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.editorconfig 0 → 100644
View file @ 62e7778b
# This file provide reference settings for the APM code conventions
# There are plug-ins available for nearly every text editor to automatically
# respect the conventions contained within this file.
#
# Please see editorconfig.org for complete information.
#
# If you find errors in this file, please send a pull-request with a fix.
#
root = true
[*]
indent_style = space
indent_size = 4
end_of_line = lf
charset = utf-8
trim_trailing_whitespace = false # These are the correct rules for APM coding standards, but fixing up old files causes git spam
insert_final_newline = false
[*.mk]
indent_style = tab
indent_size = 8
[{makefile,Makefile}]
indent_style = tab
indent_size = 8
.gitignore
View file @ 62e7778b
*~
*.bin
*.d
*.dll
*.elf
*.hex
*.dfu
*.exe
*.lst
*.o
*.obj
*.px4
*.vrx
*.pyc
*.tlog
*.tlog.raw
*.vbrain
*.zip
.*.swo
.*.swp
.built
.context
.cproject
.depend
.directory
.DS_Store
.metadata/
Tools/ArdupilotMegaPlanner/bin/Release/logs/
ArduCopter/Debug/
config.mk
serialsent.raw
CMakeFiles
CMakeCache.txt
cmake_install.cmake
build
/Tools/ArdupilotMegaPlanner/bin/Release/gmapcache
.project
.settings/
.vagrant
/tmp/*
/Tools/ArdupilotMegaPlanner/3DRRadio/bin
/Tools/ArdupilotMegaPlanner/3DRRadio/obj
/Tools/ArdupilotMegaPlanner/APMPlannerXplanes/APMPlannerXplanes/Debug
/Tools/ArdupilotMegaPlanner/CustomImages
/Tools/ArdupilotMegaPlanner/Updater/obj
/Tools/ArdupilotMegaPlanner/Updater/bin
/Tools/ArdupilotMegaPlanner/bin/Debug
/Tools/ArdupilotMegaPlanner/bin
/Tools/ArdupilotMegaPlanner/bin/APM Planner.app
/Tools/ArdupilotMegaPlanner/bin/Debug
/Tools/ArdupilotMegaPlanner/bin/Release/gmapcache
/Tools/ArdupilotMegaPlanner/bin/Release/logs/
/Tools/ArdupilotMegaPlanner/CustomImages
/Tools/ArdupilotMegaPlanner/Msi/upload.bat
/Tools/ArdupilotMegaPlanner/obj
/Tools/ArdupilotMegaPlanner/resedit/bin
/Tools/ArdupilotMegaPlanner/resedit/obj
/Tools/ArdupilotMegaPlanner/Updater/bin
/Tools/ArdupilotMegaPlanner/Updater/obj
/Tools/ArdupilotMegaPlanner/wix/bin
/Tools/ArdupilotMegaPlanner/wix/obj
tags
*.o
.*.swp
.*.swo
/Tools/autotest/ch7_mission.txt
/Tools/autotest/aircraft/Rascal/reset.xml
/Tools/autotest/jsbsim/fgout.xml
/Tools/autotest/jsbsim/rascal_test.xml
ArduCopter/Debug/
ArduCopter/terrain/*.DAT
ArduCopter/test.ArduCopter/
ArduCopter/test/*
ArduPlane/terrain/*.DAT
ArduPlane/test.ArduPlane/
APMrover2/test.APMrover2/
autotest.lck
build
Build.ArduCopter/*
Build.ArduPlane/*
Build.APMrover2/*
Build.AntennaTracker/*
cmake_install.cmake
CMakeCache.txt
CMakeFiles
config.mk
dataflash.bin
eeprom.bin
index.html
LASTLOG.TXT
Make.dep
mav.log
mav.log.raw
module.mk
serialsent.raw
status.txt
/Tools/ArdupilotMegaPlanner/Msi/upload.bat
*.exe
*.dll
*.obj
*.zip
/Tools/ArdupilotMegaPlanner/3DRRadio/bin
/Tools/ArdupilotMegaPlanner/3DRRadio/obj
/Tools/ArdupilotMegaPlanner/bin
Make.dep
.depend
.built
.context
*.lst
*.tlog
tags
test.ArduCopter/*
Thumbs.db
.project deleted 100644 → 0
View file @ 1ebaa14a
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>ArduPilotMega-Source@ardupilotone</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
</buildSpec>
<natures>
</natures>
</projectDescription>
.pydevproject 0 → 100644
View file @ 62e7778b
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?eclipse-pydev version="1.0"?><pydev_project>
<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
</pydev_project>
.travis.yml 0 → 100644
View file @ 62e7778b
language: cpp
before_install:
- APMDIR=$(pwd) && pushd .. && $APMDIR/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile && popd
script:
- Tools/scripts/build_all_travis.sh
notifications:
webhooks:
urls:
- https://webhooks.gitter.im/e/e5e0b55e353e53945b4b
on_success: change # options: [always|never|change] default: always
on_failure: always # options: [always|never|change] default: always
on_start: false # default: false
APMrover2/APM_Config.h.reference deleted 100644 → 0
View file @ 1ebaa14a
This diff is collapsed.
APMrover2/APM_Config_HILmode.h deleted 100644 → 0
View file @ 1ebaa14a
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE ORIGINAL X-PLANE INTERFACE
// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
#define FLIGHT_MODE_CHANNEL 8
#define X_PLANE ENABLED
//#define HIL_PROTOCOL HIL_PROTOCOL_XPLANE
//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define GCS_PORT 3
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
//#define HIL_MODE HIL_MODE_DISABLED
#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_PORT 0
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
#define AUTO_TRIM ENABLED
#define THROTTLE_FAILSAFE DISABLED
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER DISABLED
#define LOGGING_ENABLED DISABLED
#define TURN_GAIN 5
#define CH7_OPTION CH7_SAVE_WP
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
#define MANUAL_LEVEL DISABLED
#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode
#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern
#define BOOSTER 2 // booster factor x2
#define AUTO_WP_RADIUS DISABLED
#define AIRSPEED_CRUISE 3 // 4m/s
#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE OPTIONAL
//
// The speed in metres per second to maintain during cruise. The default
// is 10m/s, which is a conservative value suitable for relatively small,
// light aircraft.
//
#define GSBOOST 0 // 60 // boost the throttle if ground speed is too low in case of windy conditions // 100
#define NUDGE_OFFSET 0 //1603 // nudge_offset to get a good sustained speed in autonomous flight
#define MIN_GNDSPEED 3
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
//
// AIRSPEED_FBW_MIN OPTIONAL
// AIRSPEED_FBW_MAX OPTIONAL
//
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
// The defaults are 6 and 30 metres per second.
//
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
//
#define AIRSPEED_FBW_MIN 6
#define AIRSPEED_FBW_MAX 35
//
//////////////////////////////////////////////////////////////////////////////
// Servo mapping
//
// THROTTLE_MIN OPTIONAL
//
// The minimum throttle setting to which the autopilot will reduce the
// throttle while descending. The default is zero, which is
// suitable for aircraft with a steady power-off glide. Increase this
// value if your aircraft needs throttle to maintain a stable descent in
// level flight.
//
// THROTTLE_CRUISE OPTIONAL
//
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
// The default is 45%, which is reasonable for a modestly powered aircraft.
//
// THROTTLE_MAX OPTIONAL
//
// The maximum throttle setting the autopilot will apply. The default is 75%.
// Reduce this value if your aicraft is overpowered, or has complex flight
// characteristics at high throttle settings.
//
#define THROTTLE_MIN 0 // percent
#define THROTTLE_CRUISE 1 // 40
#define THROTTLE_MAX 100
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM OPTIONAL
//
// ArduPilot Mega can update its trim settings by looking at the
// radio inputs when switching out of MANUAL mode. This allows you to
// manually trim your aircraft before switching to an assisted mode, but it
// also means that you should avoid switching out of MANUAL while you have
// any control stick deflection.
//
// The default is to enable AUTO_TRIM.
//
#define AUTO_TRIM ENABLED
#define THROTTLE_FAILSAFE DISABLED
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// HEAD_MAX OPTIONAL
//
// The maximum commanded bank angle in either direction.
// The default is 45 degrees. Decrease this value if your aircraft is not
// stable or has difficulty maintaining altitude in a steep bank.
//
// PITCH_MAX OPTIONAL
//
// The maximum commanded pitch up angle.
// The default is 15 degrees. Care should be taken not to set this value too
// large, as the aircraft may stall.
//
// PITCH_MIN
//
// The maximum commanded pitch down angle. Note that this value must be
// negative. The default is -25 degrees. Care should be taken not to set
// this value too large as it may result in overspeeding the aircraft.
//
// PITCH_TARGET
//
// The target pitch for cruise flight. When the APM measures this pitch
// value, the pitch error will be calculated to be 0 for the pitch PID
// control loop.
//
#define HEAD_MAX 80
#define PITCH_MAX 15
#define PITCH_MIN -20 //-25
#define PITCH_TARGET 0
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
// Tuning values for the attitude control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to help control surfaces settle. This value should
// normally be kept low.
//
// The D term is used to control overshoot. Avoid using or adjusting this
// term if you are not familiar with tuning PID loops. It should normally
// be zero for most aircraft.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// SERVO_ROLL_P OPTIONAL
// SERVO_ROLL_I OPTIONAL
// SERVO_ROLL_D OPTIONAL
//
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
//
// SERVO_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// ROLL_SLEW_LIMIT EXPERIMENTAL
//
// Limits the slew rate of the roll control in degrees per second. If zero,
// slew rate is not limited. Default is to not limit the roll control slew rate.
// (This feature is currently not implemented.)
//
// SERVO_PITCH_P OPTIONAL
// SERVO_PITCH_I OPTIONAL
// SERVO_PITCH_D OPTIONAL
//
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
//
// SERVO_PITCH_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. native flight
// AoA). If you find this value is insufficient, consider adjusting the AOA
// parameter.
// Default is 5 degrees.
//
// PITCH_COMP OPTIONAL
//
// Adds pitch input to compensate for the loss of lift due to roll control.
// Default is 0.20 (20% of roll control also applied to pitch control).
//
// SERVO_YAW_P OPTIONAL
// SERVO_YAW_I OPTIONAL
// SERVO_YAW_D OPTIONAL
//
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
// Note units of this control loop are unusual. PID input is in m/s**2.
//
// SERVO_YAW_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 0.
//
// RUDDER_MIX OPTIONAL
//
// Roll to yaw mixing. This allows for co-ordinated turns.
// Default is 0.50 (50% of roll control also applied to yaw control.)
//
#define SERVO_ROLL_P 0.0
#define SERVO_ROLL_I 0.0
#define SERVO_ROLL_D 0.0
#define SERVO_ROLL_INT_MAX 5
#define ROLL_SLEW_LIMIT 0
#define SERVO_PITCH_P 0.0
#define SERVO_PITCH_I 0.0
#define SERVO_PITCH_D 0.0
#define SERVO_PITCH_INT_MAX 5
#define PITCH_COMP 0.0
#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
#define SERVO_YAW_I 0.0
#define SERVO_YAW_D 0.0
#define SERVO_YAW_INT_MAX 5
#define RUDDER_MIX 0.0
//
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
// Tuning values for the navigation control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to control drift.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// NAV_ROLL_P OPTIONAL
// NAV_ROLL_I OPTIONAL
// NAV_ROLL_D OPTIONAL
//
// P, I and D terms for navigation control over roll, normally used for
// controlling the aircraft's course. The P term controls how aggressively
// the aircraft will bank to change or hold course.
// Defaults are 0.7, 0.0, 0.02.
//
// NAV_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// NAV_PITCH_ASP_P OPTIONAL
// NAV_PITCH_ASP_I OPTIONAL
// NAV_PITCH_ASP_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain airspeed.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ASP_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed airspeed).
// Default is 5 degrees.
//
// NAV_PITCH_ALT_P OPTIONAL
// NAV_PITCH_ALT_I OPTIONAL
// NAV_PITCH_ALT_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain altitude.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ALT_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed altitude).
// Default is 5 meters.
//
#define NAV_ROLL_P 0.7
#define NAV_ROLL_I 0.001
#define NAV_ROLL_D 0.06
#define NAV_ROLL_INT_MAX 5
#define NAV_PITCH_ASP_P 0.0
#define NAV_PITCH_ASP_I 0.0
#define NAV_PITCH_ASP_D 0.0
#define NAV_PITCH_ASP_INT_MAX 5
#define NAV_PITCH_ALT_P 0.0
#define NAV_PITCH_ALT_I 0.0
#define NAV_PITCH_ALT_D 0.0
#define NAV_PITCH_ALT_INT_MAX 5
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
// The Energy/altitude control system uses throttle input to control aircraft
// altitude.
//
// The P term is the primary tuning value. This determines how the throttle
// setting varies in proportion to the required correction.
//
// The I term is used to compensate for small offsets.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note units of this control loop are unusual. PID input is in m**2/s**2.
//
// THROTTLE_TE_P OPTIONAL
// THROTTLE_TE_I OPTIONAL
// THROTTLE_TE_D OPTIONAL
//
// P, I and D terms for throttle adjustments made to control altitude.
// Defaults are 0.5, 0, 0.
//
// THROTTLE_TE_INT_MAX OPTIONAL
//
// Maximum throttle input due to the integral term. This limits the
// throttle from being overdriven due to a persistent offset (e.g.
// inability to maintain the programmed altitude).
// Default is 20%.
//
// THROTTLE_SLEW_LIMIT OPTIONAL
//
// Limits the slew rate of the throttle, in percent per second. Helps
// avoid sudden throttle changes, which can destabilise the aircraft.
// A setting of zero disables the feature.
// Default is zero (disabled).
//
// P_TO_T OPTIONAL
//
// Pitch to throttle feed-forward gain. Default is 0.
//
// T_TO_P OPTIONAL
//
// Throttle to pitch feed-forward gain. Default is 0.
//
#define THROTTLE_TE_P 0.1
#define THROTTLE_TE_I 0.0
#define THROTTLE_TE_D 0.0
#define THROTTLE_TE_INT_MAX 20
#define P_TO_T 0.0
#define T_TO_P 0
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
// XTRACK_GAIN OPTIONAL
//
// Crosstrack compensation in degrees per metre off track.
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
// disable crosstrack compensation.
//
// XTRACK_ENTRY_ANGLE OPTIONAL
//
// Maximum angle used to correct for track following.
// Default value is 30 degrees.
//
#define XTRACK_GAIN 1 // deg/m
#define XTRACK_ENTRY_ANGLE 20 // deg
/////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
// WP_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the waypoint radius
// (the radius from a target waypoint within which the APM will consider
// itself to have arrived at the waypoint) to this value in meters. This is
// mainly intended to allow users to start using the APM without running the
// WaypointWriter first.
//
#define WP_RADIUS_DEFAULT 1 // meters
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE OPTIONAL
//
// In order to have accurate pressure and battery voltage readings, this
// value should be set to the voltage measured on the 5V rail on the oilpan.
//
// See the manual for more details. The default value should be close.
//
#define INPUT_VOLTAGE 5.2
//
APMrover2/APM_Config_Rover.h deleted 100644 → 0
View file @ 1ebaa14a
// CONFIG FILE FOR APM_Rover project by Jean-Louis Naudin
//
#define GCS_PORT 3
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK // QGroundControl protocol
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE // No GCS protocol to save memory
#define HIL_MODE HIL_MODE_DISABLED
#define MAV_SYSTEM_ID 1
// Add a ground start delay in seconds
//#define GROUND_START_DELAY 1
#define AIRSPEED_SENSOR DISABLED
#define SONAR_ENABLED DISABLED
#define SONAR_TRIGGER 200 // trigger distance in cm
#if LITE == DISABLED
#define LOGGING_ENABLED ENABLED
#endif
// for an accurate navigation a magnetometer must be used with the APM1
#define MAGNETOMETER ENABLED
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD
//#define PARAM_DECLINATION 0.18 // Paris
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#define SERIAL0_BAUD 115200
#define SERIAL3_BAUD 57600
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#define CH7_OPTION CH7_SAVE_WP
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
#define MANUAL_LEVEL DISABLED
#define TURN_GAIN 5
#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode
#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern
/*
During straight lines if the speed booster is enabled, after passing the Wp,
the speed is multplied by a speed factor ROV_BOOSTER = 2
(i.e. this is my tested value... so the required speed will be 2 x 4 = 8 m/s in straight lines),
the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)...
This feature works only if the ROV_AWPR_NAV is set to 0
*/
#define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
#define AUTO_WP_RADIUS DISABLED
#define AIRSPEED_CRUISE 4 // 4m/s
#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE OPTIONAL
//
// The speed in metres per second to maintain during cruise. The default
// is 10m/s, which is a conservative value suitable for relatively small,
// light aircraft.
//
#define GSBOOST 0
#define NUDGE_OFFSET 0
#define MIN_GNDSPEED 3
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
//
// AIRSPEED_FBW_MIN OPTIONAL
// AIRSPEED_FBW_MAX OPTIONAL
//
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
// The defaults are 6 and 30 metres per second.
//
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
//
#define AIRSPEED_FBW_MIN 6
#define AIRSPEED_FBW_MAX 35
//
//////////////////////////////////////////////////////////////////////////////
// Servo mapping
//
// THROTTLE_MIN OPTIONAL
//
// The minimum throttle setting to which the autopilot will reduce the
// throttle while descending. The default is zero, which is
// suitable for aircraft with a steady power-off glide. Increase this
// value if your aircraft needs throttle to maintain a stable descent in
// level flight.
//
// THROTTLE_CRUISE OPTIONAL
//
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
// The default is 45%, which is reasonable for a modestly powered aircraft.
//
// THROTTLE_MAX OPTIONAL
//
// The maximum throttle setting the autopilot will apply. The default is 75%.
// Reduce this value if your aicraft is overpowered, or has complex flight
// characteristics at high throttle settings.
//
#define THROTTLE_MIN 0 // percent
#define THROTTLE_CRUISE 3 // 40
#define THROTTLE_MAX 100
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM OPTIONAL
//
// ArduPilot Mega can update its trim settings by looking at the
// radio inputs when switching out of MANUAL mode. This allows you to
// manually trim your aircraft before switching to an assisted mode, but it
// also means that you should avoid switching out of MANUAL while you have
// any control stick deflection.
//
// The default is to enable AUTO_TRIM.
//
#define AUTO_TRIM ENABLED
#define THROTTLE_FAILSAFE DISABLED
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// HEAD_MAX OPTIONAL
//
// The maximum commanded bank angle in either direction.
// The default is 45 degrees. Decrease this value if your aircraft is not
// stable or has difficulty maintaining altitude in a steep bank.
//
// PITCH_MAX OPTIONAL
//
// The maximum commanded pitch up angle.
// The default is 15 degrees. Care should be taken not to set this value too
// large, as the aircraft may stall.
//
// PITCH_MIN
//
// The maximum commanded pitch down angle. Note that this value must be
// negative. The default is -25 degrees. Care should be taken not to set
// this value too large as it may result in overspeeding the aircraft.
//
// PITCH_TARGET
//
// The target pitch for cruise flight. When the APM measures this pitch
// value, the pitch error will be calculated to be 0 for the pitch PID
// control loop.
//
#define HEAD_MAX 80
#define PITCH_MAX 15
#define PITCH_MIN -20 //-25
#define PITCH_TARGET 0
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
// Tuning values for the attitude control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to help control surfaces settle. This value should
// normally be kept low.
//
// The D term is used to control overshoot. Avoid using or adjusting this
// term if you are not familiar with tuning PID loops. It should normally
// be zero for most aircraft.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// SERVO_ROLL_P OPTIONAL
// SERVO_ROLL_I OPTIONAL
// SERVO_ROLL_D OPTIONAL
//
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
//
// SERVO_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// ROLL_SLEW_LIMIT EXPERIMENTAL
//
// Limits the slew rate of the roll control in degrees per second. If zero,
// slew rate is not limited. Default is to not limit the roll control slew rate.
// (This feature is currently not implemented.)
//
// SERVO_PITCH_P OPTIONAL
// SERVO_PITCH_I OPTIONAL
// SERVO_PITCH_D OPTIONAL
//
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
//
// SERVO_PITCH_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. native flight
// AoA). If you find this value is insufficient, consider adjusting the AOA
// parameter.
// Default is 5 degrees.
//
// PITCH_COMP OPTIONAL
//
// Adds pitch input to compensate for the loss of lift due to roll control.
// Default is 0.20 (20% of roll control also applied to pitch control).
//
// SERVO_YAW_P OPTIONAL
// SERVO_YAW_I OPTIONAL
// SERVO_YAW_D OPTIONAL
//
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
// Note units of this control loop are unusual. PID input is in m/s**2.
//
// SERVO_YAW_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 0.
//
// RUDDER_MIX OPTIONAL
//
// Roll to yaw mixing. This allows for co-ordinated turns.
// Default is 0.50 (50% of roll control also applied to yaw control.)
//
#define SERVO_ROLL_P 0.0
#define SERVO_ROLL_I 0.0
#define SERVO_ROLL_D 0.0
#define SERVO_ROLL_INT_MAX 5
#define ROLL_SLEW_LIMIT 0
#define SERVO_PITCH_P 0.0
#define SERVO_PITCH_I 0.0
#define SERVO_PITCH_D 0.0
#define SERVO_PITCH_INT_MAX 5
#define PITCH_COMP 0.0
#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
#define SERVO_YAW_I 0.0
#define SERVO_YAW_D 0.0
#define SERVO_YAW_INT_MAX 5
#define RUDDER_MIX 0.0
//
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
// Tuning values for the navigation control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to control drift.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// NAV_ROLL_P OPTIONAL
// NAV_ROLL_I OPTIONAL
// NAV_ROLL_D OPTIONAL
//
// P, I and D terms for navigation control over roll, normally used for
// controlling the aircraft's course. The P term controls how aggressively
// the aircraft will bank to change or hold course.
// Defaults are 0.7, 0.0, 0.02.
//
// NAV_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// NAV_PITCH_ASP_P OPTIONAL
// NAV_PITCH_ASP_I OPTIONAL
// NAV_PITCH_ASP_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain airspeed.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ASP_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed airspeed).
// Default is 5 degrees.
//
// NAV_PITCH_ALT_P OPTIONAL
// NAV_PITCH_ALT_I OPTIONAL
// NAV_PITCH_ALT_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain altitude.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ALT_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed altitude).
// Default is 5 meters.
//
#define NAV_ROLL_P 0.7
#define NAV_ROLL_I 0.001
#define NAV_ROLL_D 0.06
#define NAV_ROLL_INT_MAX 5
#define NAV_PITCH_ASP_P 0.0
#define NAV_PITCH_ASP_I 0.0
#define NAV_PITCH_ASP_D 0.0
#define NAV_PITCH_ASP_INT_MAX 5
#define NAV_PITCH_ALT_P 0.0
#define NAV_PITCH_ALT_I 0.0
#define NAV_PITCH_ALT_D 0.0
#define NAV_PITCH_ALT_INT_MAX 5
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
// The Energy/altitude control system uses throttle input to control aircraft
// altitude.
//
// The P term is the primary tuning value. This determines how the throttle
// setting varies in proportion to the required correction.
//
// The I term is used to compensate for small offsets.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note units of this control loop are unusual. PID input is in m**2/s**2.
//
// THROTTLE_TE_P OPTIONAL
// THROTTLE_TE_I OPTIONAL
// THROTTLE_TE_D OPTIONAL
//
// P, I and D terms for throttle adjustments made to control altitude.
// Defaults are 0.5, 0, 0.
//
// THROTTLE_TE_INT_MAX OPTIONAL
//
// Maximum throttle input due to the integral term. This limits the
// throttle from being overdriven due to a persistent offset (e.g.
// inability to maintain the programmed altitude).
// Default is 20%.
//
// THROTTLE_SLEW_LIMIT OPTIONAL
//
// Limits the slew rate of the throttle, in percent per second. Helps
// avoid sudden throttle changes, which can destabilise the aircraft.
// A setting of zero disables the feature.
// Default is zero (disabled).
//
// P_TO_T OPTIONAL
//
// Pitch to throttle feed-forward gain. Default is 0.
//
// T_TO_P OPTIONAL
//
// Throttle to pitch feed-forward gain. Default is 0.
//
#define THROTTLE_TE_P 0.1
#define THROTTLE_TE_I 0.0
#define THROTTLE_TE_D 0.0
#define THROTTLE_TE_INT_MAX 20
#define P_TO_T 0.0
#define T_TO_P 0
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
// XTRACK_GAIN OPTIONAL
//
// Crosstrack compensation in degrees per metre off track.
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
// disable crosstrack compensation.
//
// XTRACK_ENTRY_ANGLE OPTIONAL
//
// Maximum angle used to correct for track following.
// Default value is 30 degrees.
//
#define XTRACK_GAIN 1 // deg/m
#define XTRACK_ENTRY_ANGLE 20 // deg
/////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
// WP_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the waypoint radius
// (the radius from a target waypoint within which the APM will consider
// itself to have arrived at the waypoint) to this value in meters. This is
// mainly intended to allow users to start using the APM without running the
// WaypointWriter first.
//
#define WP_RADIUS_DEFAULT 1 // meters
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE OPTIONAL
//
// In order to have accurate pressure and battery voltage readings, this
// value should be set to the voltage measured on the 5V rail on the oilpan.
//
// See the manual for more details. The default value should be close.
//
#define INPUT_VOLTAGE 5.2
//
APMrover2/APM_Config_mavlink_hil.h deleted 100644 → 0
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE
// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
// Enable Autopilot Flight Mode
#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 LEARNING
#define FLIGHT_MODE_6 MANUAL
// HIL_MODE SELECTION
//
// Mavlink supports
// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
// 2. HIL_MODE_SENSORS: full sensor simulation
#define HIL_MODE HIL_MODE_ATTITUDE
// Sensors
// All sensors are supported in all modes.
// The magnetometer is not used in
// HIL_MODE_ATTITUDE but you may leave it
// enabled if you wish.
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER ENABLED
#define AIRSPEED_CRUISE 25
#define THROTTLE_FAILSAFE ENABLED
APMrover2/APMrover2.pde
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APMrover2/GCS.h deleted 100644 → 0
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file GCS.h
/// @brief Interface definition for the various Ground Control System
// protocols.
#ifndef __GCS_H
#define __GCS_H
#include <AP_HAL.h>
#include <AP_Common.h>
#include <GPS.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(AP_HAL::UARTDriver *port) {
_port = port;
initialised = true;
}
/// 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(enum ap_message id) {
}
/// Send a text message.
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text(gcs_severity severity, const char *str) {
}
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text_P(gcs_severity severity, const prog_char_t *str) {
}
// send streams which match frequency range
void data_stream_send(void);
// set to true if this GCS link is active
bool initialised;
protected:
/// The stream we are communicating over
AP_HAL::UARTDriver * _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
///
class GCS_MAVLINK : public GCS_Class
{
public:
GCS_MAVLINK();
void update(void);
void init(AP_HAL::UARTDriver *port);
void send_message(enum ap_message id);
void send_text(gcs_severity severity, const char *str);
void send_text_P(gcs_severity severity, const prog_char_t *str);
void data_stream_send(void);
void queued_param_send();
void queued_waypoint_send();
static const struct AP_Param::GroupInfo var_info[];
// NOTE! The streams enum below and the
// set of AP_Int16 stream rates _must_ be
// kept in the same order
enum streams {STREAM_RAW_SENSORS,
STREAM_EXTENDED_STATUS,
STREAM_RC_CHANNELS,
STREAM_RAW_CONTROLLER,
STREAM_POSITION,
STREAM_EXTRA1,
STREAM_EXTRA2,
STREAM_EXTRA3,
STREAM_PARAMS,
NUM_STREAMS};
// see if we should send a stream now. Called at 50Hz
bool stream_trigger(enum streams stream_num);
// this costs us 51 bytes per instance, but means that low priority
// messages don't block the CPU
mavlink_statustext_t pending_status;
// call to reset the timeout window for entering the cli
void reset_cli_timeout();
private:
void handleMessage(mavlink_message_t * msg);
/// Perform queued sending operations
///
AP_Param * _queued_parameter; ///< next parameter to
// be sent in queue
enum ap_var_type _queued_parameter_type; ///< type of the next
// parameter
AP_Param::ParamToken _queued_parameter_token; ///AP_Param token for
// next() call
uint16_t _queued_parameter_index; ///< next queued
// parameter's index
uint16_t _queued_parameter_count; ///< saved count of
// parameters for
// queued send
uint32_t _queued_parameter_send_time_ms;
/// 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
mavlink_channel_t chan;
uint16_t packet_drops;
#if CLI_ENABLED == ENABLED
// this allows us to detect the user wanting the CLI to start
uint8_t crlf_count;
#endif
// waypoints
uint16_t waypoint_request_i; // request index
uint16_t waypoint_request_last; // last request index
uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
bool waypoint_receiving; // currently receiving
uint16_t waypoint_count;
uint32_t waypoint_timelast_send; // milliseconds
uint32_t waypoint_timelast_receive; // milliseconds
uint32_t waypoint_timelast_request; // milliseconds
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
// data stream rates. The code assumes that
// streamRateRawSensors is the first
AP_Int16 streamRateRawSensors;
AP_Int16 streamRateExtendedStatus;
AP_Int16 streamRateRCChannels;
AP_Int16 streamRateRawController;
AP_Int16 streamRatePosition;
AP_Int16 streamRateExtra1;
AP_Int16 streamRateExtra2;
AP_Int16 streamRateExtra3;
AP_Int16 streamRateParams;
// number of 50Hz ticks until we next send this stream
uint8_t stream_ticks[NUM_STREAMS];
// number of extra ticks to add to slow things down for the radio
uint8_t stream_slowdown;
// millis value to calculate cli timeout relative to.
// exists so we can separate the cli entry time from the system start time
uint32_t _cli_timeout;
};
#endif // __GCS_H
APMrover2/GCS_Mavlink.pde
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APMrover2/Log.pde
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APMrover2/Parameters.h
View file @ 62e7778b
......@@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 15;
static const uint16_t k_format_version = 16;
static const uint16_t k_software_type = 20;
enum {
......@@ -28,37 +28,63 @@ public:
// Misc
//
k_param_log_bitmask = 10,
k_param_log_bitmask_old = 10, // unused
k_param_num_resets,
k_param_reset_switch_chan,
k_param_initial_mode,
k_param_scheduler,
k_param_relay,
k_param_BoardConfig,
k_param_pivot_turn_angle,
k_param_rc_13,
k_param_rc_14,
// IO pins
k_param_rssi_pin = 20,
k_param_battery_volt_pin,
k_param_battery_curr_pin,
// braking
k_param_braking_percent = 30,
k_param_braking_speederr,
// misc2
k_param_log_bitmask = 40,
k_param_gps,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial2_baud,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for port0
k_param_gcs3, // stream rates for port3
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud,
k_param_serial3_baud,
k_param_serial0_baud_old,
k_param_serial1_baud_old,
k_param_telem_delay,
k_param_skip_gyro_cal,
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old,
k_param_serial2_protocol,
//
// 130: Sensor parameters
//
k_param_compass_enabled = 130,
k_param_steering_learn, // unused
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_mission, // mission library
// 140: battery controls
k_param_battery_monitoring = 140,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
k_param_battery_monitoring = 140, // deprecated, can be deleted
k_param_volt_div_ratio, // deprecated, can be deleted
k_param_curr_amp_per_volt, // deprecated, can be deleted
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // deprecated, can be deleted
k_param_battery,
//
// 150: Navigation parameters
......@@ -66,14 +92,20 @@ public:
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_speed_cruise,
k_param_speed_turn_gain,
k_param_speed_turn_dist,
k_param_ch7_option,
k_param_auto_trigger_pin,
k_param_auto_kickstart,
k_param_turn_circle, // unused
k_param_turn_max_g,
//
// 160: Radio settings
//
k_param_channel_steer = 160,
k_param_rc_1 = 160,
k_param_rc_2,
k_param_channel_throttle,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
......@@ -86,6 +118,8 @@ public:
k_param_throttle_cruise,
k_param_throttle_slewrate,
k_param_throttle_reduction,
k_param_skid_steer_in,
k_param_skid_steer_out,
// failsafe control
k_param_fs_action = 180,
......@@ -95,9 +129,14 @@ public:
k_param_fs_gcs_enabled,
// obstacle control
k_param_sonar_trigger = 190,
k_param_sonar_enabled,
k_param_sonar_type,
k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar_old, // unused
k_param_sonar_trigger_cm,
k_param_sonar_turn_angle,
k_param_sonar_turn_time,
k_param_sonar2_old, // unused
k_param_sonar_debounce,
k_param_sonar, // sonar object
//
// 210: driving modes
......@@ -109,25 +148,43 @@ public:
k_param_mode4,
k_param_mode5,
k_param_mode6,
k_param_learn_channel,
//
// 220: Waypoint data
//
k_param_command_total = 220,
k_param_command_index,
k_param_command_total = 220, // unused
k_param_command_index, // unused
k_param_waypoint_radius,
//
// 230: camera control
//
k_param_camera,
k_param_camera_mount,
k_param_camera_mount2,
//
// 240: PID Controllers
k_param_pidNavSteer = 230,
k_param_pidServoSteer,
k_param_pidServoSteer, // unused
k_param_pidSpeedThrottle,
// high RC channels
k_param_rc_9 = 235,
k_param_rc_10,
k_param_rc_11,
k_param_rc_12,
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
k_param_rcmap,
k_param_L1_controller,
k_param_steerController,
k_param_barometer,
// 254,255: reserved
};
......@@ -137,49 +194,66 @@ public:
// Misc
//
AP_Int16 log_bitmask;
AP_Int32 log_bitmask;
AP_Int16 num_resets;
AP_Int8 reset_switch_chan;
AP_Int8 initial_mode;
// IO pins
AP_Int8 rssi_pin;
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
// braking
AP_Int8 braking_percent;
AP_Float braking_speederr;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial0_baud;
AP_Int8 serial3_baud;
AP_Int16 serial0_baud;
AP_Int16 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int16 serial2_baud;
AP_Int8 serial2_protocol;
#endif
AP_Int8 telem_delay;
AP_Int8 skip_gyro_cal;
// sensor parameters
AP_Int8 compass_enabled;
// battery controls
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 compass_enabled;
// navigation parameters
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
AP_Float speed_cruise;
AP_Int8 speed_turn_gain;
AP_Float speed_turn_dist;
AP_Int8 ch7_option;
AP_Int8 auto_trigger_pin;
AP_Float auto_kickstart;
AP_Float turn_max_g;
AP_Int16 pivot_turn_angle;
// RC channels
RC_Channel channel_steer;
RC_Channel rc_1;
RC_Channel_aux rc_2;
RC_Channel channel_throttle;
RC_Channel rc_3;
RC_Channel_aux rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
#endif
// Throttle
//
......@@ -187,6 +261,8 @@ public:
AP_Int8 throttle_max;
AP_Int8 throttle_cruise;
AP_Int8 throttle_slewrate;
AP_Int8 skid_steer_in;
AP_Int8 skid_steer_out;
// failsafe control
AP_Int8 fs_action;
......@@ -196,11 +272,11 @@ public:
AP_Int8 fs_gcs_enabled;
// obstacle control
AP_Float sonar_trigger;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m
// range),
// 3 = HRLV
AP_Int16 sonar_trigger_cm;
AP_Float sonar_turn_angle;
AP_Float sonar_turn_time;
AP_Int8 sonar_debounce;
// driving modes
//
......@@ -211,34 +287,41 @@ public:
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
AP_Int8 learn_channel;
// Waypoints
//
AP_Int8 command_total;
AP_Int8 command_index;
AP_Float waypoint_radius;
// PID controllers
//
PID pidNavSteer;
PID pidServoSteer;
PID pidSpeedThrottle;
Parameters() :
// RC channels
channel_steer(CH_1),
rc_1(CH_1),
rc_2(CH_2),
channel_throttle(CH_3),
rc_3(CH_3),
rc_4(CH_4),
rc_5(CH_5),
rc_6(CH_6),
rc_7(CH_7),
rc_8(CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_10 (CH_10),
rc_11 (CH_11),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),
#endif
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavSteer (0.7, 0.1, 0.2, 2000),
pidServoSteer (0.5, 0.1, 0.2, 2000),
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
{}
};
......
APMrover2/Parameters.pde
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APMrover2/Steering.pde
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APMrover2/commands.pde
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APMrover2/commands_logic.pde
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APMrover2/commands_process.pde
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// For changing active command mid-mission
//----------------------------------------
static void change_command(uint8_t cmd_index)
{
struct Location temp = get_cmd_with_index(cmd_index);
if (temp.id > MAV_CMD_NAV_LAST ){
gcs_send_text_P(SEVERITY_LOW,PSTR("Bad Request - cannot change to non-Nav cmd"));
} else {
gcs_send_text_fmt(PSTR("Received Request - jump to command #%i"),cmd_index);
nav_command_ID = NO_COMMAND;
next_nav_command.id = NO_COMMAND;
non_nav_command_ID = NO_COMMAND;
nav_command_index = cmd_index - 1;
g.command_index.set_and_save(cmd_index);
update_commands();
}
}
// called by 10 Hz loop
// called by update navigation at 10Hz
// --------------------
static void update_commands(void)
{
if(control_mode == AUTO){
if(home_is_set == true && g.command_total > 1){
process_next_command();
}
} // Other (eg GCS_Auto) modes may be implemented here
}
static void verify_commands(void)
{
if(verify_nav_command()){
nav_command_ID = NO_COMMAND;
}
if(verify_condition_command()){
non_nav_command_ID = NO_COMMAND;
}
}
static void process_next_command()
{
// This function makes sure that we always have a current navigation command
// and loads conditional or immediate commands if applicable
struct Location temp;
uint8_t old_index = 0;
// these are Navigation/Must commands
// ---------------------------------
if (nav_command_ID == NO_COMMAND){ // no current navigation command loaded
old_index = nav_command_index;
temp.id = MAV_CMD_NAV_LAST;
while(temp.id >= MAV_CMD_NAV_LAST && nav_command_index <= g.command_total) {
nav_command_index++;
temp = get_cmd_with_index(nav_command_index);
}
gcs_send_text_fmt(PSTR("Nav command index updated to #%i"),nav_command_index);
if(nav_command_index > g.command_total){
handle_no_commands();
} else {
next_nav_command = temp;
nav_command_ID = next_nav_command.id;
non_nav_command_index = NO_COMMAND; // This will cause the next intervening non-nav command (if any) to be loaded
non_nav_command_ID = NO_COMMAND;
process_nav_cmd();
}
}
// these are Condition/May and Do/Now commands
// -------------------------------------------
if (non_nav_command_index == NO_COMMAND) { // If the index is NO_COMMAND then we have just loaded a nav command
non_nav_command_index = old_index + 1;
//gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index);
} else if (non_nav_command_ID == NO_COMMAND) { // If the ID is NO_COMMAND then we have just completed a non-nav command
non_nav_command_index++;
}
//gcs_send_text_fmt(PSTR("Nav command index #%i"),nav_command_index);
//gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index);
//gcs_send_text_fmt(PSTR("Non-Nav command ID #%i"),non_nav_command_ID);
if(nav_command_index <= (int)g.command_total && non_nav_command_ID == NO_COMMAND) {
temp = get_cmd_with_index(non_nav_command_index);
if(temp.id <= MAV_CMD_NAV_LAST) { // The next command is a nav command. No non-nav commands to do
g.command_index.set_and_save(nav_command_index);
non_nav_command_index = nav_command_index;
non_nav_command_ID = WAIT_COMMAND;
gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
} else { // The next command is a non-nav command. Prepare to execute it.
g.command_index.set_and_save(non_nav_command_index);
next_nonnav_command = temp;
non_nav_command_ID = next_nonnav_command.id;
gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
process_non_nav_command();
}
}
}
/**************************************************/
// These functions implement the commands.
/**************************************************/
static void process_nav_cmd()
{
//gcs_send_text_P(SEVERITY_LOW,PSTR("New nav command loaded"));
// clear non-nav command ID and index
non_nav_command_index = NO_COMMAND; // Redundant - remove?
non_nav_command_ID = NO_COMMAND; // Redundant - remove?
handle_process_nav_cmd();
if(control_mode == AUTO) {
if(home_is_set == true && mission.num_commands() > 1) {
mission.update();
}
}
}
static void process_non_nav_command()
{
//gcs_send_text_P(SEVERITY_LOW,PSTR("new non-nav command loaded"));
if(non_nav_command_ID < MAV_CMD_CONDITION_LAST) {
handle_process_condition_command();
} else {
handle_process_do_command();
// flag command ID so a new one is loaded
// -----------------------------------------
non_nav_command_ID = NO_COMMAND;
}
}
APMrover2/compat.h
View file @ 62e7778b
......@@ -2,9 +2,6 @@
#ifndef __COMPAT_H__
#define __COMPAT_H__
#define OUTPUT GPIO_OUTPUT
#define INPUT GPIO_INPUT
#define HIGH 1
#define LOW 0
......