@ -150,35 +150,26 @@ private:
@@ -150,35 +150,26 @@ private:
// Documentation of Globals:
typedef union {
struct {
uint8_t unused1 : 1 ; // 0
uint8_t pre_arm_rc_check : 1 ; // 3 // true if rc input pre-arm checks have been completed successfully
uint8_t pre_arm_check : 1 ; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1 ; // 5 // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1 ; // 6 // true if logging has started
uint8_t land_complete : 1 ; // 7 // true if we have detected a landing
uint8_t new_radio_frame : 1 ; // 8 // Set true if we have new PWM data to act on from the Radio
uint8_t usb_connected_unused : 1 ; // 9 // UNUSED
uint8_t rc_receiver_present : 1 ; // 10 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t compass_mot : 1 ; // 11 // true if we are currently performing compassmot calibration
uint8_t motor_test : 1 ; // 12 // true if we are currently performing the motors test
uint8_t initialised : 1 ; // 13 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t land_complete_maybe : 1 ; // 14 // true if we may have landed (less strict version of land_complete)
uint8_t throttle_zero : 1 ; // 15 // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
uint8_t system_time_set_unused : 1 ; // 16 // true if the system time has been set from the GPS
uint8_t gps_glitching : 1 ; // 17 // true if GPS glitching is affecting navigation accuracy
uint8_t using_interlock : 1 ; // 20 // aux switch motor interlock function is in use
uint8_t land_repo_active : 1 ; // 21 // true if the pilot is overriding the landing position
uint8_t motor_interlock_switch : 1 ; // 22 // true if pilot is requesting motor interlock enable
uint8_t in_arming_delay : 1 ; // 23 // true while we are armed but waiting to spin motors
uint8_t initialised_params : 1 ; // 24 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
uint8_t unused3 : 1 ; // 25 // was compass_init_location; true when the compass's initial location has been set
uint8_t unused2 : 1 ; // 26 // aux switch rc_override is allowed
uint8_t unused4 : 1 ; // 27 // was "we armed using a arming switch"
uint8_t pre_arm_rc_check : 1 ; // 1 // true if rc input pre-arm checks have been completed successfully
uint8_t pre_arm_check : 1 ; // 2 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1 ; // 3 // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1 ; // 4 // true if logging has started
uint8_t land_complete : 1 ; // 5 // true if we have detected a landing
uint8_t new_radio_frame : 1 ; // 6 // Set true if we have new PWM data to act on from the Radio
uint8_t rc_receiver_present : 1 ; // 7 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t compass_mot : 1 ; // 8 // true if we are currently performing compassmot calibration
uint8_t motor_test : 1 ; // 9 // true if we are currently performing the motors test
uint8_t initialised : 1 ; // 10 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t land_complete_maybe : 1 ; // 11 // true if we may have landed (less strict version of land_complete)
uint8_t throttle_zero : 1 ; // 12 // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down
uint8_t gps_glitching : 1 ; // 13 // true if GPS glitching is affecting navigation accuracy
uint8_t in_arming_delay : 1 ; // 14 // true while we are armed but waiting to spin motors
uint8_t initialised_params : 1 ; // 15 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
} ;
uint32_t value ;
} ap_t ;
ap_t ap ; //MIR Set of general variables
ap_t ap ;
static_assert ( sizeof ( uint32_t ) = = sizeof ( ap ) , " ap_t must be uint32_t " ) ;
@ -240,7 +231,7 @@ private:
@@ -240,7 +231,7 @@ private:
Location current_loc ;
Vector3f vel_ned ;
Vector3f vel_ned_filtd ;
Vector3f pos_ned ;
float vel_yaw ;
float vel_yaw_filtd ;
@ -250,14 +241,14 @@ private:
@@ -250,14 +241,14 @@ private:
// Inertial Navigation
AP_InertialNav_NavEKF inertial_nav ;
// Vel & pos PIDs
AC_PID_2D pid_vel_xy { 3 , 0.2 , 0 , 0 , 0.2 , 3 , 3 , 0.02 } ; //These are the defaults - P I D FF IMAX FiltHz FiltDHz DT
AC_PID_Basic pid_vel_z { 7 , 1.5 , 0 , 0 , 1 , 3 , 3 , 0.02 } ;
AC_PID_Basic pid_vel_yaw { 3 , 0.4 , 0 , 0 , 0.2 , 3 , 3 , 0.02 } ;
AC_PID_2D pid_pos_xy { 1 , 0.05 , 0 , 0 , 0.1 , 3 , 3 , 0.02 } ;
AC_PID_Basic pid_pos_z { 0.7 , 0 , 0 , 0 , 0 , 3 , 3 , 0.02 } ;
AC_PID_Basic pid_pos_z { 0.7 , 0 , 0 , 0 , 0 , 3 , 3 , 0.02 } ;
AC_PID pid_pos_yaw { 1.2 , 0.5 , 0 , 0 , 2 , 3 , 3 , 3 , 0.02 } ; //p, i, d, ff, imax, filt_t, filt_e, filt_d, dt, opt srmax, opt srtau
// System Timers
@ -330,8 +321,8 @@ private:
@@ -330,8 +321,8 @@ private:
void one_hz_loop ( ) ;
void read_AHRS ( void ) ;
void update_altitude ( ) ;
void rotate_NE_to_BF ( float & x , float & y ) ;
void rotate_BF_to_NE ( float & x , float & y ) ;
void rotate_NE_to_BF ( Vector2f & vec ) ;
void rotate_BF_to_NE ( Vector2f & vec ) ;
// commands.cpp
void update_home_from_EKF ( ) ;
Michelle Rossouw
4 years ago
committed by
Andrew Tridgell