Пример #1
0
int8_t Rover::test_radio(uint8_t argc, const Menu::arg *argv)
{
	print_hit_enter();
	delay(1000);

	// read the radio to set trims
	// ---------------------------
	trim_radio();

	while(1){
		delay(20);
		read_radio();

		channel_steer->calc_pwm();
		channel_throttle->calc_pwm();

		// write out the servo PWM values
		// ------------------------------
		set_servos();

		cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
							channel_steer->get_control_in(),
							g.rc_2.get_control_in(),
							channel_throttle->get_control_in(),
							g.rc_4.get_control_in(),
							g.rc_5.get_control_in(),
							g.rc_6.get_control_in(),
							g.rc_7.get_control_in(),
							g.rc_8.get_control_in());

		if(cliSerial->available() > 0){
			return (0);
		}
	}
}
Пример #2
0
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
void Rover::startup_ground(void)
{
    set_mode(INITIALISING);
    
	gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");

	#if(GROUND_START_DELAY > 0)
		gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
		delay(GROUND_START_DELAY * 1000);
	#endif

	//IMU ground start
	//------------------------
    //

	startup_INS_ground();

	// read the radio to set trims
	// ---------------------------
	trim_radio();

    // initialise mission library
    mission.init();

    // we don't want writes to the serial port to cause us to pause
    // so set serial ports non-blocking once we are ready to drive
    serial_manager.set_blocking_writes_all(false);

    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
    ins.set_dataflash(&DataFlash);

	gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
}
Пример #3
0
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
void Plane::startup_ground(void)
{
    set_mode(INITIALISING);

    gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));

#if (GROUND_START_DELAY > 0)
    gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
    delay(GROUND_START_DELAY * 1000);
#endif

    // Makes the servos wiggle
    // step 1 = 1 wiggle
    // -----------------------
    if (!g.skip_gyro_cal) {
        demo_servos(1);
    }

    //INS ground start
    //------------------------
    //
    startup_INS_ground();

    // read the radio to set trims
    // ---------------------------
    if (g.trim_rc_at_start != 0) {
        trim_radio();
    }

    // Save the settings for in-air restart
    // ------------------------------------
    //save_EEPROM_groundstart();

    // initialise mission library
    mission.init();

    // Makes the servos wiggle - 3 times signals ready to fly
    // -----------------------
    if (!g.skip_gyro_cal) {
        demo_servos(3);
    }

    // reset last heartbeat time, so we don't trigger failsafe on slow
    // startup
    failsafe.last_heartbeat_ms = millis();

    // 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);

    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
    ins.set_dataflash(&DataFlash);    

    gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
Пример #4
0
int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
{
	uint8_t fail_test = 0;
	print_hit_enter();
	for(int i = 0; i < 50; i++){
		delay(20);
		read_radio();
	}

	// read the radio to set trims
	// ---------------------------
	trim_radio();

	oldSwitchPosition = readSwitch();

	cliSerial->println("Unplug battery, throttle in neutral, turn off radio.");
	while(channel_throttle->get_control_in() > 0){
		delay(20);
		read_radio();
	}

	while(1){
		delay(20);
		read_radio();

		if(channel_throttle->get_control_in() > 0){
			cliSerial->printf("THROTTLE CHANGED %d \n", channel_throttle->get_control_in());
			fail_test++;
		}

		if (oldSwitchPosition != readSwitch()){
			cliSerial->print("CONTROL MODE CHANGED: ");
            print_mode(cliSerial, readSwitch());
            cliSerial->println();
			fail_test++;
		}

        if(throttle_failsafe_active()) {
			cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->get_radio_in());
            print_mode(cliSerial, readSwitch());
            cliSerial->println();
			fail_test++;
		}

		if(fail_test > 0){
			return (0);
		}
		if(cliSerial->available() > 0){
			cliSerial->println("LOS caused no change in APM.");
			return (0);
		}
	}
}
Пример #5
0
int8_t Plane::test_failsafe(uint8_t argc, const Menu::arg *argv)
{
    uint8_t fail_test;
    print_hit_enter();
    for(int16_t i = 0; i < 50; i++) {
        hal.scheduler->delay(20);
        read_radio();
    }

    // read the radio to set trims
    // ---------------------------
    trim_radio();

    oldSwitchPosition = readSwitch();

    cliSerial->printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
    while(channel_throttle->control_in > 0) {
        hal.scheduler->delay(20);
        read_radio();
    }

    while(1) {
        hal.scheduler->delay(20);
        read_radio();

        if(channel_throttle->control_in > 0) {
            cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), (int)channel_throttle->control_in);
            fail_test++;
        }

        if(oldSwitchPosition != readSwitch()) {
            cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
            print_flight_mode(cliSerial, readSwitch());
            cliSerial->println();
            fail_test++;
        }

        if(rc_failsafe_active()) {
            cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), (int)channel_throttle->radio_in);
            print_flight_mode(cliSerial, readSwitch());
            cliSerial->println();
            fail_test++;
        }

        if(fail_test > 0) {
            return (0);
        }
        if(cliSerial->available() > 0) {
            cliSerial->printf_P(PSTR("LOS caused no change in APM.\n"));
            return (0);
        }
    }
}
Пример #6
0
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
void Plane::startup_ground(void)
{
    set_mode(INITIALISING, MODE_REASON_UNKNOWN);

    gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");

#if (GROUND_START_DELAY > 0)
    gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
    delay(GROUND_START_DELAY * 1000);
#endif

    //INS ground start
    //------------------------
    //
    startup_INS_ground();

    // read the radio to set trims
    // ---------------------------
    if (g.trim_rc_at_start != 0) {
        trim_radio();
    }

    // Save the settings for in-air restart
    // ------------------------------------
    //save_EEPROM_groundstart();

    // initialise mission library
    mission.init();

    // reset last heartbeat time, so we don't trigger failsafe on slow
    // startup
    failsafe.last_heartbeat_ms = millis();

    // 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);

    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
    ins.set_dataflash(&DataFlash);

    gcs_send_text(MAV_SEVERITY_INFO,"Ready to fly");
}
Пример #7
0
int8_t Plane::test_radio(uint8_t argc, const Menu::arg *argv)
{
    print_hit_enter();
    hal.scheduler->delay(1000);

    // read the radio to set trims
    // ---------------------------
    trim_radio();

    while(1) {
        hal.scheduler->delay(20);
        read_radio();

        channel_roll->calc_pwm();
        channel_pitch->calc_pwm();
        channel_throttle->calc_pwm();
        channel_rudder->calc_pwm();

        // write out the servo PWM values
        // ------------------------------
        set_servos();

        cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
                        (int)channel_roll->control_in,
                        (int)channel_pitch->control_in,
                        (int)channel_throttle->control_in,
                        (int)channel_rudder->control_in,
                        (int)g.rc_5.control_in,
                        (int)g.rc_6.control_in,
                        (int)g.rc_7.control_in,
                        (int)g.rc_8.control_in);

        if(cliSerial->available() > 0) {
            return (0);
        }
    }
}