Copter: fix to allow building HIL_MODE_SENSORS

ArduCopter/APM_Config.h

@@ -8,7 +8,7 @@
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
-//#define HIL_MODE				HIL_MODE_ATTITUDE
+//#define HIL_MODE				HIL_MODE_SENSORS
 //#define DMP_ENABLED ENABLED
 //#define SECONDARY_DMP_ENABLED ENABLED       // allows running DMP in parallel with DCM for testing purposes
 

ArduCopter/ArduCopter.pde

@@ -229,12 +229,6 @@ AP_Compass_HMC5843 compass;
  #endif
  #endif
 
- #if OPTFLOW == ENABLED
-AP_OpticalFlow_ADNS3080 optflow;
- #else
-AP_OpticalFlow optflow;
- #endif
-
 // real GPS selection
  #if   GPS_PROTOCOL == GPS_PROTOCOL_AUTO
 AP_GPS_Auto     g_gps_driver(&g_gps);
@@ -292,19 +286,20 @@ AP_GPS_HIL              g_gps_driver;
 AP_Compass_HIL          compass;                  // never used
 AP_Baro_BMP085_HIL      barometer;
 
- #if OPTFLOW == ENABLED
-  #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-AP_OpticalFlow_ADNS3080 optflow;
-  #else
-AP_OpticalFlow_ADNS3080 optflow;
-  #endif    // CONFIG_HAL_BOARD == HAL_BOARD_APM2
- #endif     // OPTFLOW == ENABLED
-
 static int32_t gps_base_alt;
 #else
  #error Unrecognised HIL_MODE setting.
 #endif // HIL MODE
 
+////////////////////////////////////////////////////////////////////////////////
+// Optical flow sensor
+////////////////////////////////////////////////////////////////////////////////
+ #if OPTFLOW == ENABLED
+AP_OpticalFlow_ADNS3080 optflow;
+ #else
+AP_OpticalFlow optflow;
+ #endif
+
 ////////////////////////////////////////////////////////////////////////////////
 // GCS selection
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/GCS_Mavlink.pde

@@ -1939,9 +1939,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         ins.set_accel_offsets(accels);
 
 
+ #if HIL_MODE == HIL_MODE_ATTITUDE
         // set AHRS hil sensor
         ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
                     packet.pitchspeed,packet.yawspeed);
+ #endif
 
 
 

ArduCopter/config.h

@@ -301,8 +301,7 @@
  # endif
 #else
  # warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
- # undef SONAR_ENABLED
- # define SONAR_ENABLED DISABLED
+ # define CONFIG_SONAR DISABLED
 #endif
 
 #ifndef CONFIG_SONAR

ArduCopter/defines.h

@@ -43,11 +43,7 @@
 #define THROTTLE_LAND                       8   // landing throttle controller
 
 
-// active altitude sensor
-// ----------------------
-#define SONAR 0
-#define BARO 1
-
+// sonar - for use with CONFIG_SONAR_SOURCE
 #define SONAR_SOURCE_ADC 1
 #define SONAR_SOURCE_ANALOG_PIN 2
 

ArduCopter/options.cmake

@@ -60,9 +60,9 @@ apm_option("PITOT_ENABLED" TYPE BOOL
     DESCRIPTION "Enable pitot static system?"
     DEFAULT OFF)
 
-apm_option("SONAR_ENABLED" TYPE BOOL
+apm_option("CONFIG_SONAR" TYPE BOOL
     DESCRIPTION "Enable sonar?"
-    DEFAULT OFF)
+    DEFAULT ON)
 
 apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED
     DESCRIPTION "Airspeed ratio?"

ArduCopter/test.pde

@@ -24,7 +24,7 @@ static int8_t   test_wp_nav(uint8_t argc,               const Menu::arg *argv);
 static int8_t   test_tuning(uint8_t argc,               const Menu::arg *argv);
 static int8_t   test_relay(uint8_t argc,                const Menu::arg *argv);
 static int8_t   test_wp(uint8_t argc,                   const Menu::arg *argv);
-#if HIL_MODE != HIL_MODE_ATTITUDE
+#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
 static int8_t   test_baro(uint8_t argc,                 const Menu::arg *argv);
 static int8_t   test_sonar(uint8_t argc,                const Menu::arg *argv);
 #endif
@@ -75,7 +75,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
     {"relay",               test_relay},
     {"wp",                  test_wp},
 //	{"toy",			test_toy},
-#if HIL_MODE != HIL_MODE_ATTITUDE
+#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
     {"altitude",    test_baro},
     {"sonar",               test_sonar},
 #endif
@@ -794,7 +794,7 @@ test_wp(uint8_t argc, const Menu::arg *argv)
  *  }
  */
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
+#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
 static int8_t
 test_baro(uint8_t argc, const Menu::arg *argv)
 {
@@ -902,13 +902,14 @@ test_mag(uint8_t argc, const Menu::arg *argv)
  *       }
  *  }*/
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
+#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
 /*
  *  test the sonar
  */
 static int8_t
 test_sonar(uint8_t argc, const Menu::arg *argv)
 {
+#if CONFIG_SONAR == ENABLED
     if(g.sonar_enabled == false) {
         cliSerial->printf_P(PSTR("Sonar disabled\n"));
         return (0);
@@ -922,13 +923,12 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
         delay(100);
 
         cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar->read());
-        //cliSerial->printf_P(PSTR("Sonar, %d, %d\n"), sonar.read(), sonar.raw_value);
 
         if(cliSerial->available() > 0) {
             return (0);
         }
     }
-
+#endif
     return (0);
 }
 #endif