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.gitignore 0 → 100644
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.metadata/
Tools/ArdupilotMegaPlanner/bin/Release/logs/
ArduCopter/Debug/
config.mk
serialsent.raw
CMakeFiles
CMakeCache.txt
cmake_install.cmake
build
/Tools/ArdupilotMegaPlanner/bin/Release/gmapcache
/Tools/ArdupilotMegaPlanner/APMPlannerXplanes/APMPlannerXplanes/Debug
/Tools/ArdupilotMegaPlanner/CustomImages
/Tools/ArdupilotMegaPlanner/Updater/obj
/Tools/ArdupilotMegaPlanner/Updater/bin
/Tools/ArdupilotMegaPlanner/bin/Debug
/Tools/ArdupilotMegaPlanner/bin/APM Planner.app
/Tools/ArdupilotMegaPlanner/obj
/Tools/ArdupilotMegaPlanner/resedit/bin
/Tools/ArdupilotMegaPlanner/resedit/obj
/Tools/ArdupilotMegaPlanner/wix/bin
/Tools/ArdupilotMegaPlanner/wix/obj
tags
*.o
.*.swp
.*.swo
mav.log
mav.log.raw
status.txt
/Tools/ArdupilotMegaPlanner/Msi/upload.bat
*.exe
*.dll
*.obj
*.zip
/Tools/ArdupilotMegaPlanner/3DRRadio/bin
/Tools/ArdupilotMegaPlanner/3DRRadio/obj
/Tools/ArdupilotMegaPlanner/bin
\ No newline at end of file
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>ArduPilotMega-Source@ardupilotone</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
</buildSpec>
<natures>
</natures>
</projectDescription>
APMrover2/APM_Config.h 0 → 100644
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here.
// For example if you wanted the Port 3 baud rate to be 38400 you would add a statement like the one below (uncommented)
//#define SERIAL3_BAUD 38400
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
#define LITE ENABLED // if LITE is ENABLED, you may use an APM1280 or APM2560 CPU only (IMU less) with a GPS MT3329
// if LITE is DISABLED, this is for a full APM v1 (Oilpan + GPS MT3329 + Magnetometer HMC5883L) or APM v2
#define CLI_ENABLED ENABLED
#define CLI_SLIDER_ENABLED DISABLED
#define CLOSED_LOOP_NAV ENABLED
#define AUTO_WP_RADIUS DISABLED
#define TRACE ENABLED
//#include "APM_Config_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder
// Radio setup:
// APM INPUT (Rec = receiver)
// Rec ch1: Roll
// Rec ch2: Throttle
// Rec ch3: Pitch
// Rec ch4: Yaw
// Rec ch5: not used
// Rec ch6:
// Rec ch7: Option channel to 2 positions switch
// Rec ch8: Mode channel to 3 positions switch
// APM OUTPUT
// Ch1: Wheel servo (direction)
// Ch2: not used
// Ch3: to the motor ESC
// Ch4: not used
// The following are the recommended settings for Xplane simulation. Remove the leading "/* and trailing "*/" to enable:
/*
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_PORT 0
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#define GCS_PORT 3
*/
APMrover2/APM_Config.h.org 0 → 100644
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here.
// For example if you wanted the Port 3 baud rate to be 38400 you would add a statement like the one below (uncommented)
//#define SERIAL3_BAUD 38400
// # define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
// # define APM2_BETA_HARDWARE
// You may also put an include statement here to point at another configuration file. This is convenient if you maintain
// different configuration files for different aircraft or HIL simulation. See the examples below
//#include "APM_Config_mavlink_hil.h"
//#include "Skywalker.h"
// The following are the recommended settings for Xplane simulation. Remove the leading "/* and trailing "*/" to enable:
/*
#define HIL_MODE HIL_MODE_ATTITUDE
*/
/*
// 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/APM_Config.h.reference 0 → 100644
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APMrover2/APM_Config_HILmode.h 0 → 100644
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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 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 ENABLE_AIR_START DISABLED
#define MANUAL_LEVEL DISABLED
#define CLOSED_LOOP_NAV ENABLED // set to ENABLED if closed loop navigation else set to DISABLED (Return To Lauch)
#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
//#define ENABLE_AIR_START 0
//////////////////////////////////////////////////////////////////////////////
// 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.
//
// LOITER_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the loiter radius
// (the distance the APM will attempt to maintain from a waypoint while
// loitering) to this value in meters. This is mainly intended to allow
// users to start using the APM without running the WaypointWriter first.
//
// USE_CURRENT_ALT OPTIONAL
// ALT_HOLD_HOME OPTIONAL
//
// When the user performs a factory reset on the APM, set the flag for weather
// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch.
// Also, set the value of USE_CURRENT_ALT 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
#define LOITER_RADIUS_DEFAULT 5
#define USE_CURRENT_ALT TRUE
#define ALT_HOLD_HOME 0
//////////////////////////////////////////////////////////////////////////////
// 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 0 → 100644
View file @ ebbf8dc6
// 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 ENABLE_AIR_START DISABLED
#define MANUAL_LEVEL DISABLED
#define TURN_GAIN 5
#define CLOSED_LOOP_NAV ENABLED // set to ENABLED if closed loop navigation else set to DISABLED (Return To Lauch)
#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
//#define ENABLE_AIR_START 0
//////////////////////////////////////////////////////////////////////////////
// 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.
//
// LOITER_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the loiter radius
// (the distance the APM will attempt to maintain from a waypoint while
// loitering) to this value in meters. This is mainly intended to allow
// users to start using the APM without running the WaypointWriter first.
//
// USE_CURRENT_ALT OPTIONAL
// ALT_HOLD_HOME OPTIONAL
//
// When the user performs a factory reset on the APM, set the flag for weather
// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch.
// Also, set the value of USE_CURRENT_ALT 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
#define LOITER_RADIUS_DEFAULT 5 // 60
#define USE_CURRENT_ALT TRUE
#define ALT_HOLD_HOME 0
//////////////////////////////////////////////////////////////////////////////
// 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 0 → 100644
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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 0 → 100644
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APMrover2/Attitude.pde 0 → 100644
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//****************************************************************
// Function that controls aileron/rudder, elevator, rudder (if 4 channel control) and throttle to produce desired attitude and airspeed.
//****************************************************************
static void learning()
{
// Calculate desired servo output for the turn // Wheels Direction
// ---------------------------------------------
g.channel_roll.servo_out = nav_roll;
g.channel_roll.servo_out = g.channel_roll.servo_out * g.turn_gain;
g.channel_rudder.servo_out = g.channel_roll.servo_out;
}
static void crash_checker()
{
if(ahrs.pitch_sensor < -4500){
crash_timer = 255;
}
if(crash_timer > 0)
crash_timer--;
}
static void calc_throttle()
{ int rov_speed;
int throttle_target = g.throttle_cruise + throttle_nudge + 50;
target_airspeed = g.airspeed_cruise;
if(speed_boost)
rov_speed = g.booster * target_airspeed;
else
rov_speed = target_airspeed;
groundspeed_error = rov_speed - (float)ground_speed;
int throttle_req = (throttle_target + g.pidTeThrottle.get_pid(groundspeed_error)) * 10;
if(g.throttle_slewrate > 0)
{ if (throttle_req > throttle_last)
throttle = throttle + g.throttle_slewrate;
else if (throttle_req < throttle_last) {
throttle = throttle - g.throttle_slewrate;
}
throttle = constrain(throttle, 500, throttle_req);
throttle_last = throttle;
} else {
throttle = throttle_req;
}
g.channel_throttle.servo_out = constrain(((float)throttle / 10.0f), 0, g.throttle_max.get());
}
/*****************************************
* Calculate desired turn angles (in medium freq loop)
*****************************************/
static void calc_nav_roll()
{
// Adjust gain based on ground speed
nav_gain_scaler = (float)ground_speed / (g.airspeed_cruise * 100.0);
nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4);
// Calculate the required turn of the wheels rover
// ----------------------------------------
// negative error = left turn
// positive error = right turn
nav_roll = g.pidNavRoll.get_pid(bearing_error, nav_gain_scaler); //returns desired bank angle in degrees*100
if(obstacle) { // obstacle avoidance
nav_roll += 9000; // if obstacle in front turn 90° right
speed_boost = false;
}
nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
}
// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
// Keeps outdated data out of our calculations
static void reset_I(void)
{
g.pidNavRoll.reset_I();
g.pidTeThrottle.reset_I();
// g.pidAltitudeThrottle.reset_I();
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
static void set_servos(void)
{
int flapSpeedSource = 0;
// vectorize the rc channels
RC_Channel_aux* rc_array[NUM_CHANNELS];
rc_array[CH_1] = NULL;
rc_array[CH_2] = NULL;
rc_array[CH_3] = NULL;
rc_array[CH_4] = NULL;
rc_array[CH_5] = &g.rc_5;
rc_array[CH_6] = &g.rc_6;
rc_array[CH_7] = &g.rc_7;
rc_array[CH_8] = &g.rc_8;
if((control_mode == MANUAL) || (control_mode == LEARNING)){
// do a direct pass through of radio values
g.channel_roll.radio_out = g.channel_roll.radio_in;
if(obstacle) // obstacle in front, turn right in Stabilize mode
g.channel_roll.radio_out -= 500;
g.channel_pitch.radio_out = g.channel_pitch.radio_in;
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_rudder.radio_out = g.channel_roll.radio_in;
} else {
g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm();
g.channel_rudder.calc_pwm();
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
}
if (control_mode >= FLY_BY_WIRE_B) {
// convert 0 to 100% into PWM
g.channel_throttle.calc_pwm();
}
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
// send values to the PWM timers for output
// ----------------------------------------
APM_RC.OutputCh(CH_1, g.channel_roll.radio_out); // send to Servos
APM_RC.OutputCh(CH_2, g.channel_pitch.radio_out); // send to Servos
APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos
APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos
// Route configurable aux. functions to their respective servos
g.rc_5.output_ch(CH_5);
g.rc_6.output_ch(CH_6);
g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8);
#endif
}
static void demo_servos(byte i) {
while(i > 0){
gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
APM_RC.OutputCh(1, 1400);
mavlink_delay(400);
APM_RC.OutputCh(1, 1600);
mavlink_delay(200);
APM_RC.OutputCh(1, 1500);
#endif
mavlink_delay(400);
i--;
}
}
APMrover2/GCS.h 0 → 100644
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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 <FastSerial.h>
#include <AP_Common.h>
#include <GPS.h>
#include <Stream.h>
#include <stdint.h>
///
/// @class GCS
/// @brief Class describing the interface between the APM code
/// proper and the GCS implementation.
///
/// GCS' are currently implemented inside the sketch and as such have
/// access to all global state. The sketch should not, however, call GCS
/// internal functions - all calls to the GCS should be routed through
/// this interface (or functions explicitly exposed by a subclass).
///
class GCS_Class
{
public:
/// Startup initialisation.
///
/// This routine performs any one-off initialisation required before
/// GCS messages are exchanged.
///
/// @note The stream is expected to be set up and configured for the
/// correct bitrate before ::init is called.
///
/// @note The stream is currently BetterStream so that we can use the _P
/// methods; this may change if Arduino adds them to Print.
///
/// @param port The stream over which messages are exchanged.
///
void init(FastSerial *port) {
_port = port;
initialised = true;
last_gps_satellites = 255;
}
/// 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(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;
// used to prevent wasting bandwidth with GPS_STATUS messages
uint8_t last_gps_satellites;
protected:
/// The stream we are communicating over
FastSerial *_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(FastSerial *port);
void send_message(enum ap_message id);
void send_text(gcs_severity severity, const char *str);
void send_text(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);
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
/// 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_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
bool waypoint_sending; // currently in send process
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;
};
#endif // __GCS_H
APMrover2/GCS_Mavlink.pde 0 → 100644
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APMrover2/Log.pde 0 → 100644
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if LITE == DISABLED
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory
// Code to interact with the user to dump or erase logs
#define HEAD_BYTE1 0xA3 // Decimal 163
#define HEAD_BYTE2 0x95 // Decimal 149
#define END_BYTE 0xBA // Decimal 186
// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static int8_t dump_log(uint8_t argc, const Menu::arg *argv);
static int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
static int16_t cur_throttle =0;
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
//static int8_t help_log(uint8_t argc, const Menu::arg *argv)
/*{
Serial.printf_P(PSTR("\n"
"Commands:\n"
" dump <n>"
" erase (all logs)\n"
" enable <name> | all\n"
" disable <name> | all\n"
"\n"));
return 0;
}*/
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details
static const struct Menu::command log_menu_commands[] PROGMEM = {
{"dump", dump_log},
{"erase", erase_logs},
{"enable", select_logs},
{"disable", select_logs}
};
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
int log_start;
int log_end;
int temp;
int last_log_num = DataFlash.find_last_log();
uint16_t num_logs = DataFlash.get_num_logs();
Serial.printf_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
Serial.printf_P(PSTR("none"));
}else{
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// the bit being set and print the name of the log option to suit.
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) Serial.printf_P(PSTR(" %S"), PSTR(#_s))
PLOG(ATTITUDE_FAST);
PLOG(ATTITUDE_MED);
PLOG(GPS);
PLOG(PM);
PLOG(CTUN);
PLOG(NTUN);
PLOG(MODE);
PLOG(RAW);
PLOG(CMD);
PLOG(CUR);
#undef PLOG
}
Serial.println();
if (num_logs == 0) {
Serial.printf_P(PSTR("\nNo logs\n\n"));
}else{
Serial.printf_P(PSTR("\n%d logs\n"), num_logs);
for(int i=num_logs;i>=1;i--) {
int last_log_start = log_start, last_log_end = log_end;
temp = last_log_num-i+1;
DataFlash.get_log_boundaries(temp, log_start, log_end);
Serial.printf_P(PSTR("Log %d, start %d, end %d\n"), temp, log_start, log_end);
if (last_log_start == log_start && last_log_end == log_end) {
// we are printing bogus logs
break;
}
}
Serial.println();
}
return(true);
}
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
int dump_log;
int dump_log_start;
int dump_log_end;
byte last_log_num;
// check that the requested log number can be read
dump_log = argv[1].i;
last_log_num = DataFlash.find_last_log();
if (dump_log == -2) {
for(uint16_t count=1; count<=DataFlash.df_NumPages; count++) {
DataFlash.StartRead(count);
Serial.printf_P(PSTR("DF page, log file #, log page: %d,\t"), count);
Serial.printf_P(PSTR("%d,\t"), DataFlash.GetFileNumber());
Serial.printf_P(PSTR("%d\n"), DataFlash.GetFilePage());
}
return(-1);
} else if (dump_log <= 0) {
Serial.printf_P(PSTR("dumping all\n"));
Log_Read(1, DataFlash.df_NumPages);
return(-1);
} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
Serial.printf_P(PSTR("bad log number\n"));
return(-1);
}
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
Serial.printf_P(PSTR("Dumping Log %d, start pg %d, end pg %d\n"),
dump_log,
dump_log_start,
dump_log_end);
Log_Read(dump_log_start, dump_log_end);
Serial.printf_P(PSTR("Done\n"));
return 0;
}
void erase_callback(unsigned long t) {
mavlink_delay(t);
if (DataFlash.GetWritePage() % 128 == 0) {
Serial.printf_P(PSTR("+"));
}
}
static void do_erase_logs(void)
{
Serial.printf_P(PSTR("\nErasing log...\n"));
DataFlash.EraseAll(erase_callback);
Serial.printf_P(PSTR("\nLog erased.\n"));
}
static int8_t
erase_logs(uint8_t argc, const Menu::arg *argv)
{
in_mavlink_delay = true;
do_erase_logs();
in_mavlink_delay = false;
return 0;
}
static int8_t
select_logs(uint8_t argc, const Menu::arg *argv)
{
uint16_t bits;
if (argc != 2) {
Serial.printf_P(PSTR("missing log type\n"));
return(-1);
}
bits = 0;
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
bits = ~0;
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= MASK_LOG_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
TARG(PM);
TARG(CTUN);
TARG(NTUN);
TARG(MODE);
TARG(RAW);
TARG(CMD);
TARG(CUR);
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
g.log_bitmask.set_and_save(g.log_bitmask | bits);
}else{
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
}
return(0);
}
static int8_t
process_logs(uint8_t argc, const Menu::arg *argv)
{
log_menu.run();
return 0;
}
// Write an attitude packet. Total length : 10 bytes
static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(log_roll);
DataFlash.WriteInt(log_pitch);
DataFlash.WriteInt(log_yaw);
DataFlash.WriteByte(END_BYTE);
}
// Write a performance monitoring packet. Total length : 19 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Performance()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteLong(millis()- perf_mon_timer);
DataFlash.WriteInt((int16_t)mainLoop_count);
DataFlash.WriteInt(G_Dt_max);
DataFlash.WriteByte(0);
DataFlash.WriteByte(imu.adc_constraints);
DataFlash.WriteByte(ahrs.renorm_range_count);
DataFlash.WriteByte(ahrs.renorm_blowup_count);
DataFlash.WriteByte(gps_fix_count);
DataFlash.WriteInt(1);
DataFlash.WriteInt((int)(ahrs.get_gyro_drift().x * 1000));
DataFlash.WriteInt((int)(ahrs.get_gyro_drift().y * 1000));
DataFlash.WriteInt((int)(ahrs.get_gyro_drift().z * 1000));
DataFlash.WriteInt(pmTest1);
DataFlash.WriteByte(END_BYTE);
}
#endif
// Write a command processing packet. Total length : 19 bytes
//void Log_Write_Cmd(byte num, byte id, byte p1, int32_t alt, int32_t lat, int32_t lng)
static void Log_Write_Cmd(byte num, struct Location *wp)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CMD_MSG);
DataFlash.WriteByte(num);
DataFlash.WriteByte(wp->id);
DataFlash.WriteByte(wp->p1);
DataFlash.WriteLong(wp->alt);
DataFlash.WriteLong(wp->lat);
DataFlash.WriteLong(wp->lng);
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Startup(byte type)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_STARTUP_MSG);
DataFlash.WriteByte(type);
DataFlash.WriteByte(g.command_total);
DataFlash.WriteByte(END_BYTE);
// create a location struct to hold the temp Waypoints for printing
struct Location cmd = get_cmd_with_index(0);
Log_Write_Cmd(0, &cmd);
for (int i = 1; i <= g.command_total; i++){
cmd = get_cmd_with_index(i);
Log_Write_Cmd(i, &cmd);
}
}
// Write a control tuning packet. Total length : 22 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Control_Tuning()
{
Vector3f accel = imu.get_accel();
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
DataFlash.WriteInt((int)(g.channel_roll.servo_out));
DataFlash.WriteInt((int)nav_roll);
DataFlash.WriteInt((int)ahrs.roll_sensor);
DataFlash.WriteInt((int)(g.channel_pitch.servo_out));
DataFlash.WriteInt((int)nav_pitch);
DataFlash.WriteInt((int)ahrs.pitch_sensor);
DataFlash.WriteInt((int)(g.channel_throttle.servo_out));
DataFlash.WriteInt((int)(g.channel_rudder.servo_out));
DataFlash.WriteInt((int)(accel.y * 10000));
DataFlash.WriteByte(END_BYTE);
}
#endif
// Write a navigation tuning packet. Total length : 18 bytes
static void Log_Write_Nav_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor);
DataFlash.WriteInt((int)wp_distance);
DataFlash.WriteInt((uint16_t)target_bearing);
DataFlash.WriteInt((uint16_t)nav_bearing);
DataFlash.WriteInt(altitude_error);
DataFlash.WriteInt((int)airspeed);
DataFlash.WriteInt((int)(nav_gain_scaler*1000));
DataFlash.WriteByte(END_BYTE);
}
// Write a mode packet. Total length : 5 bytes
static void Log_Write_Mode(byte mode)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_MODE_MSG);
DataFlash.WriteByte(mode);
DataFlash.WriteByte(END_BYTE);
}
// Write an GPS packet. Total length : 30 bytes
static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t log_Longitude, int32_t log_gps_alt, int32_t log_mix_alt,
int32_t log_Ground_Speed, int32_t log_Ground_Course, byte log_Fix, byte log_NumSats)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_GPS_MSG);
DataFlash.WriteLong(log_Time);
DataFlash.WriteByte(log_Fix);
DataFlash.WriteByte(log_NumSats);
DataFlash.WriteLong(log_Lattitude);
DataFlash.WriteLong(log_Longitude);
DataFlash.WriteInt(sonar_dist); // This one is just temporary for testing out sonar in fixed wing
DataFlash.WriteLong(log_mix_alt);
DataFlash.WriteLong(log_gps_alt);
DataFlash.WriteLong(log_Ground_Speed);
DataFlash.WriteLong(log_Ground_Course);
DataFlash.WriteInt(0);
DataFlash.WriteInt(0);
DataFlash.WriteInt((int)airspeed);
DataFlash.WriteByte(END_BYTE);
}
// Write an raw accel/gyro data packet. Total length : 28 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Raw()
{
Vector3f gyro = imu.get_gyro();
Vector3f accel = imu.get_accel();
gyro *= t7; // Scale up for storage as long integers
accel *= t7;
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong((long)gyro.x);
DataFlash.WriteLong((long)gyro.y);
DataFlash.WriteLong((long)gyro.z);
DataFlash.WriteLong((long)accel.x);
DataFlash.WriteLong((long)accel.y);
DataFlash.WriteLong((long)accel.z);
DataFlash.WriteByte(END_BYTE);
}
#endif
static void Log_Write_Current()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CURRENT_MSG);
DataFlash.WriteInt(g.channel_throttle.control_in);
DataFlash.WriteInt((int)(battery_voltage1 * 100.0));
DataFlash.WriteInt((int)(current_amps1 * 100.0));
DataFlash.WriteInt((int)current_total1);
DataFlash.WriteByte(END_BYTE);
}
// Read a Current packet
static void Log_Read_Current()
{
Serial.printf_P(PSTR("CURR: %d, %4.4f, %4.4f, %d\n"),
DataFlash.ReadInt(),
((float)DataFlash.ReadInt() / 100.f),
((float)DataFlash.ReadInt() / 100.f),
DataFlash.ReadInt());
}
// Read an control tuning packet
static void Log_Read_Control_Tuning()
{
float logvar;
Serial.printf_P(PSTR("CTUN: "));
for (int y = 1; y < 10; y++) {
logvar = DataFlash.ReadInt();
if(y == 7) cur_throttle = logvar;
if(y < 8) logvar = logvar/100.f;
if(y == 9) logvar = logvar/10000.f;
Serial.print(logvar);
Serial.print(comma);
Serial.print(" ");
}
Serial.println("");
}
// Read a nav tuning packet
static void Log_Read_Nav_Tuning()
{
int16_t d[7];
for (int8_t i=0; i<7; i++) {
d[i] = DataFlash.ReadInt();
}
Serial.printf_P(PSTR("NTUN: %4.4f, %d, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f,\n"), // \n
d[0]/100.0,
d[1],
((uint16_t)d[2])/100.0,
((uint16_t)d[3])/100.0,
d[4]/100.0,
d[5]/100.0,
d[5]/1000.0);
}
// Read a performance packet
static void Log_Read_Performance()
{
int32_t pm_time;
int logvar;
Serial.printf_P(PSTR("PM: "));
pm_time = DataFlash.ReadLong();
Serial.print(pm_time);
Serial.print(comma);
for (int y = 1; y <= 12; y++) {
if(y < 3 || y > 7){
logvar = DataFlash.ReadInt();
}else{
logvar = DataFlash.ReadByte();
}
Serial.print(logvar);
Serial.print(comma);
Serial.print(" ");
}
Serial.println("");
}
// Read a command processing packet
static void Log_Read_Cmd()
{
byte logvarb;
int32_t logvarl;
Serial.printf_P(PSTR("CMD: "));
for(int i = 1; i < 4; i++) {
logvarb = DataFlash.ReadByte();
Serial.print(logvarb, DEC);
Serial.print(comma);
Serial.print(" ");
}
for(int i = 1; i < 4; i++) {
logvarl = DataFlash.ReadLong();
Serial.print(logvarl, DEC);
Serial.print(comma);
Serial.print(" ");
}
Serial.println("");
}
static void Log_Read_Startup()
{
byte logbyte = DataFlash.ReadByte();
if (logbyte == TYPE_AIRSTART_MSG)
Serial.printf_P(PSTR("AIR START - "));
else if (logbyte == TYPE_GROUNDSTART_MSG)
Serial.printf_P(PSTR("GROUND START - "));
else
Serial.printf_P(PSTR("UNKNOWN STARTUP - "));
Serial.printf_P(PSTR(" %d commands in memory\n"),(int)DataFlash.ReadByte());
}
// Read an attitude packet
static void Log_Read_Attitude()
{
int16_t d[3];
d[0] = DataFlash.ReadInt();
d[1] = DataFlash.ReadInt();
d[2] = DataFlash.ReadInt();
Serial.printf_P(PSTR("ATT: %d, %d, %u\n"),
d[0], d[1],
(uint16_t)d[2]);
}
// Read a mode packet
static void Log_Read_Mode()
{
Serial.printf_P(PSTR("MOD: "));
Serial.println(flight_mode_strings[DataFlash.ReadByte()]);
}
// Read a GPS packet
static void Log_Read_GPS()
{
int32_t l[7];
byte b[2];
int16_t i,j,k,m;
l[0] = DataFlash.ReadLong();
b[0] = DataFlash.ReadByte();
b[1] = DataFlash.ReadByte();
l[1] = DataFlash.ReadLong();
l[2] = DataFlash.ReadLong();
i = DataFlash.ReadInt();
l[3] = DataFlash.ReadLong();
l[4] = DataFlash.ReadLong();
l[5] = DataFlash.ReadLong();
l[6] = DataFlash.ReadLong();
j = DataFlash.ReadInt();
k = DataFlash.ReadInt();
m = DataFlash.ReadInt();
/*
Serial.printf_P(PSTR("GPS: %ld, %d, %d, %4.7f, %4.7f, %d, %4.4f, %4.4f, %4.4f, %4.4f\n"),
(long)l[0], (int)b[0], (int)b[1],
l[1]/t7, l[2]/t7,
(int)i,
l[3]/100.0, l[4]/100.0, l[5]/100.0, l[6]/100.0); */
Serial.printf_P(PSTR("GPS: %ld, %d, %d, %4.7f, %4.7f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
(long)l[0], (int)b[0], (int)b[1],
l[1]/t7, l[2]/t7,
l[4]/100.0, l[3]/100.0, l[5]/100.0, l[6]/100.0);
Serial.printf_P(PSTR("THP: %4.7f, %4.7f, %4.4f, %2.1f, %2.1f, %2.1f, %d\n"),
l[1]/t7, l[2]/t7, l[3]/100.0,
(float)j/100.0, (float)k/100.0, (float)m/100.0, cur_throttle);
}
// Read a raw accel/gyro packet
static void Log_Read_Raw()
{
float logvar;
Serial.printf_P(PSTR("RAW: "));
for (int y = 0; y < 6; y++) {
logvar = (float)DataFlash.ReadLong() / t7;
Serial.print(logvar);
Serial.print(comma);
Serial.print(" ");
}
Serial.println("");
}
// Read the DataFlash log memory : Packet Parser
static void Log_Read(int16_t start_page, int16_t end_page)
{
int packet_count = 0;
#ifdef AIRFRAME_NAME
Serial.printf_P(PSTR((AIRFRAME_NAME)
#endif
Serial.printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %u\n"),
memcheck_available_memory());
if(start_page > end_page)
{
packet_count = Log_Read_Process(start_page, DataFlash.df_NumPages);
packet_count += Log_Read_Process(1, end_page);
} else {
packet_count = Log_Read_Process(start_page, end_page);
}
Serial.printf_P(PSTR("Number of packets read: %d\n"), packet_count);
}
// Read the DataFlash log memory : Packet Parser
static int Log_Read_Process(int16_t start_page, int16_t end_page)
{
byte data;
byte log_step = 0;
int page = start_page;
int packet_count = 0;
DataFlash.StartRead(start_page);
while (page < end_page && page != -1){
data = DataFlash.ReadByte();
switch(log_step) // This is a state machine to read the packets
{
case 0:
if(data == HEAD_BYTE1) // Head byte 1
log_step++;
break;
case 1:
if(data == HEAD_BYTE2) // Head byte 2
log_step++;
else
log_step = 0;
break;
case 2:
if(data == LOG_ATTITUDE_MSG){
Log_Read_Attitude();
log_step++;
}else if(data == LOG_MODE_MSG){
Log_Read_Mode();
log_step++;
}else if(data == LOG_CONTROL_TUNING_MSG){
Log_Read_Control_Tuning();
log_step++;
}else if(data == LOG_NAV_TUNING_MSG){
Log_Read_Nav_Tuning();
log_step++;
}else if(data == LOG_PERFORMANCE_MSG){
Log_Read_Performance();
log_step++;
}else if(data == LOG_RAW_MSG){
Log_Read_Raw();
log_step++;
}else if(data == LOG_CMD_MSG){
Log_Read_Cmd();
log_step++;
}else if(data == LOG_CURRENT_MSG){
Log_Read_Current();
log_step++;
}else if(data == LOG_STARTUP_MSG){
Log_Read_Startup();
log_step++;
}else {
if(data == LOG_GPS_MSG){
Log_Read_GPS();
log_step++;
}else{
Serial.printf_P(PSTR("Error Reading Packet: %d\n"),packet_count);
log_step = 0; // Restart, we have a problem...
}
}
break;
case 3:
if(data == END_BYTE){
packet_count++;
}else{
Serial.printf_P(PSTR("Error Reading END_BYTE: %d\n"),data);
}
log_step = 0; // Restart sequence: new packet...
break;
}
page = DataFlash.GetPage();
}
return packet_count;
}
#else // LOGGING_ENABLED
// dummy functions
static void Log_Write_Mode(byte mode) {}
static void Log_Write_Startup(byte type) {}
static void Log_Write_Cmd(byte num, struct Location *wp) {}
static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t log_Longitude, int32_t log_gps_alt, int32_t log_mix_alt,
int32_t log_Ground_Speed, int32_t log_Ground_Course, byte log_Fix, byte log_NumSats) {}
static void Log_Write_Performance() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw) {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Raw() {}
#endif // LOGGING_ENABLED
#endif
APMrover2/Makefile 0 → 100644
View file @ ebbf8dc6
include ../libraries/AP_Common/Arduino.mk
nologging:
make -f Makefile EXTRAFLAGS="-DLOGGING_ENABLED=DISABLED"
nogps:
make -f Makefile EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_NONE -DLOGGING_ENABLED=DISABLED"
hil:
make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_SLIDER_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
hilsensors:
make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_SLIDER_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
hilnocli:
make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
heli:
make -f Makefile EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME"
apm2:
make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
apm2beta:
make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
sitl:
make -f ../libraries/Desktop/Makefile.desktop
etags:
cd .. && etags -f ArduPlane/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduPlane libraries)
APMrover2/Parameters.h 0 → 100644
View file @ ebbf8dc6
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
// The version of the layout as described by the parameter enum.
//
// When changing the parameter enum in an incompatible fashion, this
// value should be incremented by one.
//
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 13;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 20; // 0 for APM trunk
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
// Misc
//
k_param_auto_trim,
k_param_switch_enable,
k_param_log_bitmask,
k_param_pitch_trim,
k_param_mix_mode,
k_param_reverse_elevons,
k_param_reverse_ch1_elevon,
k_param_reverse_ch2_elevon,
k_param_flap_1_percent,
k_param_flap_1_speed,
k_param_flap_2_percent,
k_param_flap_2_speed,
k_param_num_resets,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan,
k_param_manual_level,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for port0
k_param_gcs3, // stream rates for port3
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
k_param_telem_delay,
// 120: Fly-by-wire control
//
k_param_flybywire_airspeed_min = 120,
k_param_flybywire_airspeed_max,
k_param_FBWB_min_altitude, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
//
// 130: Sensor parameters
//
k_param_imu = 130, // sensor calibration
k_param_altitude_mix,
k_param_airspeed_ratio,
k_param_ground_temperature,
k_param_ground_pressure,
k_param_compass_enabled,
k_param_compass,
k_param_battery_monitoring,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
k_param_airspeed_offset,
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
k_param_sonar_enabled,
k_param_sonar_type,
#endif
#endif
k_param_airspeed_enabled,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_roll_limit,
k_param_pitch_limit_max,
k_param_pitch_limit_min,
k_param_airspeed_cruise,
k_param_RTL_altitude,
k_param_inverted_flight_ch,
k_param_min_gndspeed,
k_param_ch7_option,
//
// 160: Radio settings
//
k_param_channel_roll = 160,
k_param_channel_pitch,
k_param_channel_throttle,
k_param_channel_rudder,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled, // 170
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_short_fs_action,
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
// ************************************************************
// 180: APMrover parameters - JLN update
k_param_closed_loop_nav,
k_param_auto_wp_radius,
k_param_sonar_trigger,
k_param_turn_gain,
k_param_booster,
// ************************************************************
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200,
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle,
k_param_kff_throttle_to_pitch,
//
// 210: flight modes
//
k_param_flight_mode_channel = 210,
k_param_flight_mode1,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total,
k_param_command_index,
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel,
k_param_fence_minalt,
k_param_fence_maxalt,
//
// 240: PID Controllers
//
// Heading-to-roll PID:
// heading error from command to roll command deviation from trim
// (bank to turn strategy)
//
k_param_pidNavRoll = 240,
// Roll-to-servo PID:
// roll error from command to roll servo deviation from trim
// (tracks commanded bank angle)
//
k_param_pidServoRoll,
//
// Pitch control
//
// Pitch-to-servo PID:
// pitch error from command to pitch servo deviation from trim
// (front-side strategy)
//
k_param_pidServoPitch,
// Airspeed-to-pitch PID:
// airspeed error from command to pitch servo deviation from trim
// (back-side strategy)
//
k_param_pidNavPitchAirspeed,
//
// Yaw control
//
// Yaw-to-servo PID:
// yaw rate error from command to yaw servo deviation from trim
// (stabilizes dutch roll)
//
k_param_pidServoRudder,
//
// Throttle control
//
// Energy-to-throttle PID:
// total energy error from command to throttle servo deviation from trim
// (throttle back-side strategy alternative)
//
k_param_pidTeThrottle,
// Altitude-to-pitch PID:
// altitude error from command to pitch servo deviation from trim
// (throttle front-side strategy alternative)
//
k_param_pidNavPitchAltitude,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud;
AP_Int8 telem_delay;
// Feed-forward gains
//
AP_Float kff_pitch_compensation;
AP_Float kff_rudder_mix;
AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch;
// Crosstrack navigation
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
// Estimation
//
AP_Float altitude_mix;
AP_Float airspeed_ratio;
AP_Int16 airspeed_offset;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int8 waypoint_radius;
AP_Int8 loiter_radius;
#if GEOFENCE_ENABLED == ENABLED
AP_Int8 fence_action;
AP_Int8 fence_total;
AP_Int8 fence_channel;
AP_Int16 fence_minalt; // meters
AP_Int16 fence_maxalt; // meters
#endif
// Fly-by-wire
//
AP_Int8 flybywire_airspeed_min;
AP_Int8 flybywire_airspeed_max;
AP_Int16 FBWB_min_altitude;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;
// Failsafe
AP_Int8 short_fs_action;
AP_Int8 long_fs_action;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 flight_mode_channel;
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
// Navigational maneuvering limits
//
AP_Int16 roll_limit;
AP_Int16 pitch_limit_max;
AP_Int16 pitch_limit_min;
// Misc
//
AP_Int8 auto_trim;
AP_Int8 switch_enable;
AP_Int8 mix_mode;
AP_Int8 reverse_elevons;
AP_Int8 reverse_ch1_elevon;
AP_Int8 reverse_ch2_elevon;
AP_Int16 num_resets;
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan;
AP_Int8 manual_level;
AP_Int16 airspeed_cruise;
AP_Int16 min_gndspeed;
AP_Int8 ch7_option;
AP_Int16 pitch_trim;
AP_Int16 RTL_altitude;
AP_Int16 ground_temperature;
AP_Int32 ground_pressure;
AP_Int8 compass_enabled;
AP_Int16 angle_of_attack;
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 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
#endif
#endif
AP_Int8 airspeed_enabled;
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
// ************ ThermoPilot parameters ************************
// - JLN update
AP_Int8 closed_loop_nav;
AP_Int8 auto_wp_radius;
AP_Int16 sonar_trigger;
AP_Int16 turn_gain;
AP_Int8 booster;
// ************************************************************
// RC channels
RC_Channel channel_roll;
RC_Channel channel_pitch;
RC_Channel channel_throttle;
RC_Channel channel_rudder;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
// PID controllers
//
PID pidNavRoll;
PID pidServoRoll;
PID pidServoPitch;
PID pidNavPitchAirspeed;
PID pidServoRudder;
PID pidTeThrottle;
PID pidNavPitchAltitude;
Parameters() :
// RC channels
channel_roll(CH_1),
channel_pitch(CH_2),
channel_throttle(CH_3),
channel_rudder(CH_4),
rc_5(CH_5),
rc_6(CH_6),
rc_7(CH_7),
rc_8(CH_8),
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX),
pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM)
{}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H
/* ************ ThermoPilot parameters (old parameters setup ) ************************
low_rate_turn (LOW_RATE_TURN, k_param_low_rate_turn, PSTR("TP_LOWR_TURN")),
medium_rate_turn (MEDIUM_RATE_TURN, k_param_medium_rate_turn, PSTR("TP_MEDR_TURN")),
high_rate_turn (HIGH_RATE_TURN, k_param_high_rate_turn, PSTR("TP_HIGR_TURN")),
search_mode_turn (SEARCH_MODE_TURN, k_param_search_mode_turn, PSTR("TP_SRCM_TURN")),
slope_thermal (SLOPE_THERMAL, k_param_slope_thermal, PSTR("TP_SLOPE_THER")),
auto_thermal (AUTO_THERMAL, k_param_auto_thermal, PSTR("TP_AUTO_THER")),
stab_thermal (STAB_THERMAL, k_param_auto_thermal, PSTR("TP_STAB_THER")),
closed_loop_nav (CLOSED_LOOP_NAV, k_param_closed_loop_nav, PSTR("TP_CL_NAV")),
auto_wp_radius (AUTO_WP_RADIUS, k_param_closed_loop_nav, PSTR("TP_AWPR_NAV")),
min_alt (MIN_ALT, k_param_min_alt, PSTR("TP_MIN_ALT")),
max_alt (MAX_ALT, k_param_max_alt, PSTR("TP_MAX_ALT")),
max_dist (MAX_DIST, k_param_max_dist, PSTR("TP_MAX_DIST")),
sarsec_branch (SARSEC_BRANCH, k_param_sarsec_branch, PSTR("TP_SARSEC")),
************************************************************/
APMrover2/Parameters.pde 0 → 100644
View file @ ebbf8dc6
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduPlane parameter definitions
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#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} }
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION", 0),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
GSCALAR(telem_delay, "TELEM_DELAY", 0),
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP),
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX),
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T),
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P),
GSCALAR(manual_level, "MANUAL_LEVEL", 0),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED),
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE),
GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX),
GSCALAR(airspeed_ratio, "ARSPD_RATIO", AIRSPEED_RATIO),
GSCALAR(airspeed_offset, "ARSPD_OFFSET", 0),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
#if GEOFENCE_ENABLED == ENABLED
GSCALAR(fence_action, "FENCE_ACTION", 0),
GSCALAR(fence_total, "FENCE_TOTAL", 0),
GSCALAR(fence_channel, "FENCE_CHANNEL", 0),
GSCALAR(fence_minalt, "FENCE_MINALT", 0),
GSCALAR(fence_maxalt, "FENCE_MAXALT", 0),
#endif
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN),
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX),
GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN),
GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION),
GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION),
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE),
GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL),
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
GSCALAR(roll_limit, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE),
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE),
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE),
GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM),
GSCALAR(switch_enable, "SWITCH_ENABLE", REVERSE_SWITCH),
GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING),
GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE),
GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE),
GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM),
GSCALAR(min_gndspeed, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM),
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
GSCALAR(pitch_trim, "TRIM_PITCH_CD", 0),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL", ALT_HOLD_HOME_CM),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM),
GSCALAR(ground_temperature, "GND_TEMP", 0),
GSCALAR(ground_pressure, "GND_ABS_PRESS", 0),
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT),
GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_2_SPEED),
GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT),
GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED),
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0),
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
#endif
GSCALAR(airspeed_enabled, "ARSPD_ENABLE", AIRSPEED_SENSOR),
// ************************************************************
// APMrover parameters - JLN update
GSCALAR(closed_loop_nav, "ROV_CL_NAV", CLOSED_LOOP_NAV),
GSCALAR(auto_wp_radius, "ROV_AWPR_NAV", AUTO_WP_RADIUS),
GSCALAR(sonar_trigger, "ROV_SONAR_TRIG", SONAR_TRIGGER),
GSCALAR(turn_gain, "ROV_GAIN", TURN_GAIN),
GSCALAR(booster, "ROV_BOOSTER", BOOSTER),
// ************************************************************
GGROUP(channel_roll, "RC1_", RC_Channel),
GGROUP(channel_pitch, "RC2_", RC_Channel),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(channel_rudder, "RC4_", RC_Channel),
GGROUP(rc_5, "RC5_", RC_Channel_aux),
GGROUP(rc_6, "RC6_", RC_Channel_aux),
GGROUP(rc_7, "RC7_", RC_Channel_aux),
GGROUP(rc_8, "RC8_", RC_Channel_aux),
GGROUP(pidNavRoll, "HDNG2RLL_", PID),
GGROUP(pidServoRoll, "RLL2SRV_", PID),
GGROUP(pidServoPitch, "PTCH2SRV_", PID),
GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID),
GGROUP(pidServoRudder, "YW2SRV_", PID),
GGROUP(pidTeThrottle, "ENRGY2THR_", PID),
GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID),
// variables not in the g class which contain EEPROM saved variables
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
GOBJECT(imu, "IMU_", IMU),
AP_VAREND
};
static void load_parameters(void)
{
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}
APMrover2/command_description.txt 0 → 100644
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APMrover2/commands.pde 0 → 100644
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APMrover2/commands_logic.pde 0 → 100644
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APMrover2/commands_process.pde 0 → 100644
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