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.gitignore
View file @ a57b8dbe
*~
*.bin
*.cproject
*.d
*.dll
*.exe
*.lst
*.o
*.obj
*.project
*.px4
*.pyc
*.tlog
......
.project deleted 100644 → 0
View file @ 8ea3e686
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>ArduPilotMega-Source@ardupilotone</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
</buildSpec>
<natures>
</natures>
</projectDescription>
APMrover2/APMrover2.pde
View file @ a57b8dbe
......@@ -252,7 +252,7 @@ AP_InertialSensor_Oilpan ins( &adc );
#error Unrecognised CONFIG_INS_TYPE setting.
#endif // CONFIG_INS_TYPE
AP_AHRS_DCM ahrs(&ins, g_gps);
AP_AHRS_DCM ahrs(ins, g_gps);
static AP_L1_Control L1_controller(ahrs);
......@@ -523,52 +523,56 @@ static float G_Dt = 0.02;
// Timer used to accrue data and trigger recording of the performanc monitoring log message
static int32_t perf_mon_timer;
// The maximum main loop execution time recorded in the current performance monitoring interval
static int16_t G_Dt_max = 0;
static uint32_t G_Dt_max;
// The number of gps fixes recorded in the current performance monitoring interval
static uint8_t gps_fix_count = 0;
// A variable used by developers to track performanc metrics.
// Currently used to record the number of GCS heartbeat messages received
static int16_t pmTest1 = 0;
////////////////////////////////////////////////////////////////////////////////
// System Timers
////////////////////////////////////////////////////////////////////////////////
// Time in miliseconds of start of main control loop. Milliseconds
static uint32_t fast_loopTimer;
// Time Stamp when fast loop was complete. Milliseconds
static uint32_t fast_loopTimeStamp;
// Time in microseconds of start of main control loop.
static uint32_t fast_loopTimer_us;
// Number of milliseconds used in last main loop cycle
static uint8_t delta_ms_fast_loop;
static uint32_t delta_us_fast_loop;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
// set if we are driving backwards
static bool in_reverse;
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 20ms units) and the maximum time they are expected to take (in
microseconds)
scheduler table - all regular tasks should be listed here, along
with how often they should be called (in 20ms units) and the maximum
time they are expected to take (in microseconds)
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ read_radio, 1, 1000 },
{ ahrs_update, 1, 6400 },
{ read_sonars, 1, 2000 },
{ update_current_mode, 1, 1000 },
{ set_servos, 1, 1000 },
{ update_GPS, 5, 2500 },
{ navigate, 5, 1600 },
{ update_compass, 5, 2000 },
{ update_commands, 5, 1000 },
{ update_logging, 5, 1000 },
{ gcs_retry_deferred, 1, 1000 },
{ gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 },
{ read_control_switch, 15, 1000 },
{ read_trim_switch, 5, 1000 },
{ read_battery, 5, 1000 },
{ read_receiver_rssi, 5, 1000 },
{ read_trim_switch, 5, 1000 },
{ read_control_switch, 15, 1000 },
{ update_events, 15, 1000 },
{ check_usb_mux, 15, 1000 },
{ mount_update, 1, 500 },
{ gcs_failsafe_check, 5, 500 },
{ mount_update, 1, 600 },
{ gcs_failsafe_check, 5, 600 },
{ compass_accumulate, 1, 900 },
{ update_notify, 1, 100 },
{ update_notify, 1, 300 },
{ one_second_loop, 50, 3000 }
};
......@@ -610,66 +614,44 @@ void loop()
if (!ins.wait_for_sample(1000)) {
return;
}
uint32_t timer = millis();
uint32_t timer = hal.scheduler->micros();
delta_ms_fast_loop = timer - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.f;
fast_loopTimer = timer;
delta_us_fast_loop = timer - fast_loopTimer_us;
G_Dt = delta_us_fast_loop * 1.0e-6f;
fast_loopTimer_us = timer;
mainLoop_count++;
if (delta_us_fast_loop > G_Dt_max)
G_Dt_max = delta_us_fast_loop;
// Execute the fast loop
// ---------------------
fast_loop();
mainLoop_count++;
// tell the scheduler one tick has passed
scheduler.tick();
fast_loopTimeStamp = millis();
scheduler.run(19000U);
scheduler.run(19500U);
}
// Main loop 50Hz
static void fast_loop()
// update AHRS system
static void ahrs_update()
{
// This is the fast loop - we want it to execute at 50Hz if possible
// -----------------------------------------------------------------
if (delta_ms_fast_loop > G_Dt_max)
G_Dt_max = delta_ms_fast_loop;
// Read radio
// ----------
read_radio();
// try to send any deferred messages if the serial port now has
// some space available
gcs_send_message(MSG_RETRY_DEFERRED);
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before dcm update
gcs_update();
#endif
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
#endif
ahrs.update();
// when in reverse we need to tell AHRS not to assume we are a
// 'fly forward' vehicle, otherwise it will see a large
// discrepancy between the mag and the GPS heading and will try to
// correct for it, leading to a large yaw error
ahrs.set_fly_forward(!in_reverse);
read_sonars();
ahrs.update();
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_IMU)
DataFlash.Log_Write_IMU(&ins);
// custom code/exceptions for flight modes
// ---------------------------------------
update_current_mode();
// write out the servo PWM values
// ------------------------------
set_servos();
gcs_update();
gcs_data_stream_send();
DataFlash.Log_Write_IMU(ins);
}
/*
......@@ -787,9 +769,13 @@ static void one_second_loop(void)
counter++;
// write perf data every 20s
if (counter == 20) {
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
}
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
G_Dt_max = 0;
resetPerfData();
}
......@@ -832,6 +818,10 @@ static void update_GPS(void)
} else {
init_home();
// set system clock for log timestamps
hal.util->set_system_clock(g_gps->time_epoch_usec());
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
......@@ -879,7 +869,12 @@ static void update_current_mode(void)
// and throttle gives speed in proportion to cruise speed, up
// to 50% throttle, then uses nudging above that.
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
in_reverse = (target_speed < 0);
if (in_reverse) {
target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
} else {
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
}
calc_throttle(target_speed);
break;
}
......@@ -894,6 +889,10 @@ static void update_current_mode(void)
*/
channel_throttle->servo_out = channel_throttle->control_in;
channel_steer->servo_out = channel_steer->pwm_to_angle();
// mark us as in_reverse when using a negative throttle to
// stop AHRS getting off
in_reverse = (channel_throttle->servo_out < 0);
break;
case HOLD:
......
APMrover2/GCS_Mavlink.pde
View file @ a57b8dbe
......@@ -9,6 +9,9 @@ static bool in_mavlink_delay;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
// true if we are out of time in our event timeslice
static bool gcs_out_of_time;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
......@@ -158,6 +161,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (!ins.healthy()) {
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
}
int16_t battery_current = -1;
int8_t battery_remaining = -1;
......@@ -246,6 +252,14 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->num_sats);
}
static void NOINLINE send_system_time(mavlink_channel_t chan)
{
mavlink_msg_system_time_send(
chan,
g_gps->time_epoch_usec(),
hal.scheduler->millis());
}
#if HIL_MODE != HIL_MODE_DISABLED
static void NOINLINE send_servo_out(mavlink_channel_t chan)
......@@ -471,6 +485,14 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
return false;
}
// if we don't have at least 1ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (!in_mavlink_delay && scheduler.time_available_usec() < 1200) {
gcs_out_of_time = true;
return false;
}
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
......@@ -509,6 +531,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_gps_raw(chan);
break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time(chan);
break;
case MSG_SERVO_OUT:
#if HIL_MODE != HIL_MODE_DISABLED
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
......@@ -756,8 +783,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 5),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
AP_GROUPEND
};
......@@ -858,7 +884,8 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
// send at a much lower rate while handling waypoints and
// parameter sends
if (waypoint_receiving || _queued_parameter != NULL) {
if ((stream_num != STREAM_PARAMS) &&
(waypoint_receiving || _queued_parameter != NULL)) {
rate *= 0.25;
}
......@@ -883,18 +910,19 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
void
GCS_MAVLINK::data_stream_send(void)
{
gcs_out_of_time = false;
if (_queued_parameter != NULL) {
if (streamRates[STREAM_PARAMS].get() <= 0) {
streamRates[STREAM_PARAMS].set(5);
}
if (streamRates[STREAM_PARAMS].get() > 5) {
streamRates[STREAM_PARAMS].set(5);
streamRates[STREAM_PARAMS].set(10);
}
if (stream_trigger(STREAM_PARAMS)) {
send_message(MSG_NEXT_PARAM);
}
}
if (gcs_out_of_time) return;
if (in_mavlink_delay) {
#if HIL_MODE != HIL_MODE_DISABLED
// in HIL we need to keep sending servo values to ensure
......@@ -911,11 +939,15 @@ GCS_MAVLINK::data_stream_send(void)
return;
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU3);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
......@@ -924,33 +956,46 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_NAV_CONTROLLER_OUTPUT);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_POSITION)) {
// sent with GPS read
send_message(MSG_LOCATION);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT);
send_message(MSG_RADIO_IN);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
send_message(MSG_SIMSTATE);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
send_message(MSG_RANGEFINDER);
send_message(MSG_SYSTEM_TIME);
}
}
......@@ -1293,8 +1338,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_msg_param_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// Start sending parameters - next call to ::update will kick the first one out
// mark the firmware version in the tlog
send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
// Start sending parameters - next call to ::update will kick the first one out
_queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index = 0;
_queued_parameter_count = _count_parameters();
......@@ -1713,7 +1760,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if(msg->sysid != g.sysid_my_gcs) break;
last_heartbeat_ms = failsafe.rc_override_timer = millis();
failsafe_trigger(FAILSAFE_EVENT_GCS, false);
pmTest1++;
break;
}
......@@ -2007,3 +2053,11 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...)
}
}
/**
retry any deferred messages
*/
static void gcs_retry_deferred(void)
{
gcs_send_message(MSG_RETRY_DEFERRED);
}
APMrover2/Log.pde
View file @ a57b8dbe
......@@ -165,15 +165,14 @@ struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
uint16_t main_loop_count;
int16_t g_dt_max;
uint32_t g_dt_max;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
int16_t pm_test;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
};
// Write a performance monitoring packet. Total length : 19 bytes
......@@ -186,12 +185,11 @@ static void Log_Write_Performance()
g_dt_max : G_Dt_max,
renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
pm_test : pmTest1,
i2c_lockup_count: hal.i2c->lockup_count()
i2c_lockup_count: hal.i2c->lockup_count(),
ins_error_count : ins.error_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
......@@ -228,6 +226,7 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int16_t roll;
......@@ -241,7 +240,8 @@ static void Log_Write_Camera()
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : g_gps->time,
gps_time : g_gps->time_week_ms,
gps_week : g_gps->time_week,
latitude : current_loc.lat,
longitude : current_loc.lng,
roll : (int16_t)ahrs.roll_sensor,
......@@ -454,11 +454,11 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHhBBBhhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,PMT,I2CErr" },
"PM", "IHIBBhhhBH", "LTime,MLC,gDt,RNCnt,RNBl,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "ILLccC", "GPSTime,Lat,Lng,Roll,Pitch,Yaw" },
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BB", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
......@@ -479,7 +479,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
// Read the DataFlash log memory : Packet Parser
static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
......@@ -496,6 +496,7 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
static void start_logging()
{
DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
DataFlash.Log_Write_Message_P(PSTR(FIRMWARE_STRING));
}
#else // LOGGING_ENABLED
......
APMrover2/Steering.pde
View file @ a57b8dbe
......@@ -75,13 +75,8 @@ static void calc_throttle(float target_speed)
return;
}
if (target_speed <= 0) {
// cope with zero requested speed
channel_throttle->servo_out = g.throttle_min.get();
return;
}
int throttle_target = g.throttle_cruise + throttle_nudge;
float throttle_base = (fabsf(target_speed) / g.speed_cruise) * g.throttle_cruise;
int throttle_target = throttle_base + throttle_nudge;
/*
reduce target speed in proportion to turning rate, up to the
......@@ -102,7 +97,7 @@ static void calc_throttle(float target_speed)
// reduce the target speed by the reduction factor
target_speed *= reduction;
groundspeed_error = target_speed - ground_speed;
groundspeed_error = fabsf(target_speed) - ground_speed;
throttle = throttle_target + (g.pidSpeedThrottle.get_pid(groundspeed_error * 100) / 100);
......@@ -110,7 +105,11 @@ static void calc_throttle(float target_speed)
// much faster response in turns
throttle *= reduction;
channel_throttle->servo_out = constrain_int16(throttle, g.throttle_min.get(), g.throttle_max.get());
if (in_reverse) {
channel_throttle->servo_out = constrain_int16(-throttle, -g.throttle_max, -g.throttle_min);
} else {
channel_throttle->servo_out = constrain_int16(throttle, g.throttle_min, g.throttle_max);
}
}
/*****************************************
......@@ -179,9 +178,15 @@ static void set_servos(void)
}
} else {
channel_steer->calc_pwm();
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
g.throttle_min.get(),
g.throttle_max.get());
if (in_reverse) {
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
-g.throttle_max,
-g.throttle_min);
} else {
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
g.throttle_min.get(),
g.throttle_max.get());
}
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
// suppress throttle if in failsafe
......
APMrover2/config.h
View file @ a57b8dbe
......@@ -366,3 +366,13 @@
#ifndef SONAR_ENABLED
# define SONAR_ENABLED DISABLED
#endif
/*
build a firmware version string.
GIT_VERSION comes from Makefile builds
*/
#ifndef GIT_VERSION
#define FIRMWARE_STRING THISFIRMWARE
#else
#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
#endif
APMrover2/defines.h
View file @ a57b8dbe
......@@ -101,6 +101,7 @@ enum ap_message {
MSG_RAW_IMU1,
MSG_RAW_IMU3,
MSG_GPS_RAW,
MSG_SYSTEM_TIME,
MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT,
MSG_NEXT_PARAM,
......
APMrover2/system.pde
View file @ a57b8dbe
......@@ -94,7 +94,7 @@ static void init_ardupilot()
// standard gps running
hal.uartB->begin(115200, 256, 16);
cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
memcheck_available_memory());
......@@ -252,6 +252,8 @@ static void set_mode(enum mode mode)
control_mode = mode;
throttle_last = 0;
throttle = 500;
in_reverse = false;
g.pidSpeedThrottle.reset_I();
if (control_mode != AUTO) {
auto_triggered = false;
......@@ -370,7 +372,6 @@ static void resetPerfData(void) {
ahrs.renorm_range_count = 0;
ahrs.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
perf_mon_timer = millis();
}
......
APMrover2/test.pde
View file @ a57b8dbe
......@@ -341,39 +341,32 @@ test_ins(uint8_t argc, const Menu::arg *argv)
uint8_t medium_loopCounter = 0;
while(1){
delay(20);
if (millis() - fast_loopTimer > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
fast_loopTimer = millis();
// INS
// ---
ahrs.update();
if(g.compass_enabled) {
medium_loopCounter++;
if(medium_loopCounter >= 5){
compass.read();
medium_loopCounter = 0;
}
}
// We are using the IMU
// ---------------------
Vector3f gyros = ins.get_gyro();
Vector3f accels = ins.get_accel();
cliSerial->printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
ins.wait_for_sample(1000);
ahrs.update();
if(g.compass_enabled) {
medium_loopCounter++;
if(medium_loopCounter >= 5){
compass.read();
medium_loopCounter = 0;
}
}
// We are using the IMU
// ---------------------
Vector3f gyros = ins.get_gyro();
Vector3f accels = ins.get_accel();
cliSerial->printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
(int)ahrs.roll_sensor / 100,
(int)ahrs.pitch_sensor / 100,
(uint16_t)ahrs.yaw_sensor / 100,
gyros.x, gyros.y, gyros.z,
accels.x, accels.y, accels.z);
}
if(cliSerial->available() > 0){
return (0);
}
}
}
if(cliSerial->available() > 0){
return (0);
}
}
......@@ -408,32 +401,25 @@ test_mag(uint8_t argc, const Menu::arg *argv)
uint8_t medium_loopCounter = 0;
while(1) {
delay(20);
if (millis() - fast_loopTimer > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
fast_loopTimer = millis();
// IMU
// ---
ahrs.update();
medium_loopCounter++;
if(medium_loopCounter >= 5){
if (compass.read()) {
// Calculate heading
Matrix3f m = ahrs.get_dcm_matrix();
heading = compass.calculate_heading(m);
compass.null_offsets();
}
medium_loopCounter = 0;
ins.wait_for_sample(1000);
ahrs.update();
medium_loopCounter++;
if(medium_loopCounter >= 5){
if (compass.read()) {
// Calculate heading
Matrix3f m = ahrs.get_dcm_matrix();
heading = compass.calculate_heading(m);
compass.null_offsets();
}
counter++;
if (counter>20) {
if (compass.healthy) {
Vector3f maggy = compass.get_offsets();
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
medium_loopCounter = 0;
}
counter++;
if (counter>20) {
if (compass.healthy) {
Vector3f maggy = compass.get_offsets();
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
(wrap_360_cd(ToDeg(heading) * 100)) /100,
(int)compass.mag_x,
(int)compass.mag_y,
......@@ -441,12 +427,11 @@ test_mag(uint8_t argc, const Menu::arg *argv)
maggy.x,
maggy.y,
maggy.z);
} else {
cliSerial->println_P(PSTR("compass not healthy"));
}
counter=0;
} else {
cliSerial->println_P(PSTR("compass not healthy"));
}
}
counter=0;
}
if (cliSerial->available() > 0) {
break;
}
......
ArduCopter/APM_Config.h
View file @ a57b8dbe
......@@ -15,14 +15,24 @@
* OCTA_FRAME
* OCTA_QUAD_FRAME
* HELI_FRAME
* SINGLE_FRAME
*/
// uncomment the lines below to save on flash space if compiling for the APM using Arduino IDE
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
// uncomment the lines below to save on flash space if compiling for the APM using Arduino IDE. Top items save the most flash space
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
//#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX // hard code GPS to Ublox to save 8k of flash
//#define GPS_PROTOCOL GPS_PROTOCOL_MTK19 // hard cdoe GPS to Mediatek to save 10k of flash
//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
//#define AUTOTUNE DISABLED // disable the auto tune functionality to save 7k of flash
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
//#define AC_FENCE DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define COPTER_LEDS DISABLED // disable external navigation leds to save 1k of flash
//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
// features below are disabled by default
//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
// redefine size of throttle deadband in pwm (0 ~ 1000)
//#define THROTTLE_IN_DEADBAND 100
......
ArduCopter/APM_Config_mavlink_hil.h
View file @ a57b8dbe
......@@ -25,7 +25,7 @@
// the loop port. Alternatively, use a telemetry/HIL shim like FGShim
// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
//
// The buad rate is controlled by SERIAL3_BAUD in this mode.
// The buad rate is controlled by SERIAL1_BAUD in this mode.
#define HIL_PORT 3
......
ArduCopter/AP_State.pde
View file @ a57b8dbe
......@@ -131,3 +131,10 @@ void set_pre_arm_check(bool b)
}
}
void set_pre_arm_rc_check(bool b)
{
if(ap.pre_arm_rc_check != b) {
ap.pre_arm_rc_check = b;
}
}
ArduCopter/ArduCopter.pde
View file @ a57b8dbe
This diff is collapsed.
ArduCopter/Attitude.pde
View file @ a57b8dbe
......@@ -7,6 +7,10 @@ static void get_pilot_desired_lean_angles(int16_t roll_in, int16_t pitch_in, int
static float _scaler = 1.0;
static int16_t _angle_max = 0;
// range check the input
roll_in = constrain_int16(roll_in, -ROLL_PITCH_INPUT_MAX, ROLL_PITCH_INPUT_MAX);
pitch_in = constrain_int16(pitch_in, -ROLL_PITCH_INPUT_MAX, ROLL_PITCH_INPUT_MAX);
// return immediately if no scaling required
if (g.angle_max == ROLL_PITCH_INPUT_MAX) {
roll_out = roll_in;
......@@ -36,7 +40,7 @@ get_stabilize_roll(int32_t target_angle)
// constrain the target rate
if (!ap.disable_stab_rate_limit) {
target_rate = constrain_int32(target_rate, -STABILIZE_RATE_LIMIT, STABILIZE_RATE_LIMIT);
target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
}
// set targets for rate controller
......@@ -54,7 +58,7 @@ get_stabilize_pitch(int32_t target_angle)
// constrain the target rate
if (!ap.disable_stab_rate_limit) {
target_rate = constrain_int32(target_rate, -STABILIZE_RATE_LIMIT, STABILIZE_RATE_LIMIT);
target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
}
// set targets for rate controller
......@@ -79,7 +83,7 @@ get_stabilize_yaw(int32_t target_angle)
// do not use rate controllers for helicotpers with external gyros
#if FRAME_CONFIG == HELI_FRAME
if(motors.ext_gyro_enabled) {
if(motors.tail_type() == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
g.rc_4.servo_out = constrain_int32(target_rate, -4500, 4500);
}
#endif
......@@ -99,15 +103,6 @@ get_stabilize_yaw(int32_t target_angle)
set_yaw_rate_target(target_rate, EARTH_FRAME);
}
static void
get_acro_yaw(int32_t target_rate)
{
target_rate = target_rate * g.acro_yaw_p;
// set targets for rate controller
set_yaw_rate_target(target_rate, BODY_FRAME);
}
// get_acro_level_rates - calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
static void
get_acro_level_rates()
......@@ -192,9 +187,15 @@ get_roll_rate_stabilized_bf(int32_t stick_angle)
// don't let angle error grow too large
angle_error = constrain_float(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
}
// Pitch with rate input and stabilized in the body frame
......@@ -231,9 +232,15 @@ get_pitch_rate_stabilized_bf(int32_t stick_angle)
// don't let angle error grow too large
angle_error = constrain_float(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
}
// Yaw with rate input and stabilized in the body frame
......@@ -270,9 +277,15 @@ get_yaw_rate_stabilized_bf(int32_t stick_angle)
// don't let angle error grow too large
angle_error = constrain_float(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
}
// Roll with rate input and stabilized in the earth frame
......@@ -299,7 +312,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
......@@ -340,7 +353,7 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
......@@ -378,7 +391,7 @@ get_yaw_rate_stabilized_ef(int32_t stick_angle)
angle_error = constrain_int32(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
......@@ -447,10 +460,15 @@ update_rate_contoller_targets()
void
run_rate_controllers()
{
#if FRAME_CONFIG == HELI_FRAME // helicopters only use rate controllers for yaw and only when not using an external gyro
if(!motors.ext_gyro_enabled) {
heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf);
#if FRAME_CONFIG == HELI_FRAME
// convert desired roll and pitch rate to roll and pitch swash angles
heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf);
// helicopters only use rate controllers for yaw and only when not using an external gyro
if(motors.tail_type() != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf);
}else{
// do not use rate controllers for helicotpers with external gyros
g.rc_4.servo_out = constrain_int32(yaw_rate_target_bf, -4500, 4500);
}
#else
// call rate controllers
......@@ -465,143 +483,6 @@ run_rate_controllers()
}
}
#if FRAME_CONFIG == HELI_FRAME
// init_rate_controllers - set-up filters for rate controller inputs
void init_rate_controllers()
{
// initalise low pass filters on rate controller inputs
// 1st parameter is time_step, 2nd parameter is time_constant
// rate_roll_filter.set_cutoff_frequency(0.01f, 0.1f);
// rate_pitch_filter.set_cutoff_frequency(0.01f, 0.1f);
}
static void heli_integrated_swash_controller(int32_t target_roll_rate, int32_t target_pitch_rate)
{
int32_t roll_p, roll_i, roll_d, roll_ff; // used to capture pid values for logging
int32_t pitch_p, pitch_i, pitch_d, pitch_ff;
int32_t current_roll_rate, current_pitch_rate; // this iteration's rate
int32_t roll_rate_error, pitch_rate_error; // simply target_rate - current_rate
int32_t roll_output, pitch_output; // output from pid controller
static bool roll_pid_saturated, pitch_pid_saturated; // tracker from last loop if the PID was saturated
current_roll_rate = (omega.x * DEGX100); // get current roll rate
current_pitch_rate = (omega.y * DEGX100); // get current pitch rate
roll_rate_error = target_roll_rate - current_roll_rate;
pitch_rate_error = target_pitch_rate - current_pitch_rate;
roll_p = g.pid_rate_roll.get_p(roll_rate_error);
pitch_p = g.pid_rate_pitch.get_p(pitch_rate_error);
if (roll_pid_saturated){
roll_i = g.pid_rate_roll.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
} else {
if (motors.flybar_mode == 1) { // Mechanical Flybars get regular integral for rate auto trim
if (target_roll_rate > -50 && target_roll_rate < 50){ // Frozen at high rates
roll_i = g.pid_rate_roll.get_i(roll_rate_error, G_Dt);
} else {
roll_i = g.pid_rate_roll.get_integrator();
}
} else {
roll_i = g.pid_rate_roll.get_leaky_i(roll_rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
}
}
if (pitch_pid_saturated){
pitch_i = g.pid_rate_pitch.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
} else {
if (motors.flybar_mode == 1) { // Mechanical Flybars get regular integral for rate auto trim
if (target_pitch_rate > -50 && target_pitch_rate < 50){ // Frozen at high rates
pitch_i = g.pid_rate_pitch.get_i(pitch_rate_error, G_Dt);
} else {
pitch_i = g.pid_rate_pitch.get_integrator();
}
} else {
pitch_i = g.pid_rate_pitch.get_leaky_i(pitch_rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
}
}
roll_d = g.pid_rate_roll.get_d(target_roll_rate, G_Dt);
pitch_d = g.pid_rate_pitch.get_d(target_pitch_rate, G_Dt);
roll_ff = g.heli_roll_ff * target_roll_rate;
pitch_ff = g.heli_pitch_ff * target_pitch_rate;
// Joly, I think your PC and CC code goes here
roll_output = roll_p + roll_i + roll_d + roll_ff;
pitch_output = pitch_p + pitch_i + pitch_d + pitch_ff;
if (labs(roll_output) > 4500){
roll_output = constrain_int32(roll_output, -4500, 4500); // constrain output
roll_pid_saturated = true; // freeze integrator next cycle
} else {
roll_pid_saturated = false; // unfreeze integrator
}
if (labs(pitch_output) > 4500){
pitch_output = constrain_int32(pitch_output, -4500, 4500); // constrain output
pitch_pid_saturated = true; // freeze integrator next cycle
} else {
pitch_pid_saturated = false; // unfreeze integrator
}
g.rc_1.servo_out = roll_output;
g.rc_2.servo_out = pitch_output;
}
static int16_t
get_heli_rate_yaw(int32_t target_rate)
{
int32_t p,i,d,ff; // used to capture pid values for logging
int32_t current_rate; // this iteration's rate
int32_t rate_error;
int32_t output;
static bool pid_saturated; // tracker from last loop if the PID was saturated
current_rate = (omega.z * DEGX100); // get current rate
// rate control
rate_error = target_rate - current_rate;
// separately calculate p, i, d values for logging
p = g.pid_rate_yaw.get_p(rate_error);
if (pid_saturated){
i = g.pid_rate_yaw.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
} else {
i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
}
d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
ff = g.heli_yaw_ff*target_rate;
output = p + i + d + ff;
if (labs(output) > 4500){
output = constrain_int32(output, -4500, 4500); // constrain output
pid_saturated = true; // freeze integrator next cycle
} else {
pid_saturated = false; // unfreeze integrator
}
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_RATE_KP || g.radio_tuning == CH6_YAW_RATE_KD) ) {
pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
pid_log_counter = 0;
Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
}
}
#endif
return output; // output control
}
#endif // HELI_FRAME
#if FRAME_CONFIG != HELI_FRAME
static int16_t
get_rate_roll(int32_t target_rate)
......@@ -922,7 +803,7 @@ static int16_t get_angle_boost(int16_t throttle)
{
float angle_boost_factor = cos_pitch_x * cos_roll_x;
angle_boost_factor = 1.0f - constrain_float(angle_boost_factor, .5f, 1.0f);
int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0);
int16_t throttle_above_mid = max(throttle - motors.get_collective_mid(),0);
// to allow logging of angle boost
angle_boost = throttle_above_mid*angle_boost_factor;
......@@ -988,9 +869,8 @@ static void
set_throttle_takeoff()
{
// set alt target
if (controller_desired_alt < current_loc.alt) {
controller_desired_alt = current_loc.alt + ALT_HOLD_TAKEOFF_JUMP;
}
controller_desired_alt = current_loc.alt + ALT_HOLD_TAKEOFF_JUMP;
// clear i term from acceleration controller
if (g.pid_throttle_accel.get_integrator() < 0) {
g.pid_throttle_accel.reset_I();
......@@ -1037,8 +917,6 @@ get_throttle_accel(int16_t z_target_accel)
d = g.pid_throttle_accel.get_d(z_accel_error, .01f);
//
// limit the rate
output = constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
#if LOGGING_ENABLED == ENABLED
......
ArduCopter/GCS.h
View file @ a57b8dbe
......@@ -8,7 +8,9 @@
#define __GCS_H
#include <AP_HAL.h>
#include <AP_Common.h>
#include <GPS.h>
#include <stdint.h>
///
/// @class GCS
......@@ -39,7 +41,6 @@ public:
///
void init(AP_HAL::UARTDriver *port) {
_port = port;
initialised = true;
}
/// Update GCS state.
......@@ -60,6 +61,14 @@ public:
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.
......@@ -122,6 +131,10 @@ public:
// 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:
......@@ -140,6 +153,7 @@ private:
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.
///
......@@ -179,16 +193,8 @@ private:
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
// data stream rates
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;
// saveable rate of each stream
AP_Int16 streamRates[NUM_STREAMS];
// number of 50Hz ticks until we next send this stream
uint8_t stream_ticks[NUM_STREAMS];
......
ArduCopter/GCS_Mavlink.pde
View file @ a57b8dbe
This diff is collapsed.
ArduCopter/Log.pde
View file @ a57b8dbe
......@@ -208,7 +208,7 @@ static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds)
struct PACKED log_Current {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t throttle_out;
uint32_t throttle_integrator;
int16_t battery_voltage;
int16_t current_amps;
......@@ -221,7 +221,7 @@ static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
throttle_in : g.rc_3.control_in,
throttle_out : g.rc_3.servo_out,
throttle_integrator : throttle_integrator,
battery_voltage : (int16_t) (battery.voltage() * 100.0f),
current_amps : (int16_t) (battery.current_amps() * 100.0f),
......@@ -238,8 +238,7 @@ struct PACKED log_Motors {
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
int16_t motor_out[6];
#elif FRAME_CONFIG == HELI_FRAME
int16_t motor_out[4];
int16_t ext_gyro_gain;
int16_t motor_out[6];
#else // quads & TRI_FRAME
int16_t motor_out[4];
#endif
......@@ -270,13 +269,14 @@ static void Log_Write_Motors()
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4]},
ext_gyro_gain : motors.ext_gyro_gain
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_7],
motors.motor_out[AP_MOTORS_MOT_8]}
#elif FRAME_CONFIG == TRI_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[g.rc_4.radio_out]}
g.rc_4.radio_out}
#else // QUAD frame
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
......@@ -307,7 +307,7 @@ static void Log_Write_Optflow()
struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
dx : optflow.dx,
dy : optflow.dx,
dy : optflow.dy,
surface_quality : optflow.surface_quality,
x_cm : (int16_t) optflow.x_cm,
y_cm : (int16_t) optflow.y_cm,
......@@ -339,7 +339,7 @@ struct PACKED log_Nav_Tuning {
// Write an Nav Tuning packet
static void Log_Write_Nav_Tuning()
{
Vector3f velocity = inertial_nav.get_velocity();
const Vector3f &velocity = inertial_nav.get_velocity();
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
......@@ -427,12 +427,13 @@ struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
int16_t pm_test;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
uint8_t inav_error_count;
};
// Write a performance monitoring packet
......@@ -442,12 +443,13 @@ static void Log_Write_Performance()
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
num_long_running : perf_info_get_num_long_running(),
num_loops : perf_info_get_num_loops(),
max_time : perf_info_get_max_time(),
pm_test : pmTest1,
i2c_lockup_count : hal.i2c->lockup_count()
i2c_lockup_count : hal.i2c->lockup_count(),
ins_error_count : ins.error_count(),
inav_error_count : inertial_nav.error_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
......@@ -525,7 +527,7 @@ struct PACKED log_INAV {
// Write an INAV packet
static void Log_Write_INAV()
{
Vector3f accel_corr = inertial_nav.accel_correction_ef;
const Vector3f &accel_corr = inertial_nav.accel_correction_ef;
struct log_INAV pkt = {
LOG_PACKET_HEADER_INIT(LOG_INAV_MSG),
......@@ -715,6 +717,7 @@ static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, i
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
......@@ -729,7 +732,8 @@ static void Log_Write_Camera()
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : g_gps->time,
gps_time : g_gps->time_week_ms,
gps_week : g_gps->time_week,
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : current_loc.alt,
......@@ -767,7 +771,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
"ATDE", "cf", "Angle,Rate" },
#endif
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hIhhhf", "Thr,ThrInt,Volt,Curr,Vcc,CurrTot" },
"CURR", "hIhhhf", "ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
......@@ -792,7 +796,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "BBBHHIhB", "RenCnt,RenBlw,FixCnt,NLon,NLoop,MaxT,PMT,I2CErr" },
"PM", "BBHHIhBHB", "RenCnt,RenBlw,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
......@@ -818,7 +822,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_PID_MSG, sizeof(log_PID),
"PID", "Biiiiif", "Id,Error,P,I,D,Out,Gain" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "ILLeccC", "GPSTime,Lat,Lng,Alt,Roll,Pitch,Yaw" },
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "BB", "Subsys,ECode" },
};
......@@ -830,7 +834,7 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
cliSerial->printf_P(PSTR((AIRFRAME_NAME)));
#endif
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
......@@ -849,6 +853,10 @@ static void start_logging()
if (g.log_bitmask != 0 && !ap.logging_started) {
ap.logging_started = true;
DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
DataFlash.Log_Write_Message_P(PSTR(FIRMWARE_STRING));
// log the flight mode
Log_Write_Mode(control_mode);
}
}
......
ArduCopter/Parameters.h
View file @ a57b8dbe
......@@ -73,11 +73,7 @@ public:
k_param_log_last_filenumber, // *** Deprecated - remove
// with next eeprom number
// change
k_param_toy_yaw_rate, // THOR The memory
// location for the
// Yaw Rate 1 = fast,
// 2 = med, 3 = slow
k_param_toy_yaw_rate, // deprecated - remove
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin,
k_param_throttle_accel_enabled, // deprecated - remove
......@@ -92,7 +88,8 @@ public:
k_param_angle_max,
k_param_gps_hdop_good,
k_param_battery,
k_param_fs_batt_mah, // 37
k_param_fs_batt_mah,
k_param_angle_rate_max, // 38
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
......@@ -102,6 +99,14 @@ public:
k_param_fence,
k_param_gps_glitch, // 70
//
// 75: Singlecopter
//
k_param_single_servo_1 = 75,
k_param_single_servo_2,
k_param_single_servo_3,
k_param_single_servo_4, // 78
//
// 80: Heli
//
......@@ -109,9 +114,11 @@ public:
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
k_param_heli_pitch_ff,
k_param_heli_roll_ff,
k_param_heli_yaw_ff,
k_param_heli_pitch_ff,
k_param_heli_roll_ff,
k_param_heli_yaw_ff,
k_param_heli_stab_col_min,
k_param_heli_stab_col_max, // 88
//
// 90: Motors
......@@ -127,11 +134,13 @@ public:
// 110: Telemetry control
//
k_param_gcs0 = 110,
k_param_gcs3,
k_param_gcs1,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
k_param_serial1_baud,
k_param_telem_delay,
k_param_gcs2,
k_param_serial2_baud,
//
// 140: Sensor parameters
......@@ -274,7 +283,10 @@ public:
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud;
AP_Int8 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int8 serial2_baud;
#endif
AP_Int8 telem_delay;
AP_Int16 rtl_altitude;
......@@ -287,7 +299,7 @@ public:
AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered
AP_Float fs_batt_mah; // battery capacity (in mah) below which failsafe will be triggered
AP_Int8 failsafe_gps_enabled; // gps failsafe enabled
AP_Int8 failsafe_gcs; // ground station failsafe behavior
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
......@@ -302,6 +314,7 @@ public:
AP_Int8 rssi_pin;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int16 angle_max; // maximum lean angle of the copter in centi-degrees
AP_Int32 angle_rate_max; // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// Waypoints
//
......@@ -336,12 +349,6 @@ public:
// Misc
//
AP_Int16 log_bitmask;
AP_Int8 toy_yaw_rate; // THOR The
// Yaw Rate 1
// = fast, 2 =
// med, 3 =
// slow
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
......@@ -356,7 +363,13 @@ public:
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
AP_Float heli_pitch_ff; // pitch rate feed-forward
AP_Float heli_roll_ff; // roll rate feed-forward
AP_Float heli_yaw_ff; // yaw rate feed-forward
AP_Float heli_yaw_ff; // yaw rate feed-forward
AP_Int16 heli_stab_col_min; // min collective while pilot directly controls collective in stabilize mode
AP_Int16 heli_stab_col_max; // min collective while pilot directly controls collective in stabilize mode
#endif
#if FRAME_CONFIG == SINGLE_FRAME
// Single
RC_Channel single_servo_1, single_servo_2, single_servo_3, single_servo_4; // servos for four flaps
#endif
// RC channels
......@@ -368,11 +381,8 @@ public:
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
#if MOUNT == ENABLED
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
RC_Channel_aux rc_9;
......@@ -417,6 +427,12 @@ public:
heli_servo_3 (CH_3),
heli_servo_4 (CH_4),
#endif
#if FRAME_CONFIG == SINGLE_FRAME
single_servo_1 (CH_1),
single_servo_2 (CH_2),
single_servo_3 (CH_3),
single_servo_4 (CH_4),
#endif
rc_1 (CH_1),
rc_2 (CH_2),
......@@ -428,12 +444,11 @@ public:
rc_8 (CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
rc_9 (CH_9),
#endif
rc_10 (CH_10),
rc_11 (CH_11),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
rc_12 (CH_12),
#elif MOUNT == ENABLED
rc_10 (CH_10),
rc_11 (CH_11),
#endif
// PID controller initial P initial I initial D
......
ArduCopter/Parameters.pde
View file @ a57b8dbe
......@@ -22,6 +22,7 @@
#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, &v, {group_info : class::var_info} }
const AP_Param::Info var_info[] PROGMEM = {
// @Param: SYSID_SW_MREV
......@@ -48,12 +49,21 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL3_BAUD
// @Param: SERIAL1_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port
// @Description: The baud rate used on the first telemetry port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
GSCALAR(serial1_baud, "SERIAL1_BAUD", SERIAL1_BAUD/1000),
#if MAVLINK_COMM_NUM_BUFFERS > 2
// @Param: SERIAL2_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the seconds telemetry port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial2_baud, "SERIAL2_BAUD", SERIAL2_BAUD/1000),
#endif
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
......@@ -98,14 +108,15 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: FS_BATT_ENABLE
// @DisplayName: Battery Failsafe Enable
// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
// @Values: 0:Disabled,1:Enabled
// @Values: 0:Disabled,1:Land,2:RTL
// @User: Standard
GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATTERY),
GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATT_DISABLED),
// @Param: FS_BATT_VOLTAGE
// @DisplayName: Failsafe battery voltage
// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL
// @Units: Volts
// @Increment: 0.1
// @User: Standard
GSCALAR(fs_batt_voltage, "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),
......@@ -113,15 +124,16 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Failsafe battery milliAmpHours
// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL
// @Units: mAh
// @Increment: 50
// @User: Standard
GSCALAR(fs_batt_mah, "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),
// @Param: FS_GPS_ENABLE
// @DisplayName: GPS Failsafe Enable
// @Description: Controls whether failsafe will be invoked when gps signal is lost
// @Values: 0:Disabled,1:Enabled
// @Description: Controls what action will be taken if GPS signal is lost for at least 5 seconds
// @Values: 0:Disabled,1:Land,2:AltHold,3:Land even from Stabilize
// @User: Standard
GSCALAR(failsafe_gps_enabled, "FS_GPS_ENABLE", FS_GPS),
GSCALAR(failsafe_gps_enabled, "FS_GPS_ENABLE", FS_GPS_LAND),
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
......@@ -224,7 +236,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
// @Units: cm/s
// @Range: 20 200
// @Range: 30 200
// @Increment: 10
// @User: Standard
GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
......@@ -292,42 +304,42 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
// @Param: FLTMODE2
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
// @User: Standard
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
// @Param: FLTMODE3
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
// @User: Standard
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
// @Param: FLTMODE4
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
// @User: Standard
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
// @Param: FLTMODE5
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
// @User: Standard
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
// @Param: FLTMODE6
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM,13:Sport
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
......@@ -344,13 +356,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: TOY_RATE
// @DisplayName: Toy Yaw Rate
// @Description: Controls yaw rate in Toy mode. Higher values will cause a slower yaw rate. Do not set to zero!
// @User: Advanced
// @Range: 1 10
GSCALAR(toy_yaw_rate, "TOY_RATE", 1),
// @Param: ESC
// @DisplayName: ESC Calibration
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
......@@ -402,10 +407,10 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: ARMING_CHECK
// @DisplayName: Arming check
// @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer and compass
// @Values: 0:Disabled, 1:Enabled
// @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS
// @Values: 0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Parameters, -65:Skip RC, 127:Skip Voltage
// @User: Standard
GSCALAR(arming_check_enabled, "ARMING_CHECK", 1),
GSCALAR(arming_check_enabled, "ARMING_CHECK", ARMING_CHECK_ALL),
// @Param: ANGLE_MAX
// @DisplayName: Angle Max
......@@ -414,6 +419,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
// @Param: ANGLE_RATE_MAX
// @DisplayName: Angle Rate max
// @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// @Range 90000 250000
// @User: Advanced
GSCALAR(angle_rate_max, "ANGLE_RATE_MAX", ANGLE_RATE_MAX),
#if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
......@@ -432,6 +444,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Rate Pitch Feed Forward
// @Description: Rate Pitch Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_pitch_ff, "RATE_PIT_FF", HELI_PITCH_FF),
......@@ -439,6 +452,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Rate Roll Feed Forward
// @Description: Rate Roll Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_roll_ff, "RATE_RLL_FF", HELI_ROLL_FF),
......@@ -446,10 +460,45 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Rate Yaw Feed Forward
// @Description: Rate Yaw Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_yaw_ff, "RATE_YAW_FF", HELI_YAW_FF),
// @Param: H_STAB_COL_MIN
// @DisplayName: Heli Stabilize Throttle Collective Minimum
// @Description: Helicopter's minimum collective position while pilot directly controls collective in stabilize mode
// @Range: 0 500
// @Units: pwm
// @Increment: 1
// @User: Standard
GSCALAR(heli_stab_col_min, "H_STAB_COL_MIN", HELI_STAB_COLLECTIVE_MIN_DEFAULT),
// @Param: H_STAB_COL_MAX
// @DisplayName: Stabilize Throttle Maximum
// @Description: Helicopter's maximum collective position while pilot directly controls collective in stabilize mode
// @Range: 500 1000
// @Units: pwm
// @Increment: 1
// @User: Standard
GSCALAR(heli_stab_col_max, "H_STAB_COL_MAX", HELI_STAB_COLLECTIVE_MAX_DEFAULT),
#endif
#if FRAME_CONFIG == SINGLE_FRAME
// @Group: SS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_1, "SS1_", RC_Channel),
// @Group: SS2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_2, "SS2_", RC_Channel),
// @Group: SS3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_3, "SS3_", RC_Channel),
// @Group: SS4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_4, "SS4_", RC_Channel),
#endif
// RC channel
//-----------
// @Group: RC1_
......@@ -477,20 +526,20 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
#if MOUNT == ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux),
#endif
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
// @Group: RC11_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux),
// @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux),
......@@ -929,7 +978,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// variables not in the g class which contain EEPROM saved variables
// variables not in the g class which contain EEPROM saved variables
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
......@@ -960,11 +1008,17 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: SR0_
// @Path: GCS_Mavlink.pde
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECTN(gcs[0], gcs0, "SR0_", GCS_MAVLINK),
// @Group: SR3_
// @Group: SR1_
// @Path: GCS_Mavlink.pde
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
GOBJECTN(gcs[1], gcs1, "SR1_", GCS_MAVLINK),
#if MAVLINK_COMM_NUM_BUFFERS > 2
// @Group: SR2_
// @Path: GCS_Mavlink.pde
GOBJECTN(gcs[2], gcs2, "SR2_", GCS_MAVLINK),
#endif
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
......@@ -1018,6 +1072,24 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECT(motors, "H_", AP_MotorsHeli),
#elif FRAME_CONFIG == SINGLE_FRAME
// @Group: SS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_1, "SS1_", RC_Channel),
// @Group: SS2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_2, "SS2_", RC_Channel),
// @Group: SS3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_3, "SS3_", RC_Channel),
// @Group: SS4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_4, "SS4_", RC_Channel),
// @Group: (SingleCopter)MOT_
// @Path: ../libraries/AP_Motors/AP_MotorsSingle.cpp
GOBJECT(motors, "MOT_", AP_MotorsSingle),
#else
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors_Class.cpp
......