From 9e31f032c26b1f22b9c79d36bd6ee9923d96e2cc Mon Sep 17 00:00:00 2001 From: Emile Castelnuovo Date: Mon, 31 Mar 2014 19:57:45 +0200 Subject: [PATCH] Copter: added VRBRAIN board #includes and #defines --- ArduCopter/ArduCopter.pde | 9 +++++++++ ArduCopter/Parameters.h | 8 ++++---- ArduCopter/Parameters.pde | 4 ++-- ArduCopter/config.h | 8 ++++++++ ArduCopter/defines.h | 2 ++ ArduCopter/test.pde | 6 +++--- 6 files changed, 28 insertions(+), 9 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 4b39a8dcec..fa996160f9 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -89,6 +89,7 @@ #include #include #include +#include #include #include #include @@ -213,6 +214,8 @@ static DataFlash_File DataFlash("logs"); static DataFlash_File DataFlash("/fs/microsd/APM/LOGS"); #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX static DataFlash_File DataFlash("logs"); +#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN +static DataFlash_File DataFlash("/fs/microsd/APM/LOGS"); #else static DataFlash_Empty DataFlash; #endif @@ -261,6 +264,8 @@ static AP_InertialSensor_Oilpan ins(&adc); static AP_InertialSensor_HIL ins; #elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4 static AP_InertialSensor_PX4 ins; +#elif CONFIG_IMU_TYPE == CONFIG_IMU_VRBRAIN +static AP_InertialSensor_VRBRAIN ins; #elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE AP_InertialSensor_Flymaple ins; #elif CONFIG_IMU_TYPE == CONFIG_IMU_L3G4200D @@ -278,6 +283,8 @@ static SITL sitl; static AP_Baro_BMP085 barometer; #elif CONFIG_BARO == AP_BARO_PX4 static AP_Baro_PX4 barometer; +#elif CONFIG_BARO == AP_BARO_VRBRAIN +static AP_Baro_VRBRAIN barometer; #elif CONFIG_BARO == AP_BARO_MS5611 #if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi); @@ -290,6 +297,8 @@ static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c); #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 static AP_Compass_PX4 compass; + #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN +static AP_Compass_VRBRAIN compass; #else static AP_Compass_HMC5843 compass; #endif diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index c575723c1e..f0470aa974 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -398,12 +398,12 @@ public: RC_Channel_aux rc_6; RC_Channel_aux rc_7; RC_Channel_aux rc_8; -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_9; #endif RC_Channel_aux rc_10; RC_Channel_aux rc_11; -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_12; RC_Channel_aux rc_13; RC_Channel_aux rc_14; @@ -466,12 +466,12 @@ public: rc_6 (CH_6), rc_7 (CH_7), rc_8 (CH_8), -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN rc_9 (CH_9), #endif rc_10 (CH_10), rc_11 (CH_11), -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN rc_12 (CH_12), rc_13 (CH_13), rc_14 (CH_14), diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde index 0de5138ff6..def1ca2924 100644 --- a/ArduCopter/Parameters.pde +++ b/ArduCopter/Parameters.pde @@ -467,7 +467,7 @@ 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 CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN // @Group: RC9_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_9, "RC9_", RC_Channel_aux), @@ -480,7 +480,7 @@ const AP_Param::Info var_info[] PROGMEM = { // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_11, "RC11_", RC_Channel_aux), -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN // @Group: RC12_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_12, "RC12_", RC_Channel_aux), diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 16661f9c96..01e2424f03 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -97,6 +97,13 @@ # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN # define OPTFLOW DISABLED # define MAIN_LOOP_RATE 400 +#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN + # define CONFIG_IMU_TYPE CONFIG_IMU_VRBRAIN + # define CONFIG_BARO AP_BARO_VRBRAIN + # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN + # define MAGNETOMETER ENABLED + # define OPTFLOW DISABLED + # define MAIN_LOOP_RATE 400 #endif #if MAIN_LOOP_RATE == 400 @@ -182,6 +189,7 @@ #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX # define LED_ON LOW # define LED_OFF HIGH +#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #endif ////////////////////////////////////////////////////////////////////////////// diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index a0a1782479..97ba427a5a 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -307,10 +307,12 @@ enum FlipState { #define CONFIG_IMU_SITL 3 #define CONFIG_IMU_PX4 4 #define CONFIG_IMU_FLYMAPLE 5 +#define CONFIG_IMU_VRBRAIN 6 #define AP_BARO_BMP085 1 #define AP_BARO_MS5611 2 #define AP_BARO_PX4 3 +#define AP_BARO_VRBRAIN 4 #define AP_BARO_MS5611_SPI 1 #define AP_BARO_MS5611_I2C 2 diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 3a9d8e3df4..e909eaa8d3 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -13,7 +13,7 @@ static int8_t test_motors(uint8_t argc, const Menu::arg *argv); static int8_t test_motorsync(uint8_t argc, const Menu::arg *argv); static int8_t test_optflow(uint8_t argc, const Menu::arg *argv); static int8_t test_relay(uint8_t argc, const Menu::arg *argv); -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN static int8_t test_shell(uint8_t argc, const Menu::arg *argv); #endif #if HIL_MODE == HIL_MODE_DISABLED @@ -34,7 +34,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = { {"motorsync", test_motorsync}, {"optflow", test_optflow}, {"relay", test_relay}, -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN {"shell", test_shell}, #endif #if HIL_MODE == HIL_MODE_DISABLED @@ -403,7 +403,7 @@ static int8_t test_relay(uint8_t argc, const Menu::arg *argv) } } -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN /* * run a debug shell */