Xbee Proteus Library Code And Its
Our reasoning behind our code and its functionality is presented first, followed by an index of all changes from the original Ardupilot code with suggested placement to ease maintainance of code between Ardupilot revisions.First, we had to figure out a way to read any data sent to the UAV in mid-flight via our XBee modules. This guide has a few sections. This would then allow our GCS to output intermediary waypoints as a method of collision avoidance. By: Chester Hamilton Sampath purpose of our modifications to the original Ardupilot code was to be able to dynamically upload intermediary waypoints to UAVs in mid-flight.
Xbee Proteus Library Serial Port In
Available(), read(),flush()). The NewSoftSerial library uses interrupts to receive data on the specified pin and store it in a buffer for the user to access with functions similar to the functions of a normal serial port in the Arduino IDE (i.e. Thus we were able to easily adapt it to our needs without worrying about slowing any other functions in the interrupt vector.
Thus, when the UAV reaches our new waypoint we must make sure that when the waypoint index is incremented, it has the same index as when we loaded our arbitrary point. It is important to note that when the Ardupilot normally reaches waypoints the waypoint index is incremented and then a call is made to "load_waypoint". In order to do this, we overloaded the load_waypoint function to make the previous waypoint our current location, and the next waypoint the waypoint we received from the GCS (the Ardupilot uses this method to load new waypoints after it has reached a waypoint). Our formatted waypoint information)Here is the xbee_read() function that reads in our waypoint from the software serial(here named xbeeSerial) rx pin:While (i checksum = (buf->next_WP.lat + buf->next_WP.alt)) ? i : -1 We next had to change the plane's waypoint to the lat lng and alt specified in the packet. Using formatted packets from the GCS, we were able to read in a waypoint transmitted from the GCS to the UAV while in the air.Here is the GCS_packet (i.e.
0 kommentar(er)
