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MultiWii.ino
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MultiWii.ino
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/*
MultiWiiCopter by Alexandre Dubus
www.multiwii.com
July 2012 V2.1
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
any later version. see <http:
// www.gnu.org/licenses/>
<<<<<<< HEAD
LEVEL 7.0 0.010 100
=======
>>>>>>> origin/master
*/
#include <avr/io.h>
#include "config.h"
#include "def.h"
#include <avr/pgmspace.h>
#define VERSION 211
/*********** RC alias *****************/
enum rc
{
ROLL,
PITCH,
YAW,
THROTTLE,
AUX1,
AUX2,
AUX3,
AUX4
}
;
enum pid
{
PIDROLL,
PIDPITCH,
PIDYAW,
PIDALT,
PIDPOS,
PIDPOSR,
PIDNAVR,
PIDLEVEL,
PIDMAG,
PIDVEL,
// not used currently
PIDITEMS
}
;
enum box
{
#if ACC
BOXANGLE,
BOXHORIZON,
#endif
#if BARO && (!defined (SUPPRESS_BARO_ALTHOLD) )
BOXBARO,
#endif
#if MAG
BOXMAG,
#endif
#if defined (SERVO_TILT) || defined (GIMBAL) || defined (SERVO_MIX_TILT)
BOXCAMSTAB,
#endif
#if defined (CAMTRIG)
BOXCAMTRIG,
#endif
BOXARM,
#if GPS
BOXGPSHOME,
BOXGPSHOLD,
#endif
#if defined (FIXEDWING) || defined (HELICOPTER) || defined (INFLIGHT_ACC_CALIBRATION)
BOXPASSTHRU,
#endif
#if MAG
BOXHEADFREE,
#endif
#if defined (BUZZER)
BOXBEEPERON,
#endif
#if defined (LED_FLASHER)
BOXLEDMAX,
// we want maximum illumination
#endif
#if defined (LANDING_LIGHTS_DDR)
BOXLLIGHTS,
// enable landing lights at any altitude
#endif
#if MAG
BOXHEADADJ,
// acquire heading for HEADFREE mode
#endif
CHECKBOXITEMS
}
;
const char boxnames[] PROGMEM =
// names for dynamic generation of config GUI
#if ACC
"ANGLE;"
"HORIZON;"
#endif
#if BARO && (!defined (SUPPRESS_BARO_ALTHOLD) )
"BARO;"
#endif
#if MAG
"MAG;"
#endif
#if defined (SERVO_TILT) || defined (GIMBAL) || defined (SERVO_MIX_TILT)
"CAMSTAB;"
#endif
#if defined (CAMTRIG)
"CAMTRIG;"
#endif
"ARM;"
#if GPS
"GPS HOME;"
"GPS HOLD;"
#endif
#if defined (FIXEDWING) || defined (HELICOPTER) || defined (INFLIGHT_ACC_CALIBRATION)
"PASSTHRU;"
#endif
#if MAG
"HEADFREE;"
#endif
#if defined (BUZZER)
"BEEPER;"
#endif
#if defined (LED_FLASHER)
"LEDMAX;"
#endif
#if defined (LANDING_LIGHTS_DDR)
"LLIGHTS;"
#endif
#if MAG
"HEADADJ;"
#endif
;
const char pidnames[] PROGMEM =
"ROLL;"
"PITCH;"
"YAW;"
"ALT;"
"Pos;"
"PosR;"
"NavR;"
"LEVEL;"
"MAG;"
"VEL;"
;
static uint32_t currentTime = 0;
static uint16_t previousTime = 0;
static uint16_t cycleTime = 0;
// this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
static uint16_t calibratingA = 0;
// the calibration is done in the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
static uint16_t calibratingG;
static uint16_t acc_1G;
// this is the 1G measured acceleration
static int16_t acc_25deg;
static int16_t headFreeModeHold;
static int16_t gyroADC[3],accADC[3],accSmooth[3],magADC[3];
static int16_t heading,magHold;
static uint8_t vbat;
// battery voltage in 0.1V steps
static uint8_t vbatMin = VBATNOMINAL;
// lowest battery voltage in 0.1V steps
static uint8_t rcOptions[CHECKBOXITEMS];
static int32_t BaroAlt;
static int32_t EstAlt;
// in cm
static int16_t BaroPID = 0;
static int32_t AltHold;
static int16_t errorAltitudeI = 0;
static int16_t vario = 0;
// variometer in cm/s
#if defined (ARMEDTIMEWARNING)
static uint32_t ArmedTimeWarningMicroSeconds = 0;
#endif
static int16_t debug[4];
static int16_t sonarAlt;
// to think about the unit
struct flags_struct
{
uint8_t OK_TO_ARM :
1 ;
uint8_t ARMED :
1 ;
uint8_t I2C_INIT_DONE :
1 ;
// For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup () )
uint8_t ACC_CALIBRATED :
1 ;
uint8_t NUNCHUKDATA :
1 ;
uint8_t ANGLE_MODE :
1 ;
uint8_t HORIZON_MODE :
1 ;
uint8_t MAG_MODE :
1 ;
uint8_t BARO_MODE :
1 ;
uint8_t GPS_HOME_MODE :
1 ;
uint8_t GPS_HOLD_MODE :
1 ;
uint8_t HEADFREE_MODE :
1 ;
uint8_t PASSTHRU_MODE :
1 ;
uint8_t GPS_FIX :
1 ;
uint8_t GPS_FIX_HOME :
1 ;
uint8_t SMALL_ANGLES_25 :
1 ;
uint8_t CALIBRATE_MAG :
1 ;
}
f;
// for log
#if defined (LOG_VALUES) || defined (LCD_TELEMETRY)
static uint16_t cycleTimeMax = 0;
// highest ever cycle timen
static uint16_t cycleTimeMin = 65535;
// lowest ever cycle timen
static uint16_t powerMax = 0;
// highest ever current;
static int32_t BAROaltStart;
// offset value from powerup
static int32_t BAROaltMax;
// maximum value
#endif
#if defined (LOG_VALUES) || defined (LCD_TELEMETRY) || defined (ARMEDTIMEWARNING)
static uint32_t armedTime = 0;
#endif
static int16_t i2c_errors_count = 0;
static int16_t annex650_overrun_count = 0;
// **********************
// Automatic ACC Offset Calibration
// **********************
#if defined (INFLIGHT_ACC_CALIBRATION)
static uint16_t InflightcalibratingA = 0;
static int16_t AccInflightCalibrationArmed;
static uint16_t AccInflightCalibrationMeasurementDone = 0;
static uint16_t AccInflightCalibrationSavetoEEProm = 0;
static uint16_t AccInflightCalibrationActive = 0;
#endif
// **********************
// power meter
// **********************
#if defined (POWERMETER)
#define PMOTOR_SUM 8
// index into pMeter[] for sum
static uint32_t pMeter[PMOTOR_SUM + 1];
// we use [0:7] for eight motors,one extra for sum
static uint8_t pMeterV;
// dummy to satisfy the paramStruct logic in ConfigurationLoop ()
static uint32_t pAlarm;
// we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
static uint16_t powerValue = 0;
// last known current
#endif
static uint16_t intPowerMeterSum, intPowerTrigger1;
// **********************
// telemetry
// **********************
#if defined (LCD_TELEMETRY)
static uint8_t telemetry = 0;
static uint8_t telemetry_auto = 0;
#endif
#ifdef LCD_TELEMETRY_STEP
static char telemetryStepSequence [] = LCD_TELEMETRY_STEP;
static uint8_t telemetryStepIndex = 0;
#endif
// ******************
// rc functions
// ******************
#define MINCHECK 1100
#define MAXCHECK 1900
#define ROL_LO (1<< (2*ROLL) )
#define ROL_CE (3<< (2*ROLL) )
#define ROL_HI (2<< (2*ROLL) )
#define PIT_LO (1<< (2*PITCH) )
#define PIT_CE (3<< (2*PITCH) )
#define PIT_HI (2<< (2*PITCH) )
#define YAW_LO (1<< (2*YAW) )
#define YAW_CE (3<< (2*YAW) )
#define YAW_HI (2<< (2*YAW) )
#define THR_LO (1<< (2*THROTTLE) )
#define THR_CE (3<< (2*THROTTLE) )
#define THR_HI (2<< (2*THROTTLE) )
static int16_t failsafeEvents = 0;
volatile int16_t failsafeCnt = 0;
static int16_t rcData[RC_CHANS];
// interval [1000;2000]
static int16_t rcCommand[4];
// interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
static int16_t lookupPitchRollRC[6];
// lookup table for expo & RC rate PITCH+ROLL
static int16_t lookupThrottleRC[11];
// lookup table for expo & mid THROTTLE
#if defined (SPEKTRUM)
volatile uint8_t spekFrameFlags;
volatile uint32_t spekTimeLast;
#endif
#if defined (OPENLRSv2MULTI)
static uint8_t pot_P,pot_I;
// OpenLRS onboard potentiometers for P and I trim or other usages
#endif
// **************
// gyro+acc IMU
// **************
static int16_t gyroData[3] =
{
0,0,0
}
;
static int16_t gyroZero[3] =
{
0,0,0
}
;
static int16_t angle[2] =
{
0,0
}
;
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
// *************************
// motor and servo functions
// *************************
static int16_t axisPID[3];
static int16_t motor[NUMBER_MOTOR];
#if defined (SERVO)
static int16_t servo[8] =
{
1500,1500,1500,1500,1500,1500,1500,1500
}
;
#endif
// ************************
// EEPROM Layout definition
// ************************
static uint8_t dynP8[3], dynD8[3];
static struct
{
uint8_t currentSet;
int16_t accZero[3];
int16_t magZero[3];
uint8_t checksum;
// MUST BE ON LAST POSITION OF STRUCTURE !
}
global_conf;
static struct
{
uint8_t checkNewConf;
uint8_t P8[PIDITEMS], I8[PIDITEMS], D8[PIDITEMS];
uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t rollPitchRate;
uint8_t yawRate;
uint8_t dynThrPID;
uint8_t thrMid8;
uint8_t thrExpo8;
int16_t angleTrim[2];
uint16_t activate[CHECKBOXITEMS];
uint8_t powerTrigger1;
#ifdef FLYING_WING
uint16_t wing_left_mid;
uint16_t wing_right_mid;
#endif
#ifdef TRI
uint16_t tri_yaw_middle;
#endif
#if defined HELICOPTER || defined (AIRPLANE) || defined (SINGLECOPTER) || defined (DUALCOPTER)
int16_t servoTrim[8];
#endif
#if defined (GYRO_SMOOTHING)
uint8_t Smoothing[3];
#endif
#if defined (FAILSAFE)
int16_t failsafe_throttle;
#endif
#ifdef VBAT
uint8_t vbatscale;
uint8_t vbatlevel1_3s;
uint8_t vbatlevel2_3s;
uint8_t vbatlevel3_3s;
uint8_t vbatlevel4_3s;
uint8_t no_vbat;
#endif
#ifdef POWERMETER
uint16_t psensornull;
uint16_t pleveldivsoft;
uint16_t pleveldiv;
uint8_t pint2ma;
#endif
#ifdef CYCLETIME_FIXATED
uint16_t cycletime_fixated;
#endif
uint8_t checksum;
// MUST BE ON LAST POSITION OF CONF STRUCTURE !
}
conf;
// **********************
// GPS common variables
// **********************
static int32_t GPS_coord[2];
static int32_t GPS_home[2];
static int32_t GPS_hold[2];
static uint8_t GPS_numSat;
static uint16_t GPS_distanceToHome;
// distance to home in meters
static int16_t GPS_directionToHome;
// direction to home in degrees
static uint16_t GPS_altitude,GPS_speed;
// altitude in 0.1m and speed in 0.1m/s
static uint8_t GPS_update = 0;
// it\'s a binary toogle to distinct a GPS position update
static int16_t GPS_angle[2] =
{
0, 0
}
;
// it\'s the angles that must be applied for GPS correction
static uint16_t GPS_ground_course = 0;
// degrees*10
static uint8_t GPS_Present = 0;
// Checksum from Gps serial
static uint8_t GPS_Enable = 0;
#define LAT 0
#define LON 1
// The desired bank towards North (Positive) or South (Negative) : latitude
// The desired bank towards East (Positive) or West (Negative) : longitude
static int16_t nav[2];
static int16_t nav_rated[2];
// Adding a rate controller to the navigation to make it smoother
// default POSHOLD control gains
#define POSHOLD_P .11
#define POSHOLD_I 0.0
#define POSHOLD_IMAX 20
// degrees
#define POSHOLD_RATE_P 2.0
#define POSHOLD_RATE_I 0.08
// Wind control
#define POSHOLD_RATE_D 0.045
// try 2 or 3 for POSHOLD_RATE 1
#define POSHOLD_RATE_IMAX 20
// degrees
// default Navigation PID gains
#define NAV_P 1.4
#define NAV_I 0.20
// Wind control
#define NAV_D 0.08
//
#define NAV_IMAX 20
// degrees
//
//
//
//
//
//
//
//
//
//
//
//
//
//
//
// /
// Serial GPS only variables
// navigation mode
#define NAV_MODE_NONE 0
#define NAV_MODE_POSHOLD 1
#define NAV_MODE_WP 2
static uint8_t nav_mode = NAV_MODE_NONE;
// Navigation mode
static uint8_t notification_toggle = 0,
notification_confirmation = 0,
warn_ACCcalibration = 0;
void annexCode ()
{
// this code is excetuted at each loop and won\'t interfere with control loop if it lasts less than 650 microseconds
static uint32_t calibratedAccTime;
uint16_t tmp,tmp2;
uint8_t axis,prop1,prop2;
#define BREAKPOINT 1500
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE]<BREAKPOINT)
{
prop2 = 100;
}
else
{
if (rcData[THROTTLE]<2000)
{
prop2 = 100 - (uint16_t) conf.dynThrPID* (rcData[THROTTLE]-BREAKPOINT) / (2000-BREAKPOINT) ;
}
else
{
prop2 = 100 - conf.dynThrPID;
}
}
for (axis=0;axis<3;axis++)
{
tmp = min (abs (rcData[axis]-MIDRC) ,500) ;
#if defined (DEADBAND)
if (tmp>DEADBAND)
{
tmp -= DEADBAND;
}
else
{
tmp=0;
}
#endif
if (axis!=2)
{
// ROLL & PITCH
tmp2 = tmp/100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp-tmp2*100) * (lookupPitchRollRC[tmp2+1]-lookupPitchRollRC[tmp2]) / 100;
prop1 = 100- (uint16_t) conf.rollPitchRate*tmp/500;
prop1 = (uint16_t) prop1*prop2/100;
}
else
{
// YAW
rcCommand[axis] = tmp;
prop1 = 100- (uint16_t) conf.yawRate*tmp/500;
}
dynP8[axis] = (uint16_t) conf.P8[axis]*prop1/100;
dynD8[axis] = (uint16_t) conf.D8[axis]*prop1/100;
if (rcData[axis]<MIDRC) rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain (rcData[THROTTLE],MINCHECK,2000) ;
tmp = (uint32_t) (tmp-MINCHECK) *1000/ (2000-MINCHECK) ;
// [MINCHECK;2000] -> [0;1000]
tmp2 = tmp/100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp-tmp2*100) * (lookupThrottleRC[tmp2+1]-lookupThrottleRC[tmp2]) / 100;
// [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (f.HEADFREE_MODE)
{
// to optimize
float radDiff = (heading - headFreeModeHold) * 0.0174533f;
// where PI/180 ~= 0.0174533
float cosDiff = cos (radDiff) ;
float sinDiff = sin (radDiff) ;
int16_t rcCommand_PITCH = rcCommand[PITCH]*cosDiff + rcCommand[ROLL]*sinDiff;
rcCommand[ROLL] = rcCommand[ROLL]*cosDiff - rcCommand[PITCH]*sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
#if defined (POWERMETER_HARD)
uint16_t pMeterRaw;
// used for current reading
static uint16_t psensorTimer = 0;
if (! (++psensorTimer % PSENSORFREQ) )
{
pMeterRaw = analogRead (PSENSORPIN) ;
powerValue = ( conf.psensornull > pMeterRaw ? conf.psensornull - pMeterRaw : pMeterRaw - conf.psensornull) ;
// do not use abs () , it would induce implicit cast to uint and overrun
if ( powerValue < 333)
{
// only accept reasonable values. 333 is empirical
#ifdef LCD_TELEMETRY
if (powerValue > powerMax) powerMax = powerValue;
#endif
}
else
{
powerValue = 333;
}
pMeter[PMOTOR_SUM] += (uint32_t) powerValue;
}
#endif
#if defined (BUZZER)
#if defined (VBAT)
static uint8_t vbatTimer = 0;
static uint8_t ind = 0;
uint16_t vbatRaw = 0;
static uint16_t vbatRawArray[8];
if (! (++vbatTimer % VBATFREQ) )
{
vbatRawArray[ (ind++) %8] = analogRead (V_BATPIN) ;
for (uint8_t i=0;i<8;i++) vbatRaw += vbatRawArray[i];
vbat = vbatRaw / (conf.vbatscale/2) ;
// result is Vbatt in 0.1V steps
}
#endif
alarmHandler () ;
// external buzzer routine that handles buzzer events globally now
#endif
if ( (calibratingA>0 && ACC ) || (calibratingG>0) )
{
// Calibration phasis
LEDPIN_TOGGLE;
}
else
{
if (f.ACC_CALIBRATED)
{
LEDPIN_OFF;
}
if (f.ARMED)
{
LEDPIN_ON;
}
}
#if defined (LED_RING)
static uint32_t LEDTime;
if ( currentTime > LEDTime )
{
LEDTime = currentTime + 50000;
i2CLedRingState () ;
}
#endif
#if defined (LED_FLASHER)
auto_switch_led_flasher () ;
#endif
if ( currentTime > calibratedAccTime )
{
if (! f.SMALL_ANGLES_25)
{
// the multi uses ACC and is not calibrated or is too much inclinated
f.ACC_CALIBRATED = 0;
LEDPIN_TOGGLE;
calibratedAccTime = currentTime + 100000;
}
else
{
f.ACC_CALIBRATED = 1;
}
}
#if ! (defined (SPEKTRUM) && defined (PROMINI) )
// Only one serial port on ProMini. Skip serial com if Spektrum Sat in use. Note: Spek code will auto-call serialCom if GUI data detected on serial0.
#if defined (GPS_PROMINI)
if (GPS_Enable == 0)
{
serialCom () ;
}
#else
serialCom () ;
#endif
#endif
#if defined (POWERMETER)
intPowerMeterSum = (pMeter[PMOTOR_SUM]/conf.pleveldiv) ;
intPowerTrigger1 = conf.powerTrigger1 * PLEVELSCALE;
#endif
#ifdef LCD_TELEMETRY_AUTO
static char telemetryAutoSequence [] = LCD_TELEMETRY_AUTO;
static uint8_t telemetryAutoIndex = 0;
static uint16_t telemetryAutoTimer = 0;
if ( (telemetry_auto) && (! (++telemetryAutoTimer % LCD_TELEMETRY_AUTO_FREQ) ) )
{
telemetry = telemetryAutoSequence[++telemetryAutoIndex % strlen (telemetryAutoSequence) ];
LCDclear () ;
// make sure to clear away remnants
}
#endif
#ifdef LCD_TELEMETRY
static uint16_t telemetryTimer = 0;
if (! (++telemetryTimer % LCD_TELEMETRY_FREQ) )
{
#if (LCD_TELEMETRY_DEBUG+0 > 0)
telemetry = LCD_TELEMETRY_DEBUG;
#endif
if (telemetry) lcd_telemetry () ;
}
#endif
#if GPS & defined (GPS_LED_INDICATOR)
// modified by MIS to use STABLEPIN LED for number of sattelites indication
static uint32_t GPSLEDTime;
// - No GPS FIX -> LED blink at speed of incoming GPS frames
static uint8_t blcnt;
// - Fix and sat no. bellow 5 -> LED off
if (currentTime > GPSLEDTime)
{
// - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ...
if (f.GPS_FIX && GPS_numSat >= 5)
{
if (++blcnt > 2*GPS_numSat) blcnt = 0;
GPSLEDTime = currentTime + 150000;
if (blcnt >= 10 && ( (blcnt%2) == 0) )
{
STABLEPIN_ON;
}
else
{
STABLEPIN_OFF;
}
}
else
{
if ( (GPS_update == 1) && !f.GPS_FIX)
{
STABLEPIN_ON;
}
else
{
STABLEPIN_OFF;
}
blcnt = 0;
}
}
#endif
#if defined (LOG_VALUES) && (LOG_VALUES >= 2)
if (cycleTime > cycleTimeMax) cycleTimeMax = cycleTime;
// remember highscore
if (cycleTime < cycleTimeMin) cycleTimeMin = cycleTime;
// remember lowscore
#endif
#if defined (LCD_TELEMETRY) || defined (ARMEDTIMEWARNING)
if (f.ARMED) armedTime += (uint32_t) cycleTime;
#endif
#if defined (VBAT)
if (vbat > conf.no_vbat)
{
// only track possibly sane voltage values
if (!f.ARMED)
{
vbatMin = vbat;
}
else
{
if (vbat < vbatMin) vbatMin = vbat;
}
}
#endif
#ifdef LCD_TELEMETRY
#if BARO
if (!f.ARMED)
{
BAROaltStart = BaroAlt;
BAROaltMax = BaroAlt;
}
else
{
if (BaroAlt > BAROaltMax) BAROaltMax = BaroAlt;
}
#endif
#endif
}
void setup ()
{
#if !defined (GPS_PROMINI)
SerialOpen (0,SERIAL0_COM_SPEED) ;
#if defined (PROMICRO)
SerialOpen (1,SERIAL1_COM_SPEED) ;
#endif
#if defined (MEGA)
SerialOpen (1,SERIAL1_COM_SPEED) ;
SerialOpen (2,SERIAL2_COM_SPEED) ;
SerialOpen (3,SERIAL3_COM_SPEED) ;
#endif
#endif
LEDPIN_PINMODE;
POWERPIN_PINMODE;
BUZZERPIN_PINMODE;
STABLEPIN_PINMODE;
POWERPIN_OFF;
initOutput () ;
for (global_conf.currentSet=0; global_conf.currentSet<3; global_conf.currentSet++)
{
// check all settings integrity
readEEPROM () ;
}
readGlobalSet () ;
readEEPROM () ;
// load current setting data
blinkLED (2,40,global_conf.currentSet+1) ;
configureReceiver () ;
#if defined (PILOTLAMP)
PL_INIT;
#endif
#if defined (OPENLRSv2MULTI)
initOpenLRS () ;
#endif
initSensors () ;
#if defined (I2C_GPS) || defined (GPS_SERIAL) || defined (GPS_FROM_OSD)
GPS_set_pids () ;
#endif
previousTime = micros () ;
#if defined (GIMBAL)
calibratingA = 400;
#endif
calibratingG = 400;
#if defined (POWERMETER)
for (uint8_t i=0;i<=PMOTOR_SUM;i++)
pMeter[i]=0;
#endif
#if defined (ARMEDTIMEWARNING)
ArmedTimeWarningMicroSeconds = (ARMEDTIMEWARNING *1000000) ;
#endif
/************************************/
#if defined (GPS_SERIAL)
GPS_SerialInit () ;
for (uint8_t i=0;i<=5;i++)
{
GPS_NewData () ;
LEDPIN_ON
delay (20) ;
LEDPIN_OFF
delay (80) ;
}
if (!GPS_Present)
{
SerialEnd (GPS_SERIAL) ;
SerialOpen (0,SERIAL0_COM_SPEED) ;
}
#if !defined (GPS_PROMINI)
GPS_Present = 1;
#endif
GPS_Enable = GPS_Present;
#endif
/************************************/
#if defined (I2C_GPS) || defined (TINY_GPS) || defined (GPS_FROM_OSD)
GPS_Enable = 1;
#endif
#if defined (LCD_ETPP) || defined (LCD_LCD03) || defined (OLED_I2C_128x64) || defined (LCD_TELEMETRY_STEP)
initLCD () ;
#endif
#ifdef LCD_TELEMETRY_DEBUG
telemetry_auto = 1;
#endif
#ifdef LCD_CONF_DEBUG
configurationLoop () ;
#endif
#ifdef LANDING_LIGHTS_DDR
init_landing_lights () ;
#endif
ADCSRA |= _BV (ADPS2) ;
ADCSRA &= ~_BV (ADPS1) ;
ADCSRA &= ~_BV (ADPS0) ;
// this speeds up analogRead without loosing too much resolution: http:
// www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1208715493/11
#if defined (LED_FLASHER)
init_led_flasher () ;
led_flasher_set_sequence (LED_FLASHER_SEQUENCE) ;
#endif
f.SMALL_ANGLES_25=1;
// important for gyro only conf
debugmsg_append_str ("initialization completed\\n") ;
SerialWriteString("start");
}
void go_arm ()
{
if (calibratingG == 0 && f.ACC_CALIBRATED
#if defined (FAILSAFE)
&& failsafeCnt < 2
#endif
)
{
if (!f.ARMED)
{
Gyro_init () ;
// j0uni: calibrate gyros here..
f.ARMED = 1;