Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

menu.c@2:90292f8bd179, 2011-04-26 (annotated)

Committer:
gke
Date:
Tue Apr 26 12:12:29 2011 +0000
Revision:
2:90292f8bd179
Parent:
1:1e3318a30ddd 
Not flightworthy. Posted for others to make use of the I2C SW code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 2:90292f8bd179 5 // = http://code.google.com/p/uavp-mods/ =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 void ShowPrompt(void);
gke 0:62a1c91a859a 24 void ShowRxSetup(void);
gke 0:62a1c91a859a 25 void ShowSetup(boolean);
gke 0:62a1c91a859a 26 uint8 MakeUpper(uint8);
gke 0:62a1c91a859a 27 void ProcessCommand(void);
gke 0:62a1c91a859a 28
gke 0:62a1c91a859a 29 const uint8 SerHello[] = "UAVXArm "
gke 0:62a1c91a859a 30 " Copyright 2008 G.K. Egan & 2007 W. Mahringer\r\n"
gke 0:62a1c91a859a 31 "This is FREE SOFTWARE and comes with ABSOLUTELY NO WARRANTY "
gke 0:62a1c91a859a 32 "see http://www.gnu.org/licenses/!\r\n";
gke 0:62a1c91a859a 33 const uint8 SerHelp[] = "\r\nCommands:\r\n"
gke 0:62a1c91a859a 34 "A..Attitude test\r\n"
gke 0:62a1c91a859a 35 "C..Compass test\r\n"
gke 0:62a1c91a859a 36 "D..Load default parameter set\r\n"
gke 0:62a1c91a859a 37 "G..GPS test\r\n"
gke 0:62a1c91a859a 38 "H..Barometer/Rangefinder test\r\n"
gke 0:62a1c91a859a 39 "I..I2C bus scan\r\n"
gke 0:62a1c91a859a 40 "K..Calibrate compass scan\r\n"
gke 0:62a1c91a859a 41 // "M..Modify parameters\r\n"
gke 0:62a1c91a859a 42 "P..Rx test\r\n"
gke 0:62a1c91a859a 43 "S..Setup\r\n"
gke 0:62a1c91a859a 44 "T..All LEDs and buzzer test\r\n"
gke 0:62a1c91a859a 45 "V..Battery test\r\n"
gke 0:62a1c91a859a 46 "X..Flight stats\r\n"
gke 0:62a1c91a859a 47 "Y..Program YGE I2C ESC\r\n"
gke 0:62a1c91a859a 48 "1-8..Individual LED/buzzer test\r\n"; // last line must be in this form for UAVPSet
gke 0:62a1c91a859a 49
gke 0:62a1c91a859a 50 const uint8 RxChMnem[] = "TAERG12";
gke 0:62a1c91a859a 51
gke 0:62a1c91a859a 52 uint8 MakeUpper(uint8 ch) {
gke 0:62a1c91a859a 53 if ( ( ch >='a') && ( ch <='z' ) )
gke 0:62a1c91a859a 54 ch = (ch - 'a') + 'A';
gke 0:62a1c91a859a 55
gke 0:62a1c91a859a 56 return (ch);
gke 0:62a1c91a859a 57 } // MakeUpper
gke 0:62a1c91a859a 58
gke 0:62a1c91a859a 59 void ShowPrompt(void) {
gke 0:62a1c91a859a 60 TxString("\r\n>");
gke 0:62a1c91a859a 61 } // ShowPrompt
gke 0:62a1c91a859a 62
gke 0:62a1c91a859a 63 void ShowRxSetup(void) {
gke 0:62a1c91a859a 64 if ( F.UsingSerialPPM )
gke 0:62a1c91a859a 65 if ( PPMPosPolarity[P[TxRxType]] )
gke 0:62a1c91a859a 66 TxString("Serial PPM frame (Positive Polarity)");
gke 0:62a1c91a859a 67 else
gke 0:62a1c91a859a 68 TxString("Serial PPM frame (Negative Polarity)");
gke 0:62a1c91a859a 69 else
gke 0:62a1c91a859a 70 TxString("Odd Rx Channels PPM");
gke 0:62a1c91a859a 71 } // ShowRxSetup
gke 0:62a1c91a859a 72
gke 0:62a1c91a859a 73 void ShowSetup(boolean h) {
gke 0:62a1c91a859a 74 int8 i;
gke 0:62a1c91a859a 75
gke 0:62a1c91a859a 76 TxNextLine();
gke 0:62a1c91a859a 77 if ( h )
gke 0:62a1c91a859a 78 ParamSet = 1;
gke 0:62a1c91a859a 79
gke 0:62a1c91a859a 80 TxString(SerHello);
gke 0:62a1c91a859a 81
gke 0:62a1c91a859a 82 UpdateRTC();
gke 0:62a1c91a859a 83 i = 0;
gke 0:62a1c91a859a 84 while ( RTCString[i] != NULL )
gke 0:62a1c91a859a 85 TxChar(RTCString[i++]);
gke 0:62a1c91a859a 86 TxNextLine();
gke 0:62a1c91a859a 87
gke 0:62a1c91a859a 88 TxString("Clock: 92MHz LPC1768 (mbed)\r\n");
gke 0:62a1c91a859a 89
gke 0:62a1c91a859a 90 TxString("Aircraft: ");
gke 0:62a1c91a859a 91 switch ( UAVXAirframe ) {
gke 0:62a1c91a859a 92 case QuadAF:
gke 0:62a1c91a859a 93 TxString("QUADROCOPTER\r\n");
gke 0:62a1c91a859a 94 break;
gke 0:62a1c91a859a 95 case TriAF:
gke 0:62a1c91a859a 96 TxString("TRICOPTER\r\n");
gke 0:62a1c91a859a 97 break;
gke 0:62a1c91a859a 98 case VTAF:
gke 0:62a1c91a859a 99 TxString("VTCOPTER\r\n");
gke 0:62a1c91a859a 100 break;
gke 0:62a1c91a859a 101 case HeliAF:
gke 0:62a1c91a859a 102 TxString("HELICOPTER\r\n");
gke 0:62a1c91a859a 103 break;
gke 0:62a1c91a859a 104 case ElevAF:
gke 0:62a1c91a859a 105 TxString("FLYING WING\r\n");
gke 0:62a1c91a859a 106 break;
gke 0:62a1c91a859a 107 case AilAF:
gke 0:62a1c91a859a 108 TxString("AILERON\r\n");
gke 0:62a1c91a859a 109 break;
gke 0:62a1c91a859a 110 default:
gke 0:62a1c91a859a 111 TxString("UNKNOWN\r\n");
gke 0:62a1c91a859a 112 }
gke 0:62a1c91a859a 113
gke 0:62a1c91a859a 114 if ( F.CompassValid ) {
gke 0:62a1c91a859a 115 TxString("Compass: ");
gke 0:62a1c91a859a 116 ShowCompassType();
gke 0:62a1c91a859a 117 TxString(" ( offset ");
gke 0:62a1c91a859a 118 TxVal32((int16)P[CompassOffsetQtr] * 90,0,0);
gke 0:62a1c91a859a 119 TxString("deg. )\r\n");
gke 0:62a1c91a859a 120 }
gke 0:62a1c91a859a 121
gke 0:62a1c91a859a 122 TxString("Baro: ");
gke 0:62a1c91a859a 123 ShowBaroType();
gke 0:62a1c91a859a 124
gke 0:62a1c91a859a 125 TxString("Accelerometers: ");
gke 0:62a1c91a859a 126 ShowAccType();
gke 0:62a1c91a859a 127 TxNextLine();
gke 0:62a1c91a859a 128
gke 0:62a1c91a859a 129 TxString("Gyros: ");
gke 0:62a1c91a859a 130 ShowGyroType();
gke 0:62a1c91a859a 131 TxNextLine();
gke 0:62a1c91a859a 132
gke 0:62a1c91a859a 133 TxString("Motor ESCs: ");
gke 0:62a1c91a859a 134 switch ( P[ESCType] ) {
gke 0:62a1c91a859a 135 case ESCPPM:
gke 0:62a1c91a859a 136 TxString("PPM ");
gke 0:62a1c91a859a 137 break;
gke 0:62a1c91a859a 138 case ESCHolger:
gke 0:62a1c91a859a 139 TxString("Holger I2C {");
gke 0:62a1c91a859a 140 break;
gke 0:62a1c91a859a 141 case ESCX3D:
gke 0:62a1c91a859a 142 TxString("X-3D I2C {");
gke 0:62a1c91a859a 143 break;
gke 0:62a1c91a859a 144 case ESCYGEI2C:
gke 0:62a1c91a859a 145 TxString("YGE I2C {");
gke 0:62a1c91a859a 146 break;
gke 0:62a1c91a859a 147 }
gke 0:62a1c91a859a 148
gke 0:62a1c91a859a 149 if ( P[ESCType] != ESCPPM ) {
gke 0:62a1c91a859a 150 for ( i = 0; i < NoOfI2CESCOutputs; i++ )
gke 0:62a1c91a859a 151 if ( ESCI2CFail[i] )
gke 0:62a1c91a859a 152 TxString(" Fail");
gke 0:62a1c91a859a 153 else
gke 0:62a1c91a859a 154 TxString(" OK");
gke 0:62a1c91a859a 155 TxString(" }");
gke 0:62a1c91a859a 156 }
gke 0:62a1c91a859a 157 TxNextLine();
gke 0:62a1c91a859a 158
gke 0:62a1c91a859a 159 if ( F.HaveBatterySensor )
gke 0:62a1c91a859a 160 TxString("External Volt/Amp Sensor Fitted\r\n");
gke 0:62a1c91a859a 161 #ifdef RX6CH
gke 0:62a1c91a859a 162 TxString("6 CHANNEL VERSION - 5 ACTIVE CHANNELS ONLY\r\n");
gke 0:62a1c91a859a 163 #endif // RX6CH
gke 0:62a1c91a859a 164
gke 0:62a1c91a859a 165 TxString("Tx/Rx: ");
gke 0:62a1c91a859a 166
gke 0:62a1c91a859a 167 switch ( P[TxRxType] ) {
gke 0:62a1c91a859a 168 case FutabaCh3:
gke 0:62a1c91a859a 169 TxString("Futaba Th 3 {");
gke 0:62a1c91a859a 170 break;
gke 0:62a1c91a859a 171 case FutabaCh2:
gke 0:62a1c91a859a 172 TxString("Futaba Th 2 {");
gke 0:62a1c91a859a 173 break;
gke 0:62a1c91a859a 174 case FutabaDM8:
gke 0:62a1c91a859a 175 TxString("Futaba DM8 & AR7000 {");
gke 0:62a1c91a859a 176 break;
gke 0:62a1c91a859a 177 case JRPPM:
gke 0:62a1c91a859a 178 TxString("JR PPM {");
gke 0:62a1c91a859a 179 break;
gke 0:62a1c91a859a 180 case JRDM9:
gke 0:62a1c91a859a 181 TxString("JR DM9 & AR7000{");
gke 0:62a1c91a859a 182 break;
gke 0:62a1c91a859a 183 case JRDXS12:
gke 0:62a1c91a859a 184 TxString("JR DSX12 & AR7000 {");
gke 0:62a1c91a859a 185 break;
gke 0:62a1c91a859a 186 case DX7AR7000:
gke 0:62a1c91a859a 187 TxString("Spektrum DX7 & AR7000 {");
gke 0:62a1c91a859a 188 break;
gke 0:62a1c91a859a 189 case DX7AR6200:
gke 0:62a1c91a859a 190 TxString("Spektrum DX7 & AR6200 {");
gke 0:62a1c91a859a 191 break;
gke 0:62a1c91a859a 192 case CustomTxRx:
gke 0:62a1c91a859a 193 TxString("Custom {");
gke 0:62a1c91a859a 194 break;
gke 0:62a1c91a859a 195 case FutabaCh3_6_7:
gke 0:62a1c91a859a 196 TxString("Futaba Th 2 Swap 6&7 {");
gke 0:62a1c91a859a 197 break;
gke 0:62a1c91a859a 198 case DX7AR6000:
gke 0:62a1c91a859a 199 TxString("Spektrum DX7 & AR6000 {");
gke 0:62a1c91a859a 200 break;
gke 0:62a1c91a859a 201 case DX6iAR6200:
gke 0:62a1c91a859a 202 TxString("Spektrum DX6i & AR6200 {");
gke 0:62a1c91a859a 203 break;
gke 0:62a1c91a859a 204 case FutabaCh3_R617FS:
gke 0:62a1c91a859a 205 TxString("Futaba Th 3 & R617FS {");
gke 0:62a1c91a859a 206 break;
gke 0:62a1c91a859a 207 case GraupnerMX16s:
gke 0:62a1c91a859a 208 TxString("Graupner MX16s {");
gke 0:62a1c91a859a 209 break;
gke 0:62a1c91a859a 210 case DX7aAR7000:
gke 0:62a1c91a859a 211 TxString("Spektrum DX7a & AR7000 {");
gke 0:62a1c91a859a 212 break;
gke 0:62a1c91a859a 213 case FrSkyDJT_D8R:
gke 0:62a1c91a859a 214 TxString("FrSky DJT & D8R-SP Composite {");
gke 0:62a1c91a859a 215 break;
gke 0:62a1c91a859a 216 case ExternalDecoder:
gke 0:62a1c91a859a 217 TxString("External Decoder {");
gke 0:62a1c91a859a 218 break;
gke 0:62a1c91a859a 219 case UnknownTxRx:
gke 0:62a1c91a859a 220 TxString("UNKNOWN {");
gke 0:62a1c91a859a 221 break;
gke 0:62a1c91a859a 222 default:
gke 0:62a1c91a859a 223 ;
gke 0:62a1c91a859a 224 } // switch
gke 0:62a1c91a859a 225
gke 0:62a1c91a859a 226 if ( F.UsingSerialPPM )
gke 0:62a1c91a859a 227 ShowRxSetup();
gke 0:62a1c91a859a 228 else
gke 0:62a1c91a859a 229 if ( P[TxRxType] != UnknownTxRx ) {
gke 0:62a1c91a859a 230 for ( i = 0; i < RC_CONTROLS; i++)
gke 0:62a1c91a859a 231 TxChar(RxChMnem[RMap[i]]);
gke 0:62a1c91a859a 232
gke 0:62a1c91a859a 233 TxString("} connect {");
gke 0:62a1c91a859a 234
gke 0:62a1c91a859a 235 for ( i = 0; i < RC_CONTROLS; i+=2) {
gke 0:62a1c91a859a 236 TxChar(RxChMnem[RMap[i]]);
gke 0:62a1c91a859a 237 TxChar(' ');
gke 0:62a1c91a859a 238 }
gke 0:62a1c91a859a 239 }
gke 0:62a1c91a859a 240 TxChar('}');
gke 0:62a1c91a859a 241 if (( P[TxRxType] == DX7AR6200 ) || ( P[TxRxType] == DX6iAR6200))
gke 0:62a1c91a859a 242 TxString(" Mix Rudder to Aux1/Flaps ");
gke 0:62a1c91a859a 243 if ( F.UsingTxMode2 )
gke 0:62a1c91a859a 244 TxString(" Tx Mode 2");
gke 0:62a1c91a859a 245 else
gke 0:62a1c91a859a 246 TxString(" Tx Mode 1");
gke 0:62a1c91a859a 247 TxNextLine();
gke 0:62a1c91a859a 248
gke 0:62a1c91a859a 249 TxString("Selected parameter set: "); // must be exactly this string as UAVPSet expects it
gke 0:62a1c91a859a 250 TxChar('0' + ParamSet);
gke 0:62a1c91a859a 251 TxNextLine();
gke 0:62a1c91a859a 252
gke 0:62a1c91a859a 253 #ifdef MULTICOPTER
gke 0:62a1c91a859a 254 TxString("Forward Flight: ");
gke 0:62a1c91a859a 255 TxVal32((int16)Orientation * 75L, 1, 0);
gke 0:62a1c91a859a 256 TxString("deg CW from K1 motor(s)\r\n");
gke 0:62a1c91a859a 257 #endif // MULTICOPTER
gke 0:62a1c91a859a 258
gke 0:62a1c91a859a 259 if ( F.UsingAngleControl )
gke 0:62a1c91a859a 260 TxString("\tSticks control roll/pitch angle directly\r\n");
gke 0:62a1c91a859a 261 else
gke 0:62a1c91a859a 262 TxString("\tSticks control rate of change of roll/pitch angle\r\n");
gke 0:62a1c91a859a 263
gke 0:62a1c91a859a 264 if ( F.UsingRTHAutoDescend )
gke 0:62a1c91a859a 265 TxString("\tAuto descend ENABLED\r\n");
gke 0:62a1c91a859a 266 else
gke 0:62a1c91a859a 267 TxString("\tAuto descend disabled\r\n");
gke 0:62a1c91a859a 268
gke 0:62a1c91a859a 269 if ( F.AllowTurnToWP )
gke 0:62a1c91a859a 270 TxString("\tTurn toward Way Point\r\n");
gke 0:62a1c91a859a 271 else
gke 0:62a1c91a859a 272 TxString("\tHold heading\r\n");
gke 0:62a1c91a859a 273
gke 0:62a1c91a859a 274 if ( F.AllowNavAltitudeHold )
gke 0:62a1c91a859a 275 TxString("\tAllow Nav altitude hold\r\n");
gke 0:62a1c91a859a 276 else
gke 0:62a1c91a859a 277 TxString("\tWARNING - Manual Nav altitude hold\r\n");
gke 0:62a1c91a859a 278
gke 0:62a1c91a859a 279 if ( !F.SDCardValid )
gke 0:62a1c91a859a 280 TxString("\tSD Card NOT loaded - DISCONNECT power and load card if required.\r\n");
gke 0:62a1c91a859a 281
gke 0:62a1c91a859a 282 TxString("\r\nALARM (if any):\r\n");
gke 0:62a1c91a859a 283 if ( P[TxRxType] == UnknownTxRx )
gke 0:62a1c91a859a 284 TxString("\tTx/Rx TYPE not set\r\n");
gke 0:62a1c91a859a 285 #ifdef TESTING
gke 0:62a1c91a859a 286 TxString("\tTEST VERSION - No Motors\r\n");
gke 0:62a1c91a859a 287 #endif // TESTING
gke 0:62a1c91a859a 288
gke 0:62a1c91a859a 289 if ( !F.ParametersValid )
gke 0:62a1c91a859a 290 TxString("\tINVALID flight parameters (PID)!\r\n");
gke 0:62a1c91a859a 291
gke 0:62a1c91a859a 292 if ( !F.BaroAltitudeValid )
gke 0:62a1c91a859a 293 TxString("\tBarometer OFFLINE\r\n");
gke 0:62a1c91a859a 294 if ( BaroRetries >= BARO_INIT_RETRIES )
gke 0:62a1c91a859a 295 TxString("\tBaro Init: FAILED\r\n");
gke 0:62a1c91a859a 296
gke 0:62a1c91a859a 297 if ( !F.RangefinderAltitudeValid )
gke 0:62a1c91a859a 298 TxString("\tRangefinder OFFLINE\r\n");
gke 0:62a1c91a859a 299
gke 0:62a1c91a859a 300 if ( F.GyroFailure )
gke 0:62a1c91a859a 301 TxString("\tGyro FAILURE\r\n");
gke 0:62a1c91a859a 302
gke 0:62a1c91a859a 303 if ( !F.AccelerationsValid )
gke 0:62a1c91a859a 304 TxString("\tAccelerometers OFFLINE\r\n");
gke 0:62a1c91a859a 305
gke 0:62a1c91a859a 306 if ( !F.CompassValid )
gke 0:62a1c91a859a 307 TxString("\tCompass OFFLINE\r\n");
gke 0:62a1c91a859a 308
gke 0:62a1c91a859a 309 if ( !F.Signal )
gke 0:62a1c91a859a 310 TxString("\tBad EPAs or Tx switched off?\r\n");
gke 0:62a1c91a859a 311 if ( Armed && FirstPass )
gke 0:62a1c91a859a 312 TxString("\tUAVX is armed - DISARM!\r\n");
gke 0:62a1c91a859a 313
gke 0:62a1c91a859a 314 if ( F.Navigate || F.ReturnHome )
gke 0:62a1c91a859a 315 TxString("\tNavigate/RTH is selected - DESELECT!\r\n");
gke 0:62a1c91a859a 316
gke 0:62a1c91a859a 317 if ( InitialThrottle >= RC_THRES_START )
gke 0:62a1c91a859a 318 TxString("\tThrottle may be open - CLOSE!\r\n");
gke 2:90292f8bd179 319
gke 2:90292f8bd179 320 if ( !F.UsingLEDDriver )
gke 2:90292f8bd179 321 TxString("\tPCA Line Driver OFFLINE - no BUZZER warnings!\r\n");
gke 2:90292f8bd179 322
gke 0:62a1c91a859a 323 ShowPrompt();
gke 0:62a1c91a859a 324 } // ShowSetup
gke 0:62a1c91a859a 325
gke 0:62a1c91a859a 326 void ProcessCommand(void) {
gke 0:62a1c91a859a 327 static int8 p;
gke 0:62a1c91a859a 328 static uint8 ch;
gke 0:62a1c91a859a 329 static int8 d;
gke 0:62a1c91a859a 330
gke 0:62a1c91a859a 331 if ( 1 ) {//!Armed.read() ) {
gke 0:62a1c91a859a 332 ch = PollRxChar();
gke 0:62a1c91a859a 333 if ( ch != NUL ) {
gke 0:62a1c91a859a 334 ch = MakeUpper(ch);
gke 0:62a1c91a859a 335
gke 0:62a1c91a859a 336 switch ( ch ) {
gke 0:62a1c91a859a 337 case 'D':
gke 0:62a1c91a859a 338 UseDefaultParameters();
gke 2:90292f8bd179 339 InitParameters();
gke 0:62a1c91a859a 340 ShowPrompt();
gke 0:62a1c91a859a 341 break;
gke 0:62a1c91a859a 342 case 'L' : // List parameters
gke 0:62a1c91a859a 343 TxString("\r\nParameter list for set #"); // do not change (UAVPset!)
gke 0:62a1c91a859a 344 TxChar('0' + ParamSet);
gke 0:62a1c91a859a 345 ReadParameters();
gke 0:62a1c91a859a 346 for ( p = 0 ; p < MAX_PARAMETERS; p++ ) {
gke 0:62a1c91a859a 347 TxString("\r\nRegister ");
gke 0:62a1c91a859a 348 TxValU((uint8)(p+1));
gke 0:62a1c91a859a 349 TxString(" = ");
gke 0:62a1c91a859a 350 TxValS(P[p]);
gke 0:62a1c91a859a 351 }
gke 0:62a1c91a859a 352 ShowPrompt();
gke 0:62a1c91a859a 353 break;
gke 0:62a1c91a859a 354 case 'M' : // modify parameters
gke 0:62a1c91a859a 355 // no reprogramming in flight!!!!!!!!!!!!!!!
gke 0:62a1c91a859a 356 LEDBlue_ON;
gke 0:62a1c91a859a 357 TxString("\r\nRegister ");
gke 0:62a1c91a859a 358 p = (uint16)(RxNumU()-1);
gke 0:62a1c91a859a 359 // Attempts to block use of old versions of UAVPSet not compatible with UAVX
gke 0:62a1c91a859a 360 // assumes parameters are written sequentially from 0..(MAX_PARAMETERS-1)
gke 0:62a1c91a859a 361
gke 0:62a1c91a859a 362 TxString(" = ");
gke 0:62a1c91a859a 363 d = RxNumS();
gke 0:62a1c91a859a 364 if ( p < MAX_PARAMETERS ) {
gke 0:62a1c91a859a 365 // Keep RAM based set up to date.
gke 0:62a1c91a859a 366 if ( ParamSet == (uint8)1 ) {
gke 0:62a1c91a859a 367 WritePX(p, d);
gke 0:62a1c91a859a 368 if ( DefaultParams[p][1] )
gke 0:62a1c91a859a 369 WritePX(MAX_PARAMETERS + p, d);
gke 0:62a1c91a859a 370 } else {
gke 0:62a1c91a859a 371 if ( !DefaultParams[p][1] )
gke 0:62a1c91a859a 372 WritePX(MAX_PARAMETERS + p, d);
gke 0:62a1c91a859a 373 }
gke 0:62a1c91a859a 374 ParametersChanged = true;
gke 0:62a1c91a859a 375 }
gke 0:62a1c91a859a 376 if ( p < (MAX_PARAMETERS-1) )
gke 0:62a1c91a859a 377 F.ParametersValid = false;
gke 0:62a1c91a859a 378 else
gke 0:62a1c91a859a 379 if ( p == (MAX_PARAMETERS-1) ) {
gke 0:62a1c91a859a 380 WritePXImagefile();
gke 0:62a1c91a859a 381 F.ParametersValid = true; // ALL parameters must be written
gke 0:62a1c91a859a 382 }
gke 0:62a1c91a859a 383 LEDBlue_OFF;
gke 0:62a1c91a859a 384 ShowPrompt();
gke 0:62a1c91a859a 385 break;
gke 0:62a1c91a859a 386 case 'N' : // neutral values
gke 2:90292f8bd179 387 GetNeutralAccelerations();
gke 0:62a1c91a859a 388 TxString("\r\nNeutral R:");
gke 2:90292f8bd179 389 TxValS(NewAccNeutral[LR]);
gke 0:62a1c91a859a 390
gke 0:62a1c91a859a 391 TxString(" P:");
gke 2:90292f8bd179 392 TxValS(NewAccNeutral[BF]);
gke 2:90292f8bd179 393
gke 0:62a1c91a859a 394 TxString(" V:");
gke 0:62a1c91a859a 395 TxValS(NewAccNeutral[UD]);
gke 0:62a1c91a859a 396 ShowPrompt();
gke 0:62a1c91a859a 397 break;
gke 0:62a1c91a859a 398 case 'Z' : // set Paramset
gke 0:62a1c91a859a 399 p = RxNumU();
gke 0:62a1c91a859a 400 if ( p != (int8)ParamSet ) {
gke 0:62a1c91a859a 401 ParamSet = p;
gke 0:62a1c91a859a 402 ParametersChanged = true;
gke 0:62a1c91a859a 403 ReadParameters();
gke 0:62a1c91a859a 404 }
gke 0:62a1c91a859a 405 break;
gke 0:62a1c91a859a 406 case 'W' : // comms with UAVXNav utility NOT UAVPSet
gke 0:62a1c91a859a 407 UAVXNavCommand();
gke 0:62a1c91a859a 408 //ShowPrompt();
gke 0:62a1c91a859a 409 break;
gke 0:62a1c91a859a 410 case 'R': // receiver values
gke 0:62a1c91a859a 411 TxString("\r\nT:");
gke 0:62a1c91a859a 412 TxValU(ToPercent(RC[ThrottleRC], RC_MAXIMUM));
gke 0:62a1c91a859a 413 TxString(",R:");
gke 0:62a1c91a859a 414 TxValS(ToPercent(((RC[RollRC]- RC_NEUTRAL) * 2L), RC_MAXIMUM));
gke 0:62a1c91a859a 415 TxString(",P:");
gke 0:62a1c91a859a 416 TxValS(ToPercent(((RC[PitchRC]- RC_NEUTRAL) * 2L), RC_MAXIMUM));
gke 0:62a1c91a859a 417 TxString(",Y:");
gke 0:62a1c91a859a 418 TxValS(ToPercent(((RC[YawRC]- RC_NEUTRAL) * 2L), RC_MAXIMUM));
gke 0:62a1c91a859a 419 TxString(",5:");
gke 0:62a1c91a859a 420 TxValU(ToPercent(RC[RTHRC], RC_MAXIMUM));
gke 0:62a1c91a859a 421 TxString(",6:");
gke 0:62a1c91a859a 422 TxValS(ToPercent(((RC[CamPitchRC] - RC_NEUTRAL) * 2L), RC_MAXIMUM));
gke 0:62a1c91a859a 423 TxString(",7:");
gke 0:62a1c91a859a 424 TxValU(ToPercent(RC[NavGainRC], RC_MAXIMUM));
gke 0:62a1c91a859a 425 ShowPrompt();
gke 0:62a1c91a859a 426 break;
gke 0:62a1c91a859a 427 case 'S' : // show status
gke 0:62a1c91a859a 428 ShowSetup(false);
gke 0:62a1c91a859a 429 break;
gke 0:62a1c91a859a 430 case 'X' : // flight stats
gke 0:62a1c91a859a 431 ShowStats();
gke 0:62a1c91a859a 432 ShowPrompt();
gke 0:62a1c91a859a 433 break;
gke 0:62a1c91a859a 434 case 'A' : // linear sensor
gke 0:62a1c91a859a 435 AttitudeTest();
gke 0:62a1c91a859a 436 ShowPrompt();
gke 0:62a1c91a859a 437 break;
gke 0:62a1c91a859a 438 case 'G': // GPS
gke 2:90292f8bd179 439 GPSTest();
gke 0:62a1c91a859a 440 ShowPrompt();
gke 0:62a1c91a859a 441 break;
gke 0:62a1c91a859a 442 case 'H': // barometer
gke 0:62a1c91a859a 443 BaroTest();
gke 0:62a1c91a859a 444 ShowPrompt();
gke 0:62a1c91a859a 445 break;
gke 0:62a1c91a859a 446 case 'I':
gke 0:62a1c91a859a 447 TxString("\r\nI2C devices ...\r\n");
gke 0:62a1c91a859a 448 TxVal32(ScanI2CBus(),0,0);
gke 0:62a1c91a859a 449 TxString(" device(s) found\r\n");
gke 0:62a1c91a859a 450 ShowPrompt();
gke 0:62a1c91a859a 451 break;
gke 0:62a1c91a859a 452 case 'P' : // Receiver test
gke 0:62a1c91a859a 453 ReceiverTest();
gke 0:62a1c91a859a 454 ShowPrompt();
gke 0:62a1c91a859a 455 break;
gke 0:62a1c91a859a 456 case 'C' : // Compass test
gke 0:62a1c91a859a 457 DoCompassTest();
gke 0:62a1c91a859a 458 ShowPrompt();
gke 0:62a1c91a859a 459 break;
gke 0:62a1c91a859a 460
gke 0:62a1c91a859a 461 case 'K' : //Calibrate compass
gke 0:62a1c91a859a 462 CalibrateCompass();
gke 0:62a1c91a859a 463 ShowPrompt();
gke 0:62a1c91a859a 464 break;
gke 0:62a1c91a859a 465
gke 0:62a1c91a859a 466 case 'Y': // configure YGE30i EScs
gke 0:62a1c91a859a 467 ConfigureESCs();
gke 0:62a1c91a859a 468 ShowPrompt();
gke 0:62a1c91a859a 469 break;
gke 0:62a1c91a859a 470 case '1':
gke 0:62a1c91a859a 471 case '2':
gke 0:62a1c91a859a 472 case '3':
gke 0:62a1c91a859a 473 case '4':
gke 0:62a1c91a859a 474 case '5':
gke 0:62a1c91a859a 475 case '6':
gke 0:62a1c91a859a 476 case '7':
gke 0:62a1c91a859a 477 case '8':
gke 0:62a1c91a859a 478 TxString("\r\nOutput test\r\n");
gke 0:62a1c91a859a 479 TxChar(ch);
gke 0:62a1c91a859a 480 TxChar(':');
gke 0:62a1c91a859a 481 switch ( ch ) {
gke 0:62a1c91a859a 482 case '1':
gke 0:62a1c91a859a 483 TxString("Aux2");
gke 0:62a1c91a859a 484 break;
gke 0:62a1c91a859a 485 case '2':
gke 0:62a1c91a859a 486 TxString("Blue");
gke 0:62a1c91a859a 487 break;
gke 0:62a1c91a859a 488 case '3':
gke 0:62a1c91a859a 489 TxString("Red");
gke 0:62a1c91a859a 490 break;
gke 0:62a1c91a859a 491 case '4':
gke 0:62a1c91a859a 492 TxString("Green");
gke 0:62a1c91a859a 493 break;
gke 0:62a1c91a859a 494 case '5':
gke 0:62a1c91a859a 495 TxString("Aux1");
gke 0:62a1c91a859a 496 break;
gke 0:62a1c91a859a 497 case '6':
gke 0:62a1c91a859a 498 TxString("Yellow");
gke 0:62a1c91a859a 499 break;
gke 0:62a1c91a859a 500 case '7':
gke 0:62a1c91a859a 501 TxString("Aux3");
gke 0:62a1c91a859a 502 break;
gke 0:62a1c91a859a 503 case '8':
gke 0:62a1c91a859a 504 TxString("Beeper");
gke 0:62a1c91a859a 505 break;
gke 0:62a1c91a859a 506 }
gke 0:62a1c91a859a 507 TxNextLine();
gke 0:62a1c91a859a 508 PowerOutput(ch-'1');
gke 0:62a1c91a859a 509 ShowPrompt();
gke 0:62a1c91a859a 510 break;
gke 0:62a1c91a859a 511 case 'T':
gke 0:62a1c91a859a 512 LEDsAndBuzzer();
gke 0:62a1c91a859a 513 ShowPrompt();
gke 0:62a1c91a859a 514 break;
gke 0:62a1c91a859a 515
gke 0:62a1c91a859a 516 case 'V' : // Battery test
gke 0:62a1c91a859a 517 BatteryTest();
gke 0:62a1c91a859a 518 ShowPrompt();
gke 0:62a1c91a859a 519 break;
gke 0:62a1c91a859a 520 case '?' : // help
gke 0:62a1c91a859a 521 TxString(SerHelp);
gke 0:62a1c91a859a 522 ShowPrompt();
gke 0:62a1c91a859a 523 break;
gke 0:62a1c91a859a 524 default:
gke 0:62a1c91a859a 525 break;
gke 0:62a1c91a859a 526 }
gke 0:62a1c91a859a 527 }
gke 0:62a1c91a859a 528 }
gke 0:62a1c91a859a 529 } // ProcessCommand
gke 0:62a1c91a859a 530