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Checkpoint - this is worth an AR.Drone flight test. Fixed thrust scaling in sensors for manual input, kind of fixed AR.Drone motor interface, very reliable now

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This commit is contained in:
Lorenz Meier
2012-09-04 21:16:39 +02:00
parent 62682d805e
commit e503c15361
5 changed files with 115 additions and 71 deletions
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apps/ardrone_interface/ardrone_interface.c
+41 -11
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@@ -217,14 +217,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
exit(ERROR);
}
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
thread_running = false;
exit(ERROR);
}
/* Led animation */
int counter = 0;
int led_counter = 0;
@@ -245,6 +237,44 @@ int ardrone_interface_thread_main(int argc, char *argv[])
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
thread_running = false;
exit(ERROR);
}
ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
// XXX Re-done initialization to make sure it is accepted by the motors
// XXX should be removed after more testing, but no harm
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
thread_running = false;
exit(ERROR);
}
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
thread_running = false;
exit(ERROR);
}
while (!thread_should_exit) {
if (motor_test_mode) {
@@ -267,7 +297,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
}
}
if (counter % 22 == 0) {
if (counter % 16 == 0) {
if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
@@ -297,8 +327,8 @@ int ardrone_interface_thread_main(int argc, char *argv[])
if (led_counter == 12) led_counter = 0;
}
/* run at approximately 100 Hz */
usleep(1000);
/* run at approximately 200 Hz */
usleep(5000);
counter++;
}