Initial sources push at MegaPirateNG Add-Ons V2.9.1b R8.158 20130701

Author: Paku-

.gitignore

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+/.cproject
+/.project

ArduCopter/.gitignore

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+arducopter.cpp

ArduCopter/APM_Config.h

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+#ifndef __ARDUCOPTER_APMCONFIG_H__
+#define __ARDUCOPTER_APMCONFIG_H__ 
+
+// Select your sensor board
+#define PIRATES_SENSOR_BOARD PIRATES_CRIUS_AIO_PRO_V1
+/*
+	PIRATES_ALLINONE
+	PIRATES_FFIMU
+	PIRATES_FREEIMU
+	PIRATES_BLACKVORTEX
+	PIRATES_FREEIMU_4 					// New FreeIMU 0.4.1 with MPU6050, MS5611 and 5883L
+	PIRATES_DROTEK_10DOF_MPU		// MPU6050, MS5611 and 5883L
+	PIRATES_CRIUS_AIO_PRO_V1		// Crius AllInOne Pro v1(1.1)
+	PIRATES_CRIUS_AIO_PRO_V2		// Crius AllInOne Pro v2
+*/
+
+// RC configuration
+
+// PPM_SUM(CPPM) Signal processing
+
+#define SERIAL_PPM SERIAL_PPM_ENABLED
+/*
+	SERIAL_PPM_DISABLED             // Std.Rx using more then ONE cable to connect
+	SERIAL_PPM_ENABLED				// For all boards, PPM_SUM pin is A8 (no longer the PL1 is no longer supported for AIO v2)
+*/
+
+#define TX_CHANNEL_SET	TX_JR
+/*
+	TX_set1							//Graupner/Spektrum												PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,CAMPITCH,CAMROLL
+	TX_standard					//standard  PPM layout Robbe/Hitec/Sanwa	ROLL,PITCH,THROTTLE,YAW,MODE,AUX2,CAMPITCH,CAMROLL
+	TX_set2							//some Hitec/Sanwa/others									PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
+	TX_mwi							//MultiWii layout													ROLL,THROTTLE,PITCH,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
+  TX_JR               //JR layout                               FLAPS:MODE, GEAR:SAVE TRIMM = apm ch7
+*/
+
+// Select your baro sensor
+#define CONFIG_BARO AP_BARO_MS5611_I2C
+/*
+	AP_BARO_BMP085_PIRATES
+	AP_BARO_MS5611_I2C
+*/
+
+// Warning: COPTER_LEDS is not compatible with LED_SEQUENCER, so enable only one option
+// Connect LEDs to A4 - A7
+#define COPTER_LEDS ENABLED				// Native ArduCopter LEDs
+//#define LED_SEQUENCER ENABLED		// Old Syberian's LED Sequencer, see leds.pde for more info
+
+//### PAKU #########################################################################
+// Below there are CPU stress optimization defines.
+// Leave Sonar and Gimbal DISABLED if you are not going to use it.
+//##################################################################################
+// WARNING: Sonar is fully disabled by default now.
+#define CONFIG_SONAR DISABLED
+/*
+ 	 DISABLED
+ 	 ENABLED
+ */
+#define MAX_SONAR_RANGE 400
+
+// WARNING: Gimbal is fully disabled by default now.
+#define CONFIG_GIMBAL DISABLED
+/*
+ 	 DISABLED
+ 	 ENABLED
+ */
+
+// WARNING: Limits code is disabled by default now.
+#define AP_LIMITS DISABLED
+/*
+ 	 DISABLED
+ 	 ENABLED
+ */
+
+
+// This OSD works on the Serial1 port
+#define OSD_PROTOCOL OSD_PROTOCOL_FRSKY
+/*
+	OSD_PROTOCOL_NONE
+	OSD_PROTOCOL_SYBERIAN
+	OSD_PROTOCOL_REMZIBI  // Read more at: http://www.rcgroups.com/forums/showthread.php?t=921467
+	OSD_PROTOCOL_FRSKY		// FrSky Telemetry protocol
+*/
+
+// For BlackVortex, just set PIRATES_SENSOR_BOARD as PIRATES_BLACKVORTEX, GPS will be selected automatically
+#define GPS_PROTOCOL GPS_PROTOCOL_NMEA
+/*
+	GPS_PROTOCOL_NONE 	without GPS
+	GPS_PROTOCOL_NMEA
+	GPS_PROTOCOL_SIRF
+	GPS_PROTOCOL_UBLOX
+	GPS_PROTOCOL_MTK19
+	GPS_PROTOCOL_BLACKVORTEX
+	GPS_PROTOCOL_AUTO	auto select GPS, may not work
+*/
+	
+#define SERIAL0_BAUD			 115200	// Console port
+#define SERIAL2_BAUD			 115200	// GPS port
+#define SERIAL3_BAUD			 57600	// Telemetry (MAVLINK) port
+
+
+///paku - define LEDs on FIRST firmware upload - could be changed later in Mission Planner
+// Join options by "+" sign
+//if you change LED_MODE in Mission Planer you will not be able to change it back to these values.
+//but only by parameters save,text edit and reload in MP.
+
+#define LEDS_STARTUP_MODE 		LEDS_MOTORS + LEDS_BEEPER + LEDS_GPS
+/*
+	LEDS_MOTORS
+	LEDS_GPS
+	LEDS_AUX
+	LEDS_BEEPER
+	LEDS_OSCILLATE
+	LEDS_MOTORS_ON_NAV
+	LEDS_GPS_ON_NAV
+*/
+
+///PAKU 
+// motors off delay for STAB mode x/50sec ... give max about 100 = 2 sec
+#define STAB_THR_OFF_DELAY 25
+
+#define FRAME_CONFIG QUAD_FRAME
+/*
+ *  QUAD_FRAME
+ *  TRI_FRAME
+ *  HEXA_FRAME
+ *  Y6_FRAME
+ *  OCTA_FRAME
+ *  OCTA_QUAD_FRAME
+ *  HELI_FRAME
+*/
+
+#define FRAME_ORIENTATION X_FRAME
+/*
+ *  PLUS_FRAME
+ *  X_FRAME
+ *  V_FRAME
+*/
+
+# define CH7_OPTION		CH7_SAVE_TRIM
+/*
+ *  CH7_DO_NOTHING
+ *  CH7_FLIP
+ *  CH7_SIMPLE_MODE
+ *  CH7_RTL
+ *  CH7_SAVE_TRIM
+ *  CH7_SAVE_WP
+ *  CH7_CAMERA_TRIGGER
+ */
+
+// Inertia based contollers
+//#define INERTIAL_NAV_XY ENABLED
+#define INERTIAL_NAV_Z ENABLED
+
+// agmatthews USERHOOKS
+// the choice of function names is up to the user and does not have to match these
+// uncomment these hooks and ensure there is a matching function on your "UserCode.pde" file
+//#define USERHOOK_FASTLOOP userhook_FastLoop();
+#define USERHOOK_50HZLOOP userhook_50Hz();
+//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
+//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
+//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
+#define USERHOOK_INIT userhook_init();
+
+// the choice of included variables file (*.h) is up to the user and does not have to match this one
+// Ensure the defined file exists and is in the arducopter directory
+#define USERHOOK_VARIABLES "UserVariables.h"
+
+#if PIRATES_SENSOR_BOARD == PIRATES_CRIUS_AIO_PRO_V2
+	#define LOGGING_ENABLED		ENABLED
+#else
+	#define LOGGING_ENABLED		DISABLED
+#endif
+
+// ************** EXPERIMENTAL FEATURES *****************
+
+// #define LOITER_REPOSITIONING    ENABLED                         // Experimental Do Not Use
+// #define LOITER_RP               ROLL_PITCH_LOITER_PR                        // Experimental Do Not Use
+
+#endif //__ARDUCOPTER_APMCONFIG_H__

ArduCopter/APM_Config_mavlink_hil.h

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// HIL_MODE SELECTION
+//
+// Mavlink supports
+// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
+// 2. HIL_MODE_SENSORS: full sensor simulation
+#define HIL_MODE            HIL_MODE_ATTITUDE
+
+// HIL_PORT SELCTION
+//
+// PORT 1
+// If you would like to run telemetry communications for a groundstation
+// while you are running hardware in the loop it is necessary to set
+// HIL_PORT to 1. This uses the port that would have been used for the gps
+// as the hardware in the loop port. You will have to solder
+// headers onto the gps port connection on the apm
+// and connect via an ftdi cable.
+//
+// The baud rate is set to 115200 in this mode.
+//
+// PORT 3
+// If you don't require telemetry communication with a gcs while running
+// hardware in the loop you may use the telemetry port as the hardware in
+// the loop port.  Alternatively, use a telemetry/HIL shim like FGShim
+// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
+//
+// The buad rate is controlled by SERIAL3_BAUD in this mode.
+
+#define HIL_PORT            3
+
+// You can set your gps protocol here for your actual
+// hardware and leave it without affecting the hardware
+// in the loop simulation
+#define GPS_PROTOCOL 		GPS_PROTOCOL_MTK
+
+// Sensors
+// All sensors are supported in all modes.
+// The magnetometer is not used in
+// HIL_MODE_ATTITUDE but you may leave it
+// enabled if you wish.
+#define MAGNETOMETER        ENABLED

ArduCopter/AP_State.pde

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+
+void set_home_is_set(bool b)
+{
+    ap.home_is_set 	= b;
+
+	if(b) Log_Write_Event(DATA_SET_HOME);
+}
+
+// ---------------------------------------------
+void set_armed(bool b)
+{
+	ap.armed = b;
+	if(b){
+		Log_Write_Event(DATA_ARMED);
+
+	}else{
+		Log_Write_Event(DATA_DISARMED);
+	}
+}
+
+// ---------------------------------------------
+void set_auto_armed(bool b)
+{
+	ap.auto_armed = b;
+	if(b){
+		Log_Write_Event(DATA_AUTO_ARMED);
+	}
+}
+
+// ---------------------------------------------
+void set_simple_mode(bool b)
+{
+	if(ap.simple_mode != b){
+		if(b){
+			Log_Write_Event(DATA_SET_SIMPLE_ON);
+		}else{
+			Log_Write_Event(DATA_SET_SIMPLE_OFF);
+		}
+	}
+	ap.simple_mode = b;
+}
+
+// ---------------------------------------------
+static void set_failsafe(bool mode)
+{
+    // only act on changes
+    // -------------------
+    if(ap.failsafe != mode) {
+
+        // store the value so we don't trip the gate twice
+        // -----------------------------------------------
+        ap.failsafe = mode;
+
+        if (ap.failsafe == false) {
+            // We've regained radio contact
+            // ----------------------------
+            failsafe_off_event();
+        }else{
+            // We've lost radio contact
+            // ------------------------
+            failsafe_on_event();
+        }
+    }
+}
+
+
+// ---------------------------------------------
+void set_low_battery(bool b)
+{
+	ap.low_battery = b;
+}
+
+// ---------------------------------------------
+void set_takeoff_complete(bool b)
+{
+	if(b){
+		Log_Write_Event(DATA_TAKEOFF);
+	}
+	ap.takeoff_complete = b;
+}
+
+// ---------------------------------------------
+void set_land_complete(bool b)
+{
+	if(b){
+		Log_Write_Event(DATA_LAND_COMPLETE);
+	}
+	ap.land_complete = b;
+}
+
+// ---------------------------------------------
+
+void set_alt_change(uint8_t flag){
+
+    // if no change, exit immediately
+    if( alt_change_flag == flag ) {
+        return;
+    }
+
+    // update flag
+	alt_change_flag = flag;
+
+	if(flag == REACHED_ALT){
+		Log_Write_Event(DATA_REACHED_ALT);
+
+	}else if(flag == ASCENDING){
+		Log_Write_Event(DATA_ASCENDING);
+
+	}else if(flag == DESCENDING){
+		Log_Write_Event(DATA_DESCENDING);
+	}
+}
+
+void set_compass_healthy(bool b)
+{
+	if(ap.compass_status != b){
+		if(false == b){
+			Log_Write_Event(DATA_LOST_COMPASS);
+		}
+	}
+	ap.compass_status = b;
+}
+
+void set_gps_healthy(bool b)
+{
+	if(ap.gps_status != b){
+		if(false == b){
+			Log_Write_Event(DATA_LOST_GPS);
+		}
+	}
+	ap.gps_status = b;
+}
+
+void dump_state()
+{
+    cliSerial->printf("st: %u\n",ap.value);
+	//cliSerial->printf("%u\n", *(uint16_t*)&ap);
+}