serial.printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
}
void

8
ArduCopterMega/system.pde
View File

@ -123,8 +123,8 @@ void init_ardupilot()
APM_BMP085.Init(); // APM Abs Pressure sensor initialization
DataFlash.Init(); // DataFlash log initialization
gps = &GPS;
gps->init();
g_gps = &GPS;
g_gps->init();
if(g.compass_enabled)
init_compass();
@ -354,7 +354,7 @@ void update_GPS_light(void)
{
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
if(gps->fix == 0){
if(g_gps->fix == 0){
GPS_light = !GPS_light;
if(GPS_light){
digitalWrite(C_LED_PIN, HIGH);
@ -403,7 +403,7 @@ void
init_compass()
{
dcm.set_compass(&compass);
compass.init(false);
compass.init();
compass.set_orientation(MAGORIENTATION); // set compass's orientation on aircraft
compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z); // set offsets to account for surrounding interference
compass.set_declination(ToRad(mag_declination)); // set local difference between magnetic north and true north

38
ArduCopterMega/test.pde
View File

@ -28,7 +28,7 @@ static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
"Commands:\n"
" radio\n"
" servos\n"
" gps\n"
" g_gps\n"
" imu\n"
" battery\n"
"\n"));
@ -350,8 +350,8 @@ test_fbw(uint8_t argc, const Menu::arg *argv)
if (ts_num == 5){
// 10 hz
ts_num = 0;
gps->longitude = 0;
gps->latitude = 0;
g_gps->longitude = 0;
g_gps->latitude = 0;
calc_nav();
Serial.printf_P(PSTR("ys:%ld, WP.lat:%ld, WP.lng:%ld, n_lat:%ld, n_lon:%ld, nroll:%ld, npitch:%ld, pmax:%ld, \t- "),
@ -362,7 +362,7 @@ test_fbw(uint8_t argc, const Menu::arg *argv)
nav_lon,
nav_roll,
nav_pitch,
g.pitch_max);
(long)g.pitch_max);
print_motor_out();
}
@ -500,14 +500,14 @@ test_gps(uint8_t argc, const Menu::arg *argv)
calc_distance_error();
//if (gps->new_data){
//if (g_gps->new_data){
Serial.printf_P(PSTR("Lat: %3.8f, Lon: %3.8f, alt %dm, spd: %d dist:%d, #sats: %d\n"),
((float)gps->latitude / 10000000),
((float)gps->longitude / 10000000),
(int)gps->altitude / 100,
(int)gps->ground_speed,
((float)g_gps->latitude / 10000000),
((float)g_gps->longitude / 10000000),
(int)g_gps->altitude / 100,
(int)g_gps->ground_speed,
(int)wp_distance,
(int)gps->num_sats);
(int)g_gps->num_sats);
//}else{
//Serial.print(".");
//}
@ -713,12 +713,12 @@ test_wp(uint8_t argc, const Menu::arg *argv)
if(g.RTL_altitude == -1){
Serial.printf_P(PSTR("Hold current altitude\n"));
}else{
Serial.printf_P(PSTR("Hold altitude of %dm\n"), g.RTL_altitude);
Serial.printf_P(PSTR("Hold altitude of %dm\n"), (int)g.RTL_altitude);
}
Serial.printf_P(PSTR("%d waypoints\n"), g.waypoint_total);
Serial.printf_P(PSTR("Hit radius: %d\n"), g.waypoint_radius);
Serial.printf_P(PSTR("Loiter radius: %d\n\n"), g.loiter_radius);
Serial.printf_P(PSTR("%d waypoints\n"), (int)g.waypoint_total);
Serial.printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius);
Serial.printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
for(byte i = 0; i <= g.waypoint_total; i++){
struct Location temp = get_wp_with_index(i);
@ -857,8 +857,8 @@ void print_hit_enter()
void fake_out_gps()
{
static float rads;
gps->new_data = true;
gps->fix = true;
g_gps->new_data = true;
g_gps->fix = true;
int length = g.rc_6.control_in;
rads += .05;
@ -867,9 +867,9 @@ void fake_out_gps()
rads = 0;
}
gps->latitude = 377696000; // Y
gps->longitude = -1224319000; // X
gps->altitude = 9000; // meters * 100
g_gps->latitude = 377696000; // Y
g_gps->longitude = -1224319000; // X
g_gps->altitude = 9000; // meters * 100
//next_WP.lng = home.lng - length * sin(rads); // X
//next_WP.lat = home.lat + length * cos(rads); // Y