changes

Quad2/.project

@@ -27,6 +27,11 @@
 		<nature>it.baeyens.arduinonature</nature>
 	</natures>
 	<linkedResources>
+		<link>
+			<name>EEPROM</name>
+			<type>2</type>
+			<locationURI>ArduinoLibPath/EEPROM</locationURI>
+		</link>
 		<link>
 			<name>Servo</name>
 			<type>2</type>

Quad2/Libraries/Quad_Accelerometer/ADXL345.cpp

@@ -10,7 +10,7 @@
  */
 
 #include "ADXL345.h"
-#include "../Quad_Defines/globals.h"
+#include "globals.h"
 
 ADXL345::ADXL345() {
     devAddr = ADXL345_ADDR;

Quad2/Libraries/Quad_Accelerometer/ADXL345.h

@@ -12,7 +12,7 @@
 #ifndef ADXL345_h
 #define ADXL345_h
 
-#include "../Quad_I2C/I2Cdev.h"
+#include "I2Cdev.h"
 #include <inttypes.h>
 
 #define ADXL345_ADDR    0x53

Quad2/Libraries/Quad_BatteryMonitor/battMonitor.cpp

@@ -9,7 +9,7 @@
  */
 
 #include "battMonitor.h"
-#include "../Quad_Defines/globals.h"
+#include "globals.h"
 #include <Arduino.h>
 
 // Constructor
@@ -31,7 +31,19 @@ battMonitor::battMonitor()
 
 }
 
+bool battMonitor::init() {
+	float v = getProcessedBattVoltage();
 
+	if(v < V_FULL) {
+		return false;
+		Serial.println("Battery is not fully charged");
+	}
+	else {
+		return true;
+	}
+
+	return false;
+}
 
 // Method to read raw battery voltage on analog pin
 int battMonitor::getRawBattVoltage()

Quad2/Libraries/Quad_BatteryMonitor/battMonitor.h

@@ -27,8 +27,8 @@
 #define V_SENSITIVITY 12.99  // for 180Amp board
 #define I_SENSITIVITY 3.7
 
-#define V_FULL    16.8 // volts (4S lipo)
-#define V_EMPTY   13.2 // volts (4s lipo)
+#define V_FULL    (4*4.05) // volts (4S lipo)
+#define V_EMPTY   (4*3.35) // volts (4s lipo)
 
 #define INITIAL_CAPACITY 4000  // 4 amp-hours
 
@@ -37,6 +37,8 @@ class battMonitor
   public:
 	battMonitor();
 
+	bool init();
+
 	int getRawBattVoltage();
 	int getRawBattCurrent();
 

Quad2/Libraries/Quad_Compass/HMC5883L.cpp

@@ -10,7 +10,7 @@
  */
 
 #include "HMC5883L.h"
-#include "../Quad_Defines/globals.h"
+#include "globals.h"
 
 
 
@@ -91,28 +91,33 @@ void HMC5883L::setMode(uint8_t mode) {
  * Place offsets in offset variables
  */
 void HMC5883L::setOffset() {
-  int32_t sumX = 0; 
-  int32_t sumY = 0; 
-  int32_t sumZ = 0; 
+	if(compStatus == ON) {
+		int32_t sumX = 0;
+		int32_t sumY = 0;
+		int32_t sumZ = 0;
 
-  for(uint8_t i = 0; i < 10; i++) {
-    getRawData(); // read raw data
+		for(uint8_t i = 0; i < 10; i++) {
+			getRawData(); // read raw data
 
-    sumX = sumX + (int32_t) data[X];
-    sumY = sumY + (int32_t) data[Y];
-    sumZ = sumZ + (int32_t) data[Z];
-
-    // delay long enough for another sample
-    // to be available on the sensor
-    // @ 75 Hz -> 0.014 sec
-    delay(14); 
-  }
-
-  // TODO: fix this
-  //offset[X] = (float) sumX / 10.0;
-  //offset[Y] = (float) sumY / 10.0;
-  //offset[Z] = 0.0;// (float) sumZ / 10.0 - (float) HMC5883L_SENSITIVITY2;
-  vehicleStatus = vehicleStatus | MAG_READY;
+			sumX = sumX + (int32_t) data[X];
+			sumY = sumY + (int32_t) data[Y];
+			sumZ = sumZ + (int32_t) data[Z];
+
+			// delay long enough for another sample
+			// to be available on the sensor
+			// @ 75 Hz -> 0.014 sec
+			delay(14);
+		}
+
+		// TODO: fix this
+		//offset[X] = (float) sumX / 10.0;
+		//offset[Y] = (float) sumY / 10.0;
+		//offset[Z] = 0.0;// (float) sumZ / 10.0 - (float) HMC5883L_SENSITIVITY2;
+		vehicleStatus = vehicleStatus | MAG_READY;
+	}
+	else {
+		Serial.println("WARNING: mag is not online -> cannot be zeroed");
+	}
 }
 
 /*

Quad2/Libraries/Quad_Compass/HMC5883L.h

@@ -12,7 +12,7 @@
 #ifndef HMC5883L_h
 #define HMC5883L_h
 
-#include "../Quad_I2C/I2Cdev.h"
+#include "I2Cdev.h"
 #include <inttypes.h>
 
 #define HMC5883L_ADDR   0x1E

Quad2/Libraries/Quad_Defines/globals.h

@@ -22,9 +22,6 @@
 #define YAW_AXIS      2
 #define THROTTLE_AXIS 3
 
-#define TRUE  1
-#define FALSE 0
-
 #define ON 1
 #define OFF 0
 
@@ -40,18 +37,21 @@
 extern bool inFlight;
 extern uint8_t vehicleStatus;
 
-#define SENSORS_ONLINE ((vehicleStatus & 0x7) == 0x7)  // ==
+#define SENSORS_ONLINE ((vehicleStatus & 0x7) == 0x7)
+#define BATT_ONLINE    ((vehicleStatus & BATT_READY) == BATT_READY)
 #define RX_ONLINE      ((vehicleStatus & RX_READY) == RX_READY)
-#define MOTORS_ONLINE  ((vehicleStatus & MOTOR_READY) == 0x64)
+#define MOTORS_ONLINE  ((vehicleStatus & MOTOR_READY) == MOTOR_READY)
 #define SYSTEM_ONLINE  ((vehicleStatus & 0xFF) == 0xFF)
 
-// 6 channels - roll, pitch, throttle, yaw, mode, aux1
+// 8 channels - roll, pitch, throttle, yaw, mode, aux1, aux2, aux3
 #define ROLL_CHANNEL    	0
 #define PITCH_CHANNEL   	1
 #define THROTTLE_CHANNEL 	2
 #define YAW_CHANNEL     	3
 #define MODE_CHANNEL     	4
 #define AUX1_CHANNEL   		5
+#define AUX2_CHANNEL		6
+#define AUX3_CHANNEL		7
 
 #define MICROS  1000000.0  // 1 second = 1*10^6 microseconds
 #define MILLIS  1000.0     // 1 second = 1*10^3 milliseconds

Quad2/Libraries/Quad_EEPROM/storage.cpp

@@ -7,82 +7,167 @@
  *  Read and write from EEPROM
  */
 
+#include "storage.h"
 
-void readEEPROM() {
-
+void Storage::writePidPValue(float value, int address) {
+	writeFloat(value, address);
 }
 
-void writeEEPROM() {
-
+void Storage::writePidIValue(float value, int address) {
+	writeFloat(value, address);
 }
 
+void Storage::writePidDValue(float value, int address) {
+	writeFloat(value, address);
+}
 
-float readFloat(int address) {
-  union floatStore {
-    byte floatByte[4];
-    unsigned short floatUShort[2];
-    float floatVal;
-  } floatOut;
-
+void Storage::writeRadioSmoothFactorValue(float value, int address){
+	writeFloat(value, address);
+}
 
-  for (int i = 0; i < 4; i++) {
-    floatOut.floatByte[i] = EEPROM.read(address + i);
-  }
+/*
+ * Methods to read values will use default values if
+ * the USE_DEFAULT_VALUES is set, or no value is stored
+ */
 
-  return floatOut.floatVal;
+float Storage::readPidPValue(int address) {
+	float value;
+
+	#ifdef USE_DEFAULT_VALUES
+		value = PID_P;
+		writePidPValue(value);
+	#else
+		value = readFloat(address);
+		if(value == 0x0 || value == 0xFFFFFFFF) {
+			value = PID_P;
+			writePidPValue(value);
+		}
+	#endif
+
+	return value;
 }
 
-void writeFloat(float value, int address) {
-  union floatStore {
-    byte floatByte[4];
-    unsigned short floatUShort[2];
-    float floatVal;
-  } floatIn;
+float Storage::readPidIValue(int address) {
+	float value;
+
+	#ifdef USE_DEFAULT_VALUES
+		value = PID_I;
+		writePidPValue(value);
+	#else
+		value = readFloat(address);
+		if(value == 0x0 || value == 0xFFFFFFFF) {
+			value = PID_I;
+			writePidIValue(value);
+		}
+	#endif
+
+	return value;
+}
 
-  floatIn.floatVal = value;
+float Storage::readPidDValue(int address) {
+	float value;
+
+	#ifdef USE_DEFAULT_VALUES
+		value = PID_D;
+		writePidPValue(value);
+	#else
+		value = readFloat(address);
+		if(value == 0x0 || value == 0xFFFFFFFF) {
+			value = PID_D;
+			writePidDValue(value);
+		}
+	#endif
+
+	return value;
+}
 
-  for (int i = 0; i < 4; i++) {
-    EEPROM.write(address + i, floatIn.floatByte[i]);
-  }
+float Storage::readRadioSmoothFactorValue(int address) {
+	float value;
+
+	#ifdef USE_DEFAULT_VALUES
+		value = RADIO_SMOOTH_FACTOR;
+		writePidPValue(value);
+	#else
+		value = readFloat(address);
+		if(value == 0x0 || value == 0xFFFFFFFF) {
+			value = PID_D;
+			writePidDValue(value);
+		}
+	#endif
+
+	return value;
 }
 
-void updateFloat(float value, int address) {
 
+/*
+ * Utility method to read a float from an address
+ */
+float Storage::readFloat(int address) {
+	union floatStore {
+		byte floatByte[4];
+		unsigned short floatUShort[2];
+		float floatVal;
+	} floatOut;
+
+	for (int i = 0; i < 4; i++) {
+		floatOut.floatByte[i] = EEPROM.read(address + i);
+	}
+
+	return floatOut.floatVal;
 }
 
+/*
+ * Utility method to write a float to an address
+ */
+void Storage::writeFloat(float value, int address) {
+	union floatStore {
+		byte floatByte[4];
+		unsigned short floatUShort[2];
+		float floatVal;
+	} floatIn;
+
+	floatIn.floatVal = value;
+
+	for (int i = 0; i < 4; i++) {
+		EEPROM.write(address + i, floatIn.floatByte[i]);
+	}
+}
 
-  long readLong(int address) {
+/*
+ * Utility method to read a long from an address
+ */
+long Storage::readLong(int address) {
     union longStore {
-      byte longByte[4];
-      unsigned short longUShort[2];
-      long longVal;
+    	byte longByte[4];
+    	unsigned short longUShort[2];
+    	long longVal;
     } longOut;
 
     for (byte i = 0; i < 4; i++) {
       longOut.longByte[i] = EEPROM.read(address + i);
     }
 
     return longOut.longVal;
-  }
+}
 
-  void writeLong(long value, int address) {
+/*
+ * Utility method to write a long to an address
+ */
+void Storage::writeLong(long value, int address) {
     union longStore {
-      byte longByte[4];
-      unsigned short longUShort[2];
-      long longVal;
+    	byte longByte[4];
+    	unsigned short longUShort[2];
+    	long longVal;
     } longIn;
 
     longIn.longVal = value;
 
     for (int i = 0; i < 4; i++) {
       EEPROM.write(address + i, longIn.longByte[i]);
     }
+}
 
-  }
-
-  void updateLong(long vaue, int address) {
 
-  }