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ardupilot/ArduCopter/setup.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if CLI_ENABLED == ENABLED
// Functions called from the setup menu
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
//static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_esc (uint8_t argc, const Menu::arg *argv);
#ifdef OPTFLOW_ENABLED
static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
#endif
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
#if FRAME_CONFIG == HELI_FRAME
static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv);
#endif
// Command/function table for the setup menu
const struct Menu::command setup_menu_commands[] PROGMEM = {
// command function called
// ======= ===============
{"erase", setup_erase},
{"reset", setup_factory},
{"radio", setup_radio},
{"frame", setup_frame},
{"motors", setup_motors},
{"esc", setup_esc},
{"level", setup_accel},
{"modes", setup_flightmodes},
{"battery", setup_batt_monitor},
{"sonar", setup_sonar},
{"compass", setup_compass},
{"tune", setup_tune},
// {"offsets", setup_mag_offset},
{"declination", setup_declination},
#ifdef OPTFLOW_ENABLED
{"optflow", setup_optflow},
#endif
#if FRAME_CONFIG == HELI_FRAME
{"heli", setup_heli},
{"gyro", setup_gyro},
#endif
{"show", setup_show}
};
// Create the setup menu object.
MENU(setup_menu, "setup", setup_menu_commands);
// Called from the top-level menu to run the setup menu.
static int8_t
setup_mode(uint8_t argc, const Menu::arg *argv)
{
// Give the user some guidance
Serial.printf_P(PSTR("Setup Mode\n\n\n"));
//"\n"
//"IMPORTANT: if you have not previously set this system up, use the\n"
//"'reset' command to initialize the EEPROM to sensible default values\n"
//"and then the 'radio' command to configure for your radio.\n"
//"\n"));
if(g.rc_1.radio_min >= 1300){
delay(1000);
Serial.printf_P(PSTR("\n!Warning, your radio is not configured!"));
delay(1000);
Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
}
// Run the setup menu. When the menu exits, we will return to the main menu.
setup_menu.run();
return 0;
}
// Print the current configuration.
// Called by the setup menu 'show' command.
static int8_t
setup_show(uint8_t argc, const Menu::arg *argv)
{
// clear the area
print_blanks(8);
report_version();
report_radio();
report_frame();
report_batt_monitor();
report_sonar();
//report_gains();
//report_xtrack();
//report_throttle();
report_flight_modes();
report_imu();
report_compass();
#ifdef OPTFLOW_ENABLED
report_optflow();
#endif
#if FRAME_CONFIG == HELI_FRAME
report_heli();
report_gyro();
#endif
AP_Var_menu_show(argc, argv);
return(0);
}
// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
// Called by the setup menu 'factoryreset' command.
static int8_t
setup_factory(uint8_t argc, const Menu::arg *argv)
{
int c;
Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));
do {
c = Serial.read();
} while (-1 == c);
if (('y' != c) && ('Y' != c))
return(-1);
AP_Var::erase_all();
Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM"));
delay(1000);
//default_gains();
for (;;) {
}
// note, cannot actually return here
return(0);
}
// Perform radio setup.
// Called by the setup menu 'radio' command.
static int8_t
setup_radio(uint8_t argc, const Menu::arg *argv)
{
Serial.println("\n\nRadio Setup:");
uint8_t i;
for(i = 0; i < 100;i++){
delay(20);
read_radio();
}
if(g.rc_1.radio_in < 500){
while(1){
//Serial.printf_P(PSTR("\nNo radio; Check connectors."));
delay(1000);
// stop here
}
}
g.rc_1.radio_min = g.rc_1.radio_in;
g.rc_2.radio_min = g.rc_2.radio_in;
g.rc_3.radio_min = g.rc_3.radio_in;
g.rc_4.radio_min = g.rc_4.radio_in;
g.rc_5.radio_min = g.rc_5.radio_in;
g.rc_6.radio_min = g.rc_6.radio_in;
g.rc_7.radio_min = g.rc_7.radio_in;
g.rc_8.radio_min = g.rc_8.radio_in;
g.rc_1.radio_max = g.rc_1.radio_in;
g.rc_2.radio_max = g.rc_2.radio_in;
g.rc_3.radio_max = g.rc_3.radio_in;
g.rc_4.radio_max = g.rc_4.radio_in;
g.rc_5.radio_max = g.rc_5.radio_in;
g.rc_6.radio_max = g.rc_6.radio_in;
g.rc_7.radio_max = g.rc_7.radio_in;
g.rc_8.radio_max = g.rc_8.radio_in;
g.rc_1.radio_trim = g.rc_1.radio_in;
g.rc_2.radio_trim = g.rc_2.radio_in;
g.rc_4.radio_trim = g.rc_4.radio_in;
// 3 is not trimed
g.rc_5.radio_trim = 1500;
g.rc_6.radio_trim = 1500;
g.rc_7.radio_trim = 1500;
g.rc_8.radio_trim = 1500;
Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
while(1){
delay(20);
// Filters radio input - adjust filters in the radio.pde file
// ----------------------------------------------------------
read_radio();
g.rc_1.update_min_max();
g.rc_2.update_min_max();
g.rc_3.update_min_max();
g.rc_4.update_min_max();
g.rc_5.update_min_max();
g.rc_6.update_min_max();
g.rc_7.update_min_max();
g.rc_8.update_min_max();
if(Serial.available() > 0){
delay(20);
Serial.flush();
g.rc_1.save_eeprom();
g.rc_2.save_eeprom();
g.rc_3.save_eeprom();
g.rc_4.save_eeprom();
g.rc_5.save_eeprom();
g.rc_6.save_eeprom();
g.rc_7.save_eeprom();
g.rc_8.save_eeprom();
print_done();
break;
}
}
report_radio();
return(0);
}
static int8_t
setup_esc(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("\nESC Calibration:\n"
"-1 Unplug USB and battery\n"
"-2 Move CLI/FLY switch to FLY mode\n"
"-3 Move throttle to max, connect battery\n"
"-4 After two long beeps, throttle to 0, then test\n\n"
" Press Enter to cancel.\n"));
g.esc_calibrate.set_and_save(1);
while(1){
delay(20);
if(Serial.available() > 0){
g.esc_calibrate.set_and_save(0);
return(0);
}
}
}
static int8_t
setup_motors(uint8_t argc, const Menu::arg *argv)
{
while(1){
delay(20);
read_radio();
output_motor_test();
if(Serial.available() > 0){
g.esc_calibrate.set_and_save(0);
return(0);
}
}
}
static int8_t
setup_accel(uint8_t argc, const Menu::arg *argv)
{
imu.init_accel();
print_accel_offsets();
report_imu();
return(0);
}
static int8_t
setup_frame(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("x"))) {
g.frame_orientation.set_and_save(X_FRAME);
} else if (!strcmp_P(argv[1].str, PSTR("p"))) {
g.frame_orientation.set_and_save(PLUS_FRAME);
} else if (!strcmp_P(argv[1].str, PSTR("+"))) {
g.frame_orientation.set_and_save(PLUS_FRAME);
} else if (!strcmp_P(argv[1].str, PSTR("v"))) {
g.frame_orientation.set_and_save(V_FRAME);
}else{
Serial.printf_P(PSTR("\nOptions:[x,+,v]\n"));
report_frame();
return 0;
}
report_frame();
return 0;
}
static int8_t
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
{
byte _switchPosition = 0;
byte _oldSwitchPosition = 0;
byte mode = 0;
Serial.printf_P(PSTR("\nMove mode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
print_hit_enter();
while(1){
delay(20);
read_radio();
_switchPosition = readSwitch();
// look for control switch change
if (_oldSwitchPosition != _switchPosition){
mode = flight_modes[_switchPosition];
mode = constrain(mode, 0, NUM_MODES-1);
// update the user
print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
// Remember switch position
_oldSwitchPosition = _switchPosition;
}
// look for stick input
if (abs(g.rc_1.control_in) > 3000){
mode++;
if(mode >= NUM_MODES)
mode = 0;
// save new mode
flight_modes[_switchPosition] = mode;
// print new mode
print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
delay(500);
}
// look for stick input
if (g.rc_4.control_in > 3000){
g.simple_modes |= (1<<_switchPosition);
// print new mode
print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
delay(500);
}
// look for stick input
if (g.rc_4.control_in < -3000){
g.simple_modes &= ~(1<<_switchPosition);
// print new mode
print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
delay(500);
}
// escape hatch
if(Serial.available() > 0){
for (mode = 0; mode < 6; mode++)
flight_modes[mode].save();
g.simple_modes.save();
print_done();
report_flight_modes();
return (0);
}
}
}
static int8_t
setup_declination(uint8_t argc, const Menu::arg *argv)
{
compass.set_declination(radians(argv[1].f));
report_compass();
return 0;
}
static int8_t
setup_tune(uint8_t argc, const Menu::arg *argv)
{
g.radio_tuning.set_and_save(argv[1].i);
report_tuning();
return 0;
}
static int8_t
setup_erase(uint8_t argc, const Menu::arg *argv)
{
zero_eeprom();
return 0;
}
static int8_t
setup_compass(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("on"))) {
g.compass_enabled.set_and_save(true);
init_compass();
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
clear_offsets();
g.compass_enabled.set_and_save(false);
}else{
Serial.printf_P(PSTR("\nOptions:[on,off]\n"));
report_compass();
return 0;
}
g.compass_enabled.save();
report_compass();
return 0;
}
static int8_t
setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("off"))) {
g.battery_monitoring.set_and_save(0);
} else if(argv[1].i > 0 && argv[1].i <= 4){
g.battery_monitoring.set_and_save(argv[1].i);
} else {
Serial.printf_P(PSTR("\nOptions: off, 1-4"));
}
report_batt_monitor();
return 0;
}
static int8_t
setup_sonar(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("on"))) {
g.sonar_enabled.set_and_save(true);
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
g.sonar_enabled.set_and_save(false);
}else{
Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
report_sonar();
return 0;
}
report_sonar();
return 0;
}
#if FRAME_CONFIG == HELI_FRAME
// Perform heli setup.
// Called by the setup menu 'radio' command.
static int8_t
setup_heli(uint8_t argc, const Menu::arg *argv)
{
uint8_t active_servo = 0;
int value = 0;
int temp;
int state = 0; // 0 = set rev+pos, 1 = capture min/max
int max_roll, max_pitch, min_coll, max_coll, min_tail, max_tail;
// initialise swash plate
heli_init_swash();
// source swash plate movements directly from
heli_manual_override = true;
// display initial settings
report_heli();
// display help
Serial.printf_P(PSTR("Instructions:"));
print_divider();
Serial.printf_P(PSTR("\td\t\tdisplay settings\n"));
Serial.printf_P(PSTR("\t1~4\t\tselect servo\n"));
Serial.printf_P(PSTR("\ta or z\t\tmove mid up/down\n"));
Serial.printf_P(PSTR("\tc\t\tset coll when blade pitch zero\n"));
Serial.printf_P(PSTR("\tm\t\tset roll, pitch, coll min/max\n"));
Serial.printf_P(PSTR("\tp<angle>\tset pos (i.e. p0 = front, p90 = right)\n"));
Serial.printf_P(PSTR("\tr\t\treverse servo\n"));
Serial.printf_P(PSTR("\tt<angle>\tset trim (-500 ~ 500)\n"));
Serial.printf_P(PSTR("\tx\t\texit & save\n"));
// start capturing
while( value != 'x' ) {
// read radio although we don't use it yet
read_radio();
// record min/max
if( state == 1 ) {
if( abs(g.rc_1.control_in) > max_roll )
max_roll = abs(g.rc_1.control_in);
if( abs(g.rc_2.control_in) > max_pitch )
max_pitch = abs(g.rc_2.control_in);
if( g.rc_3.radio_in < min_coll )
min_coll = g.rc_3.radio_in;
if( g.rc_3.radio_in > max_coll )
max_coll = g.rc_3.radio_in;
min_tail = min(g.rc_4.radio_in, min_tail);
max_tail = max(g.rc_4.radio_in, max_tail);
//Serial.printf_P(PSTR("4: ri:%d \tro:%d \tso:%d \n"), (int)g.rc_4.radio_in, (int)g.rc_4.radio_out, (int)g.rc_4.servo_out);
}
if( Serial.available() ) {
value = Serial.read();
// process the user's input
switch( value ) {
case '1':
active_servo = CH_1;
break;
case '2':
active_servo = CH_2;
break;
case '3':
active_servo = CH_3;
break;
case '4':
active_servo = CH_4;
break;
case 'a':
case 'A':
heli_get_servo(active_servo)->radio_trim += 10;
break;
case 'c':
case 'C':
if( g.rc_3.radio_in >= 900 && g.rc_3.radio_in <= 2100 ) {
g.heli_coll_mid = g.rc_3.radio_in;
Serial.printf_P(PSTR("Collective when blade pitch at zero: %d\n"),(int)g.heli_coll_mid);
}
break;
case 'd':
case 'D':
// display settings
report_heli();
break;
case 'm':
case 'M':
if( state == 0 ) {
state = 1; // switch to capture min/max mode
Serial.printf_P(PSTR("Move coll, roll, pitch and tail to extremes, press 'm' when done\n"),active_servo+1, temp);
// reset servo ranges
g.heli_roll_max = g.heli_pitch_max = 4500;
g.heli_coll_min = 1000;
g.heli_coll_max = 2000;
g.heli_servo_4.radio_min = 1000;
g.heli_servo_4.radio_max = 2000;
// set sensible values in temp variables
max_roll = abs(g.rc_1.control_in);
max_pitch = abs(g.rc_2.control_in);
min_coll = 2000;
max_coll = 1000;
min_tail = max_tail = abs(g.rc_4.radio_in);
}else{
state = 0; // switch back to normal mode
// double check values aren't totally terrible
if( max_roll <= 1000 || max_pitch <= 1000 || (max_coll - min_coll < 200) || (max_tail - min_tail < 200) || min_tail < 1000 || max_tail > 2000 )
Serial.printf_P(PSTR("Invalid min/max captured roll:%d, pitch:%d, collective min: %d max: %d, tail min:%d max:%d\n"),max_roll,max_pitch,min_coll,max_coll,min_tail,max_tail);
else{
g.heli_roll_max = max_roll;
g.heli_pitch_max = max_pitch;
g.heli_coll_min = min_coll;
g.heli_coll_max = max_coll;
g.heli_servo_4.radio_min = min_tail;
g.heli_servo_4.radio_max = max_tail;
// reinitialise swash
heli_init_swash();
// display settings
report_heli();
}
}
break;
case 'p':
case 'P':
temp = read_num_from_serial();
if( temp >= -360 && temp <= 360 ) {
if( active_servo == CH_1 )
g.heli_servo1_pos = temp;
if( active_servo == CH_2 )
g.heli_servo2_pos = temp;
if( active_servo == CH_3 )
g.heli_servo3_pos = temp;
heli_init_swash();
Serial.printf_P(PSTR("Servo %d\t\tpos:%d\n"),active_servo+1, temp);
}
break;
case 'r':
case 'R':
heli_get_servo(active_servo)->set_reverse(!heli_get_servo(active_servo)->get_reverse());
break;
case 't':
case 'T':
temp = read_num_from_serial();
if( temp > 1000 )
temp -= 1500;
if( temp > -500 && temp < 500 ) {
heli_get_servo(active_servo)->radio_trim = 1500 + temp;
heli_init_swash();
Serial.printf_P(PSTR("Servo %d\t\ttrim:%d\n"),active_servo+1, 1500 + temp);
}
break;
case 'z':
case 'Z':
heli_get_servo(active_servo)->radio_trim -= 10;
break;
}
}
// allow swash plate to move
output_motors_armed();
delay(20);
}
// display final settings
report_heli();
// save to eeprom
g.heli_servo_1.save_eeprom();
g.heli_servo_2.save_eeprom();
g.heli_servo_3.save_eeprom();
g.heli_servo_4.save_eeprom();
g.heli_servo1_pos.save();
g.heli_servo2_pos.save();
g.heli_servo3_pos.save();
g.heli_roll_max.save();
g.heli_pitch_max.save();
g.heli_coll_min.save();
g.heli_coll_max.save();
g.heli_coll_mid.save();
// return swash plate movements to attitude controller
heli_manual_override = false;
return(0);
}
// setup for external tail gyro (for heli only)
static int8_t
setup_gyro(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("on"))) {
g.heli_ext_gyro_enabled.set_and_save(true);
// optionally capture the gain
if( argc >= 2 && argv[2].i >= 1000 && argv[2].i <= 2000 ) {
g.heli_ext_gyro_gain = argv[2].i;
g.heli_ext_gyro_gain.save();
}
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
g.heli_ext_gyro_enabled.set_and_save(false);
// capture gain if user simply provides a number
} else if( argv[1].i >= 1000 && argv[1].i <= 2000 ) {
g.heli_ext_gyro_enabled.set_and_save(true);
g.heli_ext_gyro_gain = argv[1].i;
g.heli_ext_gyro_gain.save();
}else{
Serial.printf_P(PSTR("\nOptions:[on, off] gain\n"));
}
report_gyro();
return 0;
}
#endif // FRAME_CONFIG == HELI
static void clear_offsets()
{
Vector3f _offsets(0.0,0.0,0.0);
compass.set_offsets(_offsets);
compass.save_offsets();
}
/*static int8_t
setup_mag_offset(uint8_t argc, const Menu::arg *argv)
{
Vector3f _offsets;
if (!strcmp_P(argv[1].str, PSTR("c"))) {
clear_offsets();
report_compass();
return (0);
}
print_hit_enter();
init_compass();
int _min[3] = {0,0,0};
int _max[3] = {0,0,0};
compass.read();
compass.calculate(0,0); // roll = 0, pitch = 0
while(1){
delay(50);
compass.read();
compass.calculate(0,0); // roll = 0, pitch = 0
if(compass.mag_x < _min[0]) _min[0] = compass.mag_x;
if(compass.mag_y < _min[1]) _min[1] = compass.mag_y;
if(compass.mag_z < _min[2]) _min[2] = compass.mag_z;
// capture max
if(compass.mag_x > _max[0]) _max[0] = compass.mag_x;
if(compass.mag_y > _max[1]) _max[1] = compass.mag_y;
if(compass.mag_z > _max[2]) _max[2] = compass.mag_z;
// calculate offsets
_offsets.x = (float)(_max[0] + _min[0]) / -2;
_offsets.y = (float)(_max[1] + _min[1]) / -2;
_offsets.z = (float)(_max[2] + _min[2]) / -2;
// display all to user
Serial.printf_P(PSTR("Heading: %u, \t (%d, %d, %d), (%4.4f, %4.4f, %4.4f)\n"),
(uint16_t)(wrap_360(ToDeg(compass.heading) * 100)) /100,
compass.mag_x,
compass.mag_y,
compass.mag_z,
_offsets.x,
_offsets.y,
_offsets.z);
if(Serial.available() > 1){
compass.set_offsets(_offsets);
//compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z);
report_compass();
return 0;
}
}
return 0;
}
*/
#ifdef OPTFLOW_ENABLED
static int8_t
setup_optflow(uint8_t argc, const Menu::arg *argv)
{
if (!strcmp_P(argv[1].str, PSTR("on"))) {
g.optflow_enabled = true;
init_optflow();
} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
g.optflow_enabled = false;
}else{
Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
report_optflow();
return 0;
}
g.optflow_enabled.save();
report_optflow();
return 0;
}
#endif
/***************************************************************************/
// CLI reports
/***************************************************************************/
static void report_batt_monitor()
{
Serial.printf_P(PSTR("\nBatt Mointor\n"));
print_divider();
if(g.battery_monitoring == 0) print_enabled(false);
if(g.battery_monitoring == 1) Serial.printf_P(PSTR("3 cells"));
if(g.battery_monitoring == 2) Serial.printf_P(PSTR("4 cells"));
if(g.battery_monitoring == 3) Serial.printf_P(PSTR("batt volts"));
if(g.battery_monitoring == 4) Serial.printf_P(PSTR("volts and cur"));
print_blanks(2);
}
static void report_wp(byte index = 255)
{
if(index == 255){
for(byte i = 0; i <= g.waypoint_total; i++){
struct Location temp = get_command_with_index(i);
print_wp(&temp, i);
}
}else{
struct Location temp = get_command_with_index(index);
print_wp(&temp, index);
}
}
static void report_sonar()
{
g.sonar_enabled.load();
Serial.printf_P(PSTR("Sonar\n"));
print_divider();
print_enabled(g.sonar_enabled.get());
print_blanks(2);
}
static void report_frame()
{
Serial.printf_P(PSTR("Frame\n"));
print_divider();
#if FRAME_CONFIG == QUAD_FRAME
Serial.printf_P(PSTR("Quad frame\n"));
#elif FRAME_CONFIG == TRI_FRAME
Serial.printf_P(PSTR("TRI frame\n"));
#elif FRAME_CONFIG == HEXA_FRAME
Serial.printf_P(PSTR("Hexa frame\n"));
#elif FRAME_CONFIG == Y6_FRAME
Serial.printf_P(PSTR("Y6 frame\n"));
#elif FRAME_CONFIG == OCTA_FRAME
Serial.printf_P(PSTR("Octa frame\n"));
#elif FRAME_CONFIG == HELI_FRAME
Serial.printf_P(PSTR("Heli frame\n"));
#endif
#if FRAME_CONFIG != HELI_FRAME
if(g.frame_orientation == X_FRAME)
Serial.printf_P(PSTR("X mode\n"));
else if(g.frame_orientation == PLUS_FRAME)
Serial.printf_P(PSTR("+ mode\n"));
else if(g.frame_orientation == V_FRAME)
Serial.printf_P(PSTR("V mode\n"));
#endif
print_blanks(2);
}
static void report_radio()
{
Serial.printf_P(PSTR("Radio\n"));
print_divider();
// radio
print_radio_values();
print_blanks(2);
}
static void report_imu()
{
Serial.printf_P(PSTR("IMU\n"));
print_divider();
print_gyro_offsets();
print_accel_offsets();
print_blanks(2);
}
static void report_compass()
{
Serial.printf_P(PSTR("Compass\n"));
print_divider();
print_enabled(g.compass_enabled);
// mag declination
Serial.printf_P(PSTR("Mag Dec: %4.4f\n"),
degrees(compass.get_declination()));
Vector3f offsets = compass.get_offsets();
// mag offsets
Serial.printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f"),
offsets.x,
offsets.y,
offsets.z);
print_blanks(2);
}
static void report_flight_modes()
{
Serial.printf_P(PSTR("Flight modes\n"));
print_divider();
for(int i = 0; i < 6; i++ ){
print_switch(i, flight_modes[i], (g.simple_modes & (1<<i)));
}
print_blanks(2);
}
#ifdef OPTFLOW_ENABLED
void report_optflow()
{
Serial.printf_P(PSTR("OptFlow\n"));
print_divider();
print_enabled(g.optflow_enabled);
// field of view
//Serial.printf_P(PSTR("FOV: %4.0f\n"),
// degrees(g.optflow_fov));
print_blanks(2);
}
#endif
#if FRAME_CONFIG == HELI_FRAME
static void report_heli()
{
Serial.printf_P(PSTR("Heli\n"));
print_divider();
// main servo settings
Serial.printf_P(PSTR("Servo \tpos \tmin \tmax \trev\n"));
Serial.printf_P(PSTR("1:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo1_pos, (int)g.heli_servo_1.radio_min, (int)g.heli_servo_1.radio_max, (int)g.heli_servo_1.get_reverse());
Serial.printf_P(PSTR("2:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo2_pos, (int)g.heli_servo_2.radio_min, (int)g.heli_servo_2.radio_max, (int)g.heli_servo_2.get_reverse());
Serial.printf_P(PSTR("3:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo3_pos, (int)g.heli_servo_3.radio_min, (int)g.heli_servo_3.radio_max, (int)g.heli_servo_3.get_reverse());
Serial.printf_P(PSTR("tail:\t\t%d \t%d \t%d\n"), (int)g.heli_servo_4.radio_min, (int)g.heli_servo_4.radio_max, (int)g.heli_servo_4.get_reverse());
Serial.printf_P(PSTR("roll max: \t%d\n"), (int)g.heli_roll_max);
Serial.printf_P(PSTR("pitch max: \t%d\n"), (int)g.heli_pitch_max);
Serial.printf_P(PSTR("coll min:\t%d\t mid:%d\t max:%d\n"),(int)g.heli_coll_min, (int)g.heli_coll_mid, (int)g.heli_coll_max);
print_blanks(2);
}
static void report_gyro()
{
Serial.printf_P(PSTR("External Gyro:\n"));
print_divider();
print_enabled( g.heli_ext_gyro_enabled );
if( g.heli_ext_gyro_enabled )
Serial.printf_P(PSTR("gain: %d"),(int)g.heli_ext_gyro_gain);
print_blanks(2);
}
#endif // FRAME_CONFIG == HELI_FRAME
/***************************************************************************/
// CLI utilities
/***************************************************************************/
/*static void
print_PID(PI * pid)
{
Serial.printf_P(PSTR("P: %4.2f, I:%4.2f, IMAX:%ld\n"),
pid->kP(),
pid->kI(),
(long)pid->imax());
}
*/
static void
print_radio_values()
{
Serial.printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
Serial.printf_P(PSTR("CH2: %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_max);
Serial.printf_P(PSTR("CH3: %d | %d\n"), (int)g.rc_3.radio_min, (int)g.rc_3.radio_max);
Serial.printf_P(PSTR("CH4: %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_max);
Serial.printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
Serial.printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
Serial.printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
//Serial.printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
}
static void
print_switch(byte p, byte m, bool b)
{
Serial.printf_P(PSTR("Pos %d:\t"),p);
Serial.print(flight_mode_strings[m]);
Serial.printf_P(PSTR(",\t\tSimple: "));
if(b)
Serial.printf_P(PSTR("ON\n"));
else
Serial.printf_P(PSTR("OFF\n"));
}
static void
print_done()
{
Serial.printf_P(PSTR("\nSaved Settings\n\n"));
}
static void zero_eeprom(void)
{
byte b = 0;
Serial.printf_P(PSTR("\nErasing EEPROM\n"));
for (int i = 0; i < EEPROM_MAX_ADDR; i++) {
eeprom_write_byte((uint8_t *) i, b);
}
Serial.printf_P(PSTR("done\n"));
}
static void
print_accel_offsets(void)
{
Serial.printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\n"),
(float)imu.ax(),
(float)imu.ay(),
(float)imu.az());
}
static void
print_gyro_offsets(void)
{
Serial.printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
(float)imu.gx(),
(float)imu.gy(),
(float)imu.gz());
}
#if FRAME_CONFIG == HELI_FRAME
static RC_Channel *
heli_get_servo(int servo_num){
if( servo_num == CH_1 )
return &g.heli_servo_1;
if( servo_num == CH_2 )
return &g.heli_servo_2;
if( servo_num == CH_3 )
return &g.heli_servo_3;
if( servo_num == CH_4 )
return &g.heli_servo_4;
return NULL;
}
// Used to read integer values from the serial port
static int read_num_from_serial() {
byte index = 0;
byte timeout = 0;
char data[5] = "";
do {
if (Serial.available() == 0) {
delay(10);
timeout++;
}else{
data[index] = Serial.read();
timeout = 0;
index++;
}
}while (timeout < 5 && index < 5);
return atoi(data);
}
#endif
#endif // CLI_ENABLED
static void
print_blanks(int num)
{
while(num > 0){
num--;
Serial.println("");
}
}
static void
print_divider(void)
{
for (int i = 0; i < 40; i++) {
Serial.print("-");
}
Serial.println("");
}
static void print_enabled(boolean b)
{
if(b)
Serial.printf_P(PSTR("en"));
else
Serial.printf_P(PSTR("dis"));
Serial.printf_P(PSTR("abled\n"));
}
static void
init_esc()
{
g.esc_calibrate.set_and_save(0);
while(1){
read_radio();
delay(100);
dancing_light();
APM_RC.OutputCh(CH_1, g.rc_3.radio_in);
APM_RC.OutputCh(CH_2, g.rc_3.radio_in);
APM_RC.OutputCh(CH_3, g.rc_3.radio_in);
APM_RC.OutputCh(CH_4, g.rc_3.radio_in);
APM_RC.OutputCh(CH_7, g.rc_3.radio_in);
APM_RC.OutputCh(CH_8, g.rc_3.radio_in);
#if FRAME_CONFIG == OCTA_FRAME
APM_RC.OutputCh(CH_10, g.rc_3.radio_in);
APM_RC.OutputCh(CH_11, g.rc_3.radio_in);
#endif
}
}
static void print_wp(struct Location *cmd, byte index)
{
Serial.printf_P(PSTR("command #: %d id:%d op:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
(int)index,
(int)cmd->id,
(int)cmd->options,
(int)cmd->p1,
cmd->alt,
cmd->lat,
cmd->lng);
}
static void report_gps()
{
Serial.printf_P(PSTR("\nGPS\n"));
print_divider();
print_enabled(GPS_enabled);
print_blanks(2);
}
static void report_version()
{
Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
print_divider();
print_blanks(2);
}
static void report_tuning()
{
Serial.printf_P(PSTR("\nTUNE:\n"));
print_divider();
if (g.radio_tuning == 0){
print_enabled(g.radio_tuning.get());
}else{
Serial.printf_P(PSTR(" %d\n"),(int)g.radio_tuning.get());
}
print_blanks(2);
}