int main (void)
{
Wall wall;
Heli heli;
Landscape landscape;
hardwareInit();
initLandscape(&landscape, 70);
heli_init(&heli);
wall_init(&wall, 10, getYRoof(&landscape, 159), getYBottom(&landscape, 159) );
while(1)
{
//DelayMs(100);
heli_clear(&heli);
if(DIORead(USW0)) {
DPRINT("up\n");
heli_update(&heli, 0.1, 100); // - means up
}
else {
DPRINT("down\n");
heli_update(&heli, -0.1, 100); // + means down
}
landscapeFlow(&landscape, 70);
wall_clear(&wall);
wall_update(&wall, 100);
if(heli_check_collision(&heli, wall.x, wall.y1, wall.x, wall.y2)) {
heli_init(&heli);
wall_init(&wall, 10, getYRoof(&landscape, 159), getYBottom(&landscape, 159) );
}
if(touch(&landscape, heli.x, heli.y+heliRadius)) {
heli_init(&heli);
wall_init(&wall, 10, getYRoof(&landscape, 159), getYBottom(&landscape, 159) );
}
if(touch(&landscape, heli.x, heli.y-heliRadius)) {
heli_init(&heli);
wall_init(&wall, 10, getYRoof(&landscape, 159), getYBottom(&landscape, 159) );
}
wall_draw(&wall);
heli_draw(&heli);
}
}
void rheli_init() {
// initialize the heli drivers
heli_init();
// prepare the resource descriptor
rheli_vars.desc.path0len = sizeof(rheli_path0)-1;
rheli_vars.desc.path0val = (uint8_t*)(&rheli_path0);
rheli_vars.desc.path1len = 0;
rheli_vars.desc.path1val = NULL;
rheli_vars.desc.componentID = COMPONENT_RHELI;
rheli_vars.desc.callbackRx = &rheli_receive;
rheli_vars.desc.callbackSendDone = &rheli_sendDone;
opencoap_register(&rheli_vars.desc);
rheli_vars.timerId = opentimers_start(1000,
TIMER_PERIODIC,TIME_MS,
rheli_timer);
}
void Copter::init_ardupilot()
{
if (!hal.gpio->usb_connected()) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
delay(1000);
}
// initialise serial port
serial_manager.init_console();
// init vehicle capabilties
init_capabilities();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
//
// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
//
report_version();
// load parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial port
serial_manager.init();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
#endif
// initialise notify system
// disable external leds if epm is enabled because of pin conflict on the APM
notify.init(true);
// initialise battery monitor
battery.init();
// Init RSSI
rssi.init();
barometer.init();
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
ap.usb_connected = true;
check_usb_mux();
// init the GCS connected to the console
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// init telemetry port
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
// setup serial port for fourth telemetry port (not used by default)
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky
frsky_telemetry.init(serial_manager);
#endif
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
// update motor interlock state
update_using_interlock();
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
// initialise which outputs Servo and Relay events can use
ServoRelayEvents.set_channel_mask(~motors.get_motor_mask());
relay.init();
/*
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
// Do GPS init
gps.init(&DataFlash, serial_manager);
if(g.compass_enabled)
init_compass();
#if OPTFLOW == ENABLED
// make optflow available to AHRS
ahrs.set_optflow(&optflow);
#endif
// init Location class
Location_Class::set_ahrs(&ahrs);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
Location_Class::set_terrain(&terrain);
wp_nav.set_terrain(&terrain);
#endif
pos_control.set_dt(MAIN_LOOP_SECONDS);
// init the optical flow sensor
init_optflow();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(&DataFlash, serial_manager);
#endif
#if PRECISION_LANDING == ENABLED
// initialise precision landing
init_precland();
#endif
#ifdef USERHOOK_INIT
USERHOOK_INIT
#endif
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground
//-----------------------------
init_barometer(true);
// initialise sonar
#if CONFIG_SONAR == ENABLED
init_sonar();
#endif
// initialise AP_RPM library
rpm_sensor.init();
// initialise mission library
mission.init();
// initialise the flight mode and aux switch
// ---------------------------
reset_control_switch();
init_aux_switches();
startup_INS_ground();
// set landed flags
set_land_complete(true);
set_land_complete_maybe(true);
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
serial_manager.set_blocking_writes_all(false);
// enable CPU failsafe
failsafe_enable();
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
cliSerial->print("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;
}
