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941 lines
29 KiB
941 lines
29 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define THISFIRMWARE "ArduRover v2.46beta2" |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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This is the APMrover2 firmware. It was originally derived from |
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ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the |
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AP_HAL merge by Andrew Tridgell |
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Maintainer: Andrew Tridgell |
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin |
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier |
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat... |
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Please contribute your ideas! See http://dev.ardupilot.com for details |
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*/ |
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// Radio setup: |
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// APM INPUT (Rec = receiver) |
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// Rec ch1: Steering |
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// Rec ch2: not used |
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// Rec ch3: Throttle |
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// Rec ch4: not used |
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// Rec ch5: not used |
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// Rec ch6: not used |
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// Rec ch7: Option channel to 2 position switch |
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// Rec ch8: Mode channel to 6 position switch |
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// APM OUTPUT |
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// Ch1: Wheel servo (direction) |
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// Ch2: not used |
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// Ch3: to the motor ESC |
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// Ch4: not used |
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//////////////////////////////////////////////////////////////////////////////// |
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// Header includes |
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//////////////////////////////////////////////////////////////////////////////// |
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#include <math.h> |
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#include <stdarg.h> |
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#include <stdio.h> |
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// Libraries |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_HAL.h> |
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#include <AP_Menu.h> |
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#include <AP_Param.h> |
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#include <AP_GPS.h> // ArduPilot GPS library |
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_Baro.h> |
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library |
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library |
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#include <AP_NavEKF.h> |
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#include <AP_Mission.h> // Mission command library |
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#include <PID.h> // PID library |
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#include <RC_Channel.h> // RC Channel Library |
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#include <AP_RangeFinder.h> // Range finder library |
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#include <Filter.h> // Filter library |
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#include <Butter.h> // Filter library - butterworth filter |
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#include <AP_Buffer.h> // FIFO buffer library |
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#include <ModeFilter.h> // Mode Filter from Filter library |
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#include <AverageFilter.h> // Mode Filter from Filter library |
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#include <AP_Relay.h> // APM relay |
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#include <AP_ServoRelayEvents.h> |
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#include <AP_Mount.h> // Camera/Antenna mount |
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#include <AP_Camera.h> // Camera triggering |
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#include <GCS_MAVLink.h> // MAVLink GCS definitions |
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#include <AP_Airspeed.h> // needed for AHRS build |
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#include <AP_Vehicle.h> // needed for AHRS build |
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#include <DataFlash.h> |
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#include <AP_RCMapper.h> // RC input mapping library |
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#include <SITL.h> |
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#include <AP_Scheduler.h> // main loop scheduler |
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#include <stdarg.h> |
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#include <AP_Navigation.h> |
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#include <APM_Control.h> |
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#include <AP_L1_Control.h> |
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#include <AP_BoardConfig.h> |
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#include <AP_HAL_AVR.h> |
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#include <AP_HAL_AVR_SITL.h> |
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#include <AP_HAL_PX4.h> |
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#include <AP_HAL_VRBRAIN.h> |
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#include <AP_HAL_FLYMAPLE.h> |
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#include <AP_HAL_Linux.h> |
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#include <AP_HAL_Empty.h> |
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#include "compat.h" |
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#include <AP_Notify.h> // Notify library |
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#include <AP_BattMonitor.h> // Battery monitor library |
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// Configuration |
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#include "config.h" |
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// Local modules |
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#include "defines.h" |
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#include "Parameters.h" |
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#include "GCS.h" |
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library |
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AP_HAL::BetterStream* cliSerial; |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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// this sets up the parameter table, and sets the default values. This |
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// must be the first AP_Param variable declared to ensure its |
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// constructor runs before the constructors of the other AP_Param |
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// variables |
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AP_Param param_loader(var_info, MISSION_START_BYTE); |
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//////////////////////////////////////////////////////////////////////////////// |
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// the rate we run the main loop at |
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//////////////////////////////////////////////////////////////////////////////// |
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Parameters |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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// Global parameters are all contained within the 'g' class. |
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// |
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static Parameters g; |
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// main loop scheduler |
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static AP_Scheduler scheduler; |
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// mapping between input channels |
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static RCMapper rcmap; |
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// board specific config |
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static AP_BoardConfig BoardConfig; |
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// primary control channels |
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static RC_Channel *channel_steer; |
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static RC_Channel *channel_throttle; |
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static RC_Channel *channel_learn; |
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//////////////////////////////////////////////////////////////////////////////// |
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// prototypes |
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static void update_events(void); |
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void gcs_send_text_fmt(const prog_char_t *fmt, ...); |
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static void print_mode(AP_HAL::BetterStream *port, uint8_t mode); |
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//////////////////////////////////////////////////////////////////////////////// |
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// DataFlash |
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//////////////////////////////////////////////////////////////////////////////// |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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static DataFlash_APM1 DataFlash; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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static DataFlash_APM2 DataFlash; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
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static DataFlash_File DataFlash("logs"); |
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//static DataFlash_SITL DataFlash; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS"); |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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static DataFlash_File DataFlash("logs"); |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS"); |
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#else |
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DataFlash_Empty DataFlash; |
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#endif |
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static bool in_log_download; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Sensors |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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// There are three basic options related to flight sensor selection. |
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// |
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// - Normal driving mode. Real sensors are used. |
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// - HIL Attitude mode. Most sensors are disabled, as the HIL |
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// protocol supplies attitude information directly. |
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// - HIL Sensors mode. Synthetic sensors are configured that |
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// supply data from the simulation. |
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// |
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// GPS driver |
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static AP_GPS gps; |
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// flight modes convenience array |
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static AP_Int8 *modes = &g.mode1; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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static AP_ADC_ADS7844 adc; |
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#endif |
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#if CONFIG_COMPASS == AP_COMPASS_PX4 |
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static AP_Compass_PX4 compass; |
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#elif CONFIG_COMPASS == AP_COMPASS_VRBRAIN |
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static AP_Compass_VRBRAIN compass; |
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843 |
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static AP_Compass_HMC5843 compass; |
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#elif CONFIG_COMPASS == AP_COMPASS_HIL |
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static AP_Compass_HIL compass; |
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#else |
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#error Unrecognized CONFIG_COMPASS setting |
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#endif |
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#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000 |
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AP_InertialSensor_MPU6000 ins; |
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4 |
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AP_InertialSensor_PX4 ins; |
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#elif CONFIG_INS_TYPE == CONFIG_INS_VRBRAIN |
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AP_InertialSensor_VRBRAIN ins; |
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#elif CONFIG_INS_TYPE == CONFIG_INS_HIL |
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AP_InertialSensor_HIL ins; |
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#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE |
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AP_InertialSensor_Flymaple ins; |
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#elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D |
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AP_InertialSensor_L3G4200D ins; |
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN |
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AP_InertialSensor_Oilpan ins( &adc ); |
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#else |
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#error Unrecognised CONFIG_INS_TYPE setting. |
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#endif // CONFIG_INS_TYPE |
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#if CONFIG_BARO == AP_BARO_BMP085 |
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static AP_Baro_BMP085 barometer; |
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#elif CONFIG_BARO == AP_BARO_PX4 |
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static AP_Baro_PX4 barometer; |
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#elif CONFIG_BARO == AP_BARO_VRBRAIN |
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static AP_Baro_VRBRAIN barometer; |
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#elif CONFIG_BARO == AP_BARO_HIL |
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static AP_Baro_HIL barometer; |
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#elif CONFIG_BARO == AP_BARO_MS5611 |
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI |
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi); |
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#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C |
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c); |
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#else |
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#error Unrecognized CONFIG_MS5611_SERIAL setting. |
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#endif |
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#else |
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#error Unrecognized CONFIG_BARO setting |
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#endif |
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// Inertial Navigation EKF |
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#if AP_AHRS_NAVEKF_AVAILABLE |
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AP_AHRS_NavEKF ahrs(ins, barometer, gps); |
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#else |
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AP_AHRS_DCM ahrs(ins, barometer, gps); |
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#endif |
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static AP_L1_Control L1_controller(ahrs); |
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// selected navigation controller |
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static AP_Navigation *nav_controller = &L1_controller; |
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// steering controller |
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static AP_SteerController steerController(ahrs); |
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//////////////////////////////////////////////////////////////////////////////// |
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// Mission library |
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// forward declaration to avoid compiler errors |
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//////////////////////////////////////////////////////////////////////////////// |
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static bool start_command(const AP_Mission::Mission_Command& cmd); |
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static bool verify_command(const AP_Mission::Mission_Command& cmd); |
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static void exit_mission(); |
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AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission, MISSION_START_BYTE, MISSION_END_BYTE); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
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SITL sitl; |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// GCS selection |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS; |
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static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS]; |
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25 |
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink |
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AP_HAL::AnalogSource *rssi_analog_source; |
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//////////////////////////////////////////////////////////////////////////////// |
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// SONAR |
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static RangeFinder sonar; |
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// relay support |
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AP_Relay relay; |
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AP_ServoRelayEvents ServoRelayEvents(relay); |
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// Camera |
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#if CAMERA == ENABLED |
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static AP_Camera camera(&relay); |
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#endif |
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// The rover's current location |
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static struct Location current_loc; |
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// Camera/Antenna mount tracking and stabilisation stuff |
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// -------------------------------------- |
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#if MOUNT == ENABLED |
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// current_loc uses the baro/gps soloution for altitude rather than gps only. |
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AP_Mount camera_mount(¤t_loc, ahrs, 0); |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// Global variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// if USB is connected |
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static bool usb_connected; |
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/* Radio values |
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Channel assignments |
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1 Steering |
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2 --- |
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3 Throttle |
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4 --- |
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5 Aux5 |
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6 Aux6 |
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7 Aux7/learn |
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8 Aux8/Mode |
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Each Aux channel can be configured to have any of the available auxiliary functions assigned to it. |
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See libraries/RC_Channel/RC_Channel_aux.h for more information |
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*/ |
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//////////////////////////////////////////////////////////////////////////////// |
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// Radio |
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//////////////////////////////////////////////////////////////////////////////// |
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// This is the state of the flight control system |
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// There are multiple states defined such as MANUAL, FBW-A, AUTO |
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enum mode control_mode = INITIALISING; |
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// Used to maintain the state of the previous control switch position |
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// This is set to -1 when we need to re-read the switch |
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uint8_t oldSwitchPosition; |
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// These are values received from the GCS if the user is using GCS joystick |
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// control and are substituted for the values coming from the RC radio |
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0}; |
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// A flag if GCS joystick control is in use |
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static bool rc_override_active = false; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Failsafe |
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//////////////////////////////////////////////////////////////////////////////// |
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// A tracking variable for type of failsafe active |
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// Used for failsafe based on loss of RC signal or GCS signal. See |
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// FAILSAFE_EVENT_* |
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static struct { |
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uint8_t bits; |
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uint32_t rc_override_timer; |
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uint32_t start_time; |
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uint8_t triggered; |
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uint32_t last_valid_rc_ms; |
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} failsafe; |
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// notification object for LEDs, buzzers etc (parameter set to false disables external leds) |
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static AP_Notify notify; |
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// A counter used to count down valid gps fixes to allow the gps estimate to settle |
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// before recording our home position (and executing a ground start if we booted with an air start) |
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static uint8_t ground_start_count = 20; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Location & Navigation |
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//////////////////////////////////////////////////////////////////////////////// |
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// Constants |
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const float radius_of_earth = 6378100; // meters |
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// true if we have a position estimate from AHRS |
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static bool have_position; |
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static bool rtl_complete = false; |
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// angle of our next navigation waypoint |
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static int32_t next_navigation_leg_cd; |
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// ground speed error in m/s |
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static float groundspeed_error; |
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel |
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static int16_t throttle_nudge = 0; |
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// receiver RSSI |
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static uint8_t receiver_rssi; |
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// the time when the last HEARTBEAT message arrived from a GCS |
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static uint32_t last_heartbeat_ms; |
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// obstacle detection information |
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static struct { |
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// have we detected an obstacle? |
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uint8_t detected_count; |
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float turn_angle; |
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uint16_t sonar1_distance_cm; |
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uint16_t sonar2_distance_cm; |
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// time when we last detected an obstacle, in milliseconds |
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uint32_t detected_time_ms; |
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} obstacle; |
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// this is set to true when auto has been triggered to start |
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static bool auto_triggered; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Ground speed |
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//////////////////////////////////////////////////////////////////////////////// |
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// The amount current ground speed is below min ground speed. meters per second |
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static float ground_speed = 0; |
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static int16_t throttle_last = 0, throttle = 500; |
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//////////////////////////////////////////////////////////////////////////////// |
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// CH7 control |
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//////////////////////////////////////////////////////////////////////////////// |
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// Used to track the CH7 toggle state. |
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// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true |
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// This allows advanced functionality to know when to execute |
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static bool ch7_flag; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Battery Sensors |
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//////////////////////////////////////////////////////////////////////////////// |
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static AP_BattMonitor battery; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Navigation control variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// The instantaneous desired lateral acceleration in m/s/s |
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static float lateral_acceleration; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Waypoint distances |
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//////////////////////////////////////////////////////////////////////////////// |
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// Distance between rover and next waypoint. Meters |
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static float wp_distance; |
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// Distance between previous and next waypoint. Meters |
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static int32_t wp_totalDistance; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Conditional command |
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//////////////////////////////////////////////////////////////////////////////// |
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// A value used in condition commands (eg delay, change alt, etc.) |
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// For example in a change altitude command, it is the altitude to change to. |
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static int32_t condition_value; |
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// A starting value used to check the status of a conditional command. |
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// For example in a delay command the condition_start records that start time for the delay |
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static int32_t condition_start; |
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//////////////////////////////////////////////////////////////////////////////// |
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// 3D Location vectors |
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// Location structure defined in AP_Common |
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//////////////////////////////////////////////////////////////////////////////// |
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// The home location used for RTL. The location is set when we first get stable GPS lock |
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static const struct Location &home = ahrs.get_home(); |
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// Flag for if we have gps lock and have set the home location |
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static bool home_is_set; |
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// The location of the previous waypoint. Used for track following and altitude ramp calculations |
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static struct Location prev_WP; |
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// The location of the current/active waypoint. Used for track following |
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static struct Location next_WP; |
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// The location of the active waypoint in Guided mode. |
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static struct Location guided_WP; |
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//////////////////////////////////////////////////////////////////////////////// |
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// IMU variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// The main loop execution time. Seconds |
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//This is the time between calls to the DCM algorithm and is the Integration time for the gyros. |
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static float G_Dt = 0.02; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Performance monitoring |
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//////////////////////////////////////////////////////////////////////////////// |
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// Timer used to accrue data and trigger recording of the performanc monitoring log message |
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static int32_t perf_mon_timer; |
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// The maximum main loop execution time recorded in the current performance monitoring interval |
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static uint32_t G_Dt_max; |
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//////////////////////////////////////////////////////////////////////////////// |
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// System Timers |
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//////////////////////////////////////////////////////////////////////////////// |
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// Time in microseconds of start of main control loop. |
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static uint32_t fast_loopTimer_us; |
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// Number of milliseconds used in last main loop cycle |
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static uint32_t delta_us_fast_loop; |
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// Counter of main loop executions. Used for performance monitoring and failsafe processing |
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static uint16_t mainLoop_count; |
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// set if we are driving backwards |
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static bool in_reverse; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Top-level logic |
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//////////////////////////////////////////////////////////////////////////////// |
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/* |
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scheduler table - all regular tasks should be listed here, along |
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with how often they should be called (in 20ms units) and the maximum |
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time they are expected to take (in microseconds) |
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*/ |
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static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = { |
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{ read_radio, 1, 1000 }, |
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{ ahrs_update, 1, 6400 }, |
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{ read_sonars, 1, 2000 }, |
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{ update_current_mode, 1, 1500 }, |
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{ set_servos, 1, 1500 }, |
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{ update_GPS_50Hz, 1, 2500 }, |
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{ update_GPS_10Hz, 5, 2500 }, |
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{ update_alt, 5, 3400 }, |
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{ navigate, 5, 1600 }, |
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{ update_compass, 5, 2000 }, |
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{ update_commands, 5, 1000 }, |
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{ update_logging1, 5, 1000 }, |
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{ update_logging2, 5, 1000 }, |
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{ gcs_retry_deferred, 1, 1000 }, |
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{ gcs_update, 1, 1700 }, |
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{ gcs_data_stream_send, 1, 3000 }, |
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{ read_control_switch, 15, 1000 }, |
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{ read_trim_switch, 5, 1000 }, |
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{ read_battery, 5, 1000 }, |
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{ read_receiver_rssi, 5, 1000 }, |
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{ update_events, 1, 1000 }, |
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{ check_usb_mux, 15, 1000 }, |
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{ mount_update, 1, 600 }, |
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{ gcs_failsafe_check, 5, 600 }, |
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{ compass_accumulate, 1, 900 }, |
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{ update_notify, 1, 300 }, |
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{ one_second_loop, 50, 3000 } |
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}; |
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/* |
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setup is called when the sketch starts |
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*/ |
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void setup() { |
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cliSerial = hal.console; |
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// load the default values of variables listed in var_info[] |
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AP_Param::setup_sketch_defaults(); |
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// rover does not use arming nor pre-arm checks |
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AP_Notify::flags.armed = true; |
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AP_Notify::flags.pre_arm_check = true; |
|
AP_Notify::flags.failsafe_battery = false; |
|
|
|
notify.init(false); |
|
|
|
battery.init(); |
|
|
|
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE); |
|
|
|
init_ardupilot(); |
|
|
|
// initialise the main loop scheduler |
|
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0])); |
|
} |
|
|
|
/* |
|
loop() is called rapidly while the sketch is running |
|
*/ |
|
void loop() |
|
{ |
|
// wait for an INS sample |
|
if (!ins.wait_for_sample(1000)) { |
|
return; |
|
} |
|
uint32_t timer = hal.scheduler->micros(); |
|
|
|
delta_us_fast_loop = timer - fast_loopTimer_us; |
|
G_Dt = delta_us_fast_loop * 1.0e-6f; |
|
fast_loopTimer_us = timer; |
|
|
|
if (delta_us_fast_loop > G_Dt_max) |
|
G_Dt_max = delta_us_fast_loop; |
|
|
|
mainLoop_count++; |
|
|
|
// tell the scheduler one tick has passed |
|
scheduler.tick(); |
|
|
|
scheduler.run(19500U); |
|
} |
|
|
|
// update AHRS system |
|
static void ahrs_update() |
|
{ |
|
ahrs.set_armed(hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED); |
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED |
|
// update hil before AHRS update |
|
gcs_update(); |
|
#endif |
|
|
|
// when in reverse we need to tell AHRS not to assume we are a |
|
// 'fly forward' vehicle, otherwise it will see a large |
|
// discrepancy between the mag and the GPS heading and will try to |
|
// correct for it, leading to a large yaw error |
|
ahrs.set_fly_forward(!in_reverse); |
|
|
|
ahrs.update(); |
|
|
|
// if using the EKF get a speed update now (from accelerometers) |
|
Vector3f velocity; |
|
if (ahrs.get_velocity_NED(velocity)) { |
|
ground_speed = pythagorous2(velocity.x, velocity.y); |
|
} |
|
|
|
if (should_log(MASK_LOG_ATTITUDE_FAST)) |
|
Log_Write_Attitude(); |
|
|
|
if (should_log(MASK_LOG_IMU)) |
|
DataFlash.Log_Write_IMU(ins); |
|
} |
|
|
|
/* |
|
update camera mount - 50Hz |
|
*/ |
|
static void mount_update(void) |
|
{ |
|
#if MOUNT == ENABLED |
|
camera_mount.update_mount_position(); |
|
#endif |
|
#if CAMERA == ENABLED |
|
camera.trigger_pic_cleanup(); |
|
#endif |
|
} |
|
|
|
static void update_alt() |
|
{ |
|
barometer.read(); |
|
if (should_log(MASK_LOG_IMU)) { |
|
Log_Write_Baro(); |
|
} |
|
} |
|
|
|
/* |
|
check for GCS failsafe - 10Hz |
|
*/ |
|
static void gcs_failsafe_check(void) |
|
{ |
|
if (g.fs_gcs_enabled) { |
|
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000); |
|
} |
|
} |
|
|
|
/* |
|
if the compass is enabled then try to accumulate a reading |
|
*/ |
|
static void compass_accumulate(void) |
|
{ |
|
if (g.compass_enabled) { |
|
compass.accumulate(); |
|
} |
|
} |
|
|
|
/* |
|
check for new compass data - 10Hz |
|
*/ |
|
static void update_compass(void) |
|
{ |
|
if (g.compass_enabled && compass.read()) { |
|
ahrs.set_compass(&compass); |
|
// update offsets |
|
compass.learn_offsets(); |
|
if (should_log(MASK_LOG_COMPASS)) { |
|
Log_Write_Compass(); |
|
} |
|
} else { |
|
ahrs.set_compass(NULL); |
|
} |
|
} |
|
|
|
/* |
|
log some key data - 10Hz |
|
*/ |
|
static void update_logging1(void) |
|
{ |
|
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) |
|
Log_Write_Attitude(); |
|
|
|
if (should_log(MASK_LOG_CTUN)) |
|
Log_Write_Control_Tuning(); |
|
|
|
if (should_log(MASK_LOG_NTUN)) |
|
Log_Write_Nav_Tuning(); |
|
} |
|
|
|
/* |
|
log some key data - 10Hz |
|
*/ |
|
static void update_logging2(void) |
|
{ |
|
if (should_log(MASK_LOG_STEERING)) { |
|
if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) { |
|
Log_Write_Steering(); |
|
} |
|
} |
|
|
|
if (should_log(MASK_LOG_RC)) |
|
Log_Write_RC(); |
|
} |
|
|
|
|
|
/* |
|
update aux servo mappings |
|
*/ |
|
static void update_aux(void) |
|
{ |
|
RC_Channel_aux::enable_aux_servos(); |
|
|
|
#if MOUNT == ENABLED |
|
camera_mount.update_mount_type(); |
|
#endif |
|
} |
|
|
|
/* |
|
once a second events |
|
*/ |
|
static void one_second_loop(void) |
|
{ |
|
if (should_log(MASK_LOG_CURRENT)) |
|
Log_Write_Current(); |
|
// send a heartbeat |
|
gcs_send_message(MSG_HEARTBEAT); |
|
|
|
// allow orientation change at runtime to aid config |
|
ahrs.set_orientation(); |
|
|
|
set_control_channels(); |
|
|
|
// cope with changes to aux functions |
|
update_aux(); |
|
|
|
#if MOUNT == ENABLED |
|
camera_mount.update_mount_type(); |
|
#endif |
|
|
|
// cope with changes to mavlink system ID |
|
mavlink_system.sysid = g.sysid_this_mav; |
|
|
|
static uint8_t counter; |
|
|
|
counter++; |
|
|
|
// write perf data every 20s |
|
if (counter % 10 == 0) { |
|
if (scheduler.debug() != 0) { |
|
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max); |
|
} |
|
if (should_log(MASK_LOG_PM)) |
|
Log_Write_Performance(); |
|
G_Dt_max = 0; |
|
resetPerfData(); |
|
} |
|
|
|
// save compass offsets once a minute |
|
if (counter >= 60) { |
|
if (g.compass_enabled) { |
|
compass.save_offsets(); |
|
} |
|
counter = 0; |
|
} |
|
} |
|
|
|
static void update_GPS_50Hz(void) |
|
{ |
|
static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; |
|
gps.update(); |
|
|
|
for (uint8_t i=0; i<gps.num_sensors(); i++) { |
|
if (gps.last_message_time_ms(i) != last_gps_reading[i]) { |
|
last_gps_reading[i] = gps.last_message_time_ms(i); |
|
if (should_log(MASK_LOG_GPS)) { |
|
DataFlash.Log_Write_GPS(gps, i, current_loc.alt); |
|
} |
|
} |
|
} |
|
} |
|
|
|
|
|
static void update_GPS_10Hz(void) |
|
{ |
|
have_position = ahrs.get_position(current_loc); |
|
|
|
if (have_position && gps.status() >= AP_GPS::GPS_OK_FIX_3D) { |
|
|
|
if (ground_start_count > 1){ |
|
ground_start_count--; |
|
|
|
} else if (ground_start_count == 1) { |
|
// We countdown N number of good GPS fixes |
|
// so that the altitude is more accurate |
|
// ------------------------------------- |
|
if (current_loc.lat == 0) { |
|
ground_start_count = 20; |
|
} else { |
|
init_home(); |
|
|
|
// set system clock for log timestamps |
|
hal.util->set_system_clock(gps.time_epoch_usec()); |
|
|
|
if (g.compass_enabled) { |
|
// Set compass declination automatically |
|
compass.set_initial_location(gps.location().lat, gps.location().lng); |
|
} |
|
ground_start_count = 0; |
|
} |
|
} |
|
Vector3f velocity; |
|
if (ahrs.get_velocity_NED(velocity)) { |
|
ground_speed = pythagorous2(velocity.x, velocity.y); |
|
} else { |
|
ground_speed = gps.ground_speed(); |
|
} |
|
|
|
#if CAMERA == ENABLED |
|
if (camera.update_location(current_loc) == true) { |
|
do_take_picture(); |
|
} |
|
#endif |
|
} |
|
} |
|
|
|
static void update_current_mode(void) |
|
{ |
|
switch (control_mode){ |
|
case AUTO: |
|
case RTL: |
|
case GUIDED: |
|
set_reverse(false); |
|
calc_lateral_acceleration(); |
|
calc_nav_steer(); |
|
calc_throttle(g.speed_cruise); |
|
break; |
|
|
|
case STEERING: { |
|
/* |
|
in steering mode we control lateral acceleration |
|
directly. We first calculate the maximum lateral |
|
acceleration at full steering lock for this speed. That is |
|
V^2/R where R is the radius of turn. We get the radius of |
|
turn from half the STEER2SRV_P. |
|
*/ |
|
float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius(); |
|
|
|
// constrain to user set TURN_MAX_G |
|
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS); |
|
|
|
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f); |
|
calc_nav_steer(); |
|
|
|
// and throttle gives speed in proportion to cruise speed, up |
|
// to 50% throttle, then uses nudging above that. |
|
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise; |
|
set_reverse(target_speed < 0); |
|
if (in_reverse) { |
|
target_speed = constrain_float(target_speed, -g.speed_cruise, 0); |
|
} else { |
|
target_speed = constrain_float(target_speed, 0, g.speed_cruise); |
|
} |
|
calc_throttle(target_speed); |
|
break; |
|
} |
|
|
|
case LEARNING: |
|
case MANUAL: |
|
/* |
|
in both MANUAL and LEARNING we pass through the |
|
controls. Setting servo_out here actually doesn't matter, as |
|
we set the exact value in set_servos(), but it helps for |
|
logging |
|
*/ |
|
channel_throttle->servo_out = channel_throttle->control_in; |
|
channel_steer->servo_out = channel_steer->pwm_to_angle(); |
|
|
|
// mark us as in_reverse when using a negative throttle to |
|
// stop AHRS getting off |
|
set_reverse(channel_throttle->servo_out < 0); |
|
break; |
|
|
|
case HOLD: |
|
// hold position - stop motors and center steering |
|
channel_throttle->servo_out = 0; |
|
channel_steer->servo_out = 0; |
|
set_reverse(false); |
|
break; |
|
|
|
case INITIALISING: |
|
break; |
|
} |
|
} |
|
|
|
static void update_navigation() |
|
{ |
|
switch (control_mode) { |
|
case MANUAL: |
|
case HOLD: |
|
case LEARNING: |
|
case STEERING: |
|
case INITIALISING: |
|
break; |
|
|
|
case AUTO: |
|
mission.update(); |
|
break; |
|
|
|
case RTL: |
|
case GUIDED: |
|
// no loitering around the wp with the rover, goes direct to the wp position |
|
calc_lateral_acceleration(); |
|
calc_nav_steer(); |
|
if (verify_RTL()) { |
|
channel_throttle->servo_out = g.throttle_min.get(); |
|
set_mode(HOLD); |
|
} |
|
break; |
|
} |
|
} |
|
|
|
AP_HAL_MAIN();
|
|
|