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ardupilot/ArduCopter/ArduCopter.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V2.8.1a"
/*
* ArduCopter Version 2.8
* Lead author: Jason Short
* Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni
* Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini
*
* This firmware is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* Special Thanks for Contributors:
*
* Hein Hollander :Octo Support
* Dani Saez :V Ocoto Support
* Max Levine :Tri Support, Graphics
* Jose Julio :Stabilization Control laws
* Randy MacKay :Heli Support
* Jani Hiriven :Testing feedback
* Andrew Tridgell :Mavlink Support
* James Goppert :Mavlink Support
* Doug Weibel :Libraries
* Mike Smith :Libraries, Coding support
* HappyKillmore :Mavlink GCS
* Michael Oborne :Mavlink GCS
* Jack Dunkle :Alpha testing
* Christof Schmid :Alpha testing
* Oliver :Piezo support
* Guntars :Arming safety suggestion
* Igor van Airde :Control Law optimization
* Jean-Louis Naudin :Auto Landing
* Sandro Benigno :Camera support
* Olivier Adler :PPM Encoder
* John Arne Birkeland :PPM Encoder
* Adam M Rivera :Auto Compass Declination
* Marco Robustini :Alpha testing
* Angel Fernandez :Alpha testing
* Robert Lefebvre :Heli Support & LEDs
* Amilcar Lucas :mount and camera configuration
* Gregory Fletcher :mount orientation math
*
* And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
*
* Requires modified "mrelax" version of Arduino, which can be found here:
* http://code.google.com/p/ardupilot-mega/downloads/list
*
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
// AVR runtime
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <math.h>
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Menu.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <AP_GPS.h> // ArduPilot GPS library
#include <I2C.h> // Arduino I2C lib
#include <SPI.h> // Arduino SPI lib
#include <SPI3.h> // SPI3 library
#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h>
#include <AP_Baro.h>
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_PeriodicProcess.h> // Parent header of Timer
// (only included for makefile libpath to work)
#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
#include <AP_AHRS.h>
#include <APM_PI.h> // PI library
#include <AC_PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library
#include <AP_MotorsQuad.h> // AP Motors library for Quad
#include <AP_MotorsTri.h> // AP Motors library for Tri
#include <AP_MotorsHexa.h> // AP Motors library for Hexa
#include <AP_MotorsY6.h> // AP Motors library for Y6
#include <AP_MotorsOcta.h> // AP Motors library for Octa
#include <AP_MotorsOctaQuad.h> // AP Motors library for OctaQuad
#include <AP_MotorsHeli.h> // AP Motors library for Heli
#include <AP_MotorsMatrix.h> // AP Motors library for Heli
#include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer
#include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_LeadFilter.h> // GPS Lead filter
#include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount
#include <AP_Airspeed.h> // needed for AHRS build
#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <ThirdOrderCompFilter.h> // Complementary filter for combining barometer altitude with accelerometers
#include <memcheck.h>
// Configuration
#include "defines.h"
#include "config.h"
#include "config_channels.h"
#include <GCS_MAVLink.h> // MAVLink GCS definitions
// Local modules
#include "Parameters.h"
#include "GCS.h"
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
// Limits library - Puts limits on the vehicle, and takes recovery actions
#include <AP_Limits.h>
#include <AP_Limit_GPSLock.h> // a limits library module
#include <AP_Limit_Geofence.h> // a limits library module
#include <AP_Limit_Altitude.h> // a limits library module
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial); // FTDI/console
FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port
// this sets up the parameter table, and sets the default values. This
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, WP_START_BYTE);
Arduino_Mega_ISR_Registry isr_registry;
////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;
////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);
////////////////////////////////////////////////////////////////////////////////
// RC Hardware
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif
////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
AP_Semaphore spi_semaphore;
AP_Semaphore spi3_semaphore;
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
DataFlash_APM2 DataFlash(&spi3_semaphore);
#else
DataFlash_APM1 DataFlash(&spi_semaphore);
#endif
////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
//
// There are three basic options related to flight sensor selection.
//
// - Normal flight mode. Real sensors are used.
// - HIL Attitude mode. Most sensors are disabled, as the HIL
// protocol supplies attitude information directly.
// - HIL Sensors mode. Synthetic sensors are configured that
// supply data from the simulation.
//
// All GPS access should be through this pointer.
static GPS *g_gps;
// flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1;
#if HIL_MODE == HIL_MODE_DISABLED
// real sensors
#if CONFIG_ADC == ENABLED
AP_ADC_ADS7844 adc;
#endif
#ifdef DESKTOP_BUILD
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
#include <SITL.h>
SITL sitl;
#else
#if CONFIG_BARO == AP_BARO_BMP085
# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_Baro_BMP085 barometer(true);
# else
AP_Baro_BMP085 barometer(false);
# endif
#elif CONFIG_BARO == AP_BARO_MS5611
AP_Baro_MS5611 barometer;
#endif
AP_Compass_HMC5843 compass;
#endif
#ifdef OPTFLOW_ENABLED
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#else
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#endif
#else
AP_OpticalFlow optflow;
#endif
// real GPS selection
#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
AP_GPS_NMEA g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
AP_GPS_SIRF g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
AP_GPS_UBLOX g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
AP_GPS_MTK g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
AP_GPS_MTK16 g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_None g_gps_driver(NULL);
#else
#error Unrecognised GPS_PROTOCOL setting.
#endif // GPS PROTOCOL
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins;
#else
AP_InertialSensor_Oilpan ins(&adc);
#endif
// we don't want to use gps for yaw correction on ArduCopter, so pass
// a NULL GPS object pointer
static GPS *g_gps_null;
#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2
#else
AP_AHRS_DCM ahrs(&ins, g_gps);
#endif
// ahrs2 object is the secondary ahrs to allow running DMP in parallel with DCM
#if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
#endif
#elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators
AP_ADC_HIL adc;
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
AP_GPS_HIL g_gps_driver(NULL);
AP_InertialSensor_Stub ins;
AP_AHRS_DCM ahrs(&ins, g_gps);
static int32_t gps_base_alt;
#elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc;
AP_InertialSensor_Stub ins;
AP_AHRS_HIL ahrs(&ins, g_gps);
AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used
AP_Baro_BMP085_HIL barometer;
#ifdef OPTFLOW_ENABLED
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#else
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#endif
#endif
#ifdef DESKTOP_BUILD
#include <SITL.h>
SITL sitl;
#endif
static int32_t gps_base_alt;
#else
#error Unrecognised HIL_MODE setting.
#endif // HIL MODE
// we always have a timer scheduler
AP_TimerProcess timer_scheduler;
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
GCS_MAVLINK gcs0;
GCS_MAVLINK gcs3;
////////////////////////////////////////////////////////////////////////////////
// SONAR selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
#endif
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
#endif
// agmatthews USERHOOKS
////////////////////////////////////////////////////////////////////////////////
// User variables
////////////////////////////////////////////////////////////////////////////////
#ifdef USERHOOK_VARIABLES
#include USERHOOK_VARIABLES
#endif
////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////
/* Radio values
* Channel assignments
* 1 Ailerons (rudder if no ailerons)
* 2 Elevator
* 3 Throttle
* 4 Rudder (if we have ailerons)
* 5 Mode - 3 position switch
* 6 User assignable
* 7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
* 8 TBD
* Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
* See libraries/RC_Channel/RC_Channel_aux.h for more information
*/
//Documentation of GLobals:
static union {
struct {
uint8_t home_is_set : 1; // 1
uint8_t simple_mode : 1; // 2 // This is the state of simple mode
uint8_t manual_attitude : 1; // 3
uint8_t manual_throttle : 1; // 4
uint8_t low_battery : 1; // 5 // Used to track if the battery is low - LED output flashes when the batt is low
uint8_t loiter_override : 1; // 6 // Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s
uint8_t armed : 1; // 7
uint8_t auto_armed : 1; // 8
uint8_t failsafe : 1; // 9 // A status flag for the failsafe state
uint8_t do_flip : 1; // 10 // Used to enable flip code
uint8_t takeoff_complete : 1; // 11
uint8_t rtl_reached_alt : 1; // 12
uint8_t land_complete : 1; // 13
uint8_t compass_status : 1; // 14
uint8_t gps_status : 1; // 15
uint8_t fast_corner : 1; // 16 // should we take the waypoint quickly or slow down?
};
uint16_t value;
} ap;
static struct AP_System{
uint8_t GPS_light : 1; // 1 // Solid indicates we have full 3D lock and can navigate, flash = read
uint8_t motor_light : 1; // 2 // Solid indicates Armed state
uint8_t new_radio_frame : 1; // 3 // Set true if we have new PWM data to act on from the Radio
uint8_t nav_ok : 1; // 4 // deprecated
uint8_t CH7_flag : 1; // 5 // manages state of the ch7 toggle switch
uint8_t usb_connected : 1; // 6 // true if APM is powered from USB connection
uint8_t run_50hz_loop : 1; // 7 // toggles the 100hz loop for 50hz
uint8_t alt_sensor_flag : 1; // 8 // used to track when to read sensors vs estimate alt
uint8_t yaw_stopped : 1; // 9 // Used to manage the Yaw hold capabilities
} ap_system;
////////////////////////////////////////////////////////////////////////////////
// velocity in lon and lat directions calculated from GPS position and accelerometer data
// updated after GPS read - 5-10hz
static int16_t lon_speed; // expressed in cm/s. positive numbers mean moving east
static int16_t lat_speed; // expressed in cm/s. positive numbers when moving north
static int16_t desired_climb_rate;
// The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz
static int16_t x_rate_error;
static int16_t y_rate_error;
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
// This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO,
static int8_t control_mode = STABILIZE;
// Used to maintain the state of the previous control switch position
// This is set to -1 when we need to re-read the switch
static byte oldSwitchPosition;
////////////////////////////////////////////////////////////////////////////////
// Motor Output
////////////////////////////////////////////////////////////////////////////////
#if FRAME_CONFIG == QUAD_FRAME
#define MOTOR_CLASS AP_MotorsQuad
#endif
#if FRAME_CONFIG == TRI_FRAME
#define MOTOR_CLASS AP_MotorsTri
#endif
#if FRAME_CONFIG == HEXA_FRAME
#define MOTOR_CLASS AP_MotorsHexa
#endif
#if FRAME_CONFIG == Y6_FRAME
#define MOTOR_CLASS AP_MotorsY6
#endif
#if FRAME_CONFIG == OCTA_FRAME
#define MOTOR_CLASS AP_MotorsOcta
#endif
#if FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad
#endif
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
// Mavlink/HIL control
////////////////////////////////////////////////////////////////////////////////
// Used to track the GCS based control input
// Allow override of RC channel values for HIL
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
// Status flag that tracks whether we are under GCS control
static bool rc_override_active = false;
// Status flag that tracks whether we are under GCS control
static uint32_t rc_override_fs_timer;
////////////////////////////////////////////////////////////////////////////////
// PIDs
////////////////////////////////////////////////////////////////////////////////
// This is a convienience accessor for the IMU roll rates. It's currently the raw IMU rates
// and not the adjusted omega rates, but the name is stuck
static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
// This will keep track of the percent of roll or pitch the user is applying
//float roll_scale_d, pitch_scale_d;
////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// This is current status for the LED lights state machine
// setting this value changes the output of the LEDs
static byte led_mode = NORMAL_LEDS;
// Blinking indicates GPS status
static byte copter_leds_GPS_blink;
// Blinking indicates battery status
static byte copter_leds_motor_blink;
// Navigation confirmation blinks
static int8_t copter_leds_nav_blink;
////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
// This is used to scale GPS values for EEPROM storage
// 10^7 times Decimal GPS means 1 == 1cm
// This approximation makes calculations integer and it's easy to read
static const float t7 = 10000000.0;
// We use atan2 and other trig techniques to calaculate angles
// We need to scale the longitude up to make these calcs work
// to account for decreasing distance between lines of longitude away from the equator
static float scaleLongUp = 1;
// Sometimes we need to remove the scaling for distance calcs
static float scaleLongDown = 1;
////////////////////////////////////////////////////////////////////////////////
// Mavlink specific
////////////////////////////////////////////////////////////////////////////////
// Used by Mavlink for unknow reasons
static const float radius_of_earth = 6378100; // meters
// Used by Mavlink for unknow reasons
static const float gravity = 9.80665; // meters/ sec^2
// Unions for getting byte values
union float_int {
int32_t int_value;
float float_value;
} float_int;
////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// This is the angle from the copter to the "next_WP" location in degrees * 100
static int32_t target_bearing;
// Status of the Waypoint tracking mode. Options include:
// NO_NAV_MODE, WP_MODE, LOITER_MODE, CIRCLE_MODE
static byte wp_control;
// Register containing the index of the current navigation command in the mission script
static int16_t command_nav_index;
// Register containing the index of the previous navigation command in the mission script
// Used to manage the execution of conditional commands
static uint8_t prev_nav_index;
// Register containing the index of the current conditional command in the mission script
static uint8_t command_cond_index;
// Used to track the required WP navigation information
// options include
// NAV_ALTITUDE - have we reached the desired altitude?
// NAV_LOCATION - have we reached the desired location?
// NAV_DELAY - have we waited at the waypoint the desired time?
static uint8_t wp_verify_byte; // used for tracking state of navigating waypoints
// used to limit the speed ramp up of WP navigation
// Acceleration is limited to 1m/s/s
static int16_t max_speed_old;
// Used to track how many cm we are from the "next_WP" location
static int32_t long_error, lat_error;
static int16_t control_roll;
static int16_t control_pitch;
////////////////////////////////////////////////////////////////////////////////
// Orientation
////////////////////////////////////////////////////////////////////////////////
// Convienience accessors for commonly used trig functions. These values are generated
// by the DCM through a few simple equations. They are used throughout the code where cos and sin
// would normally be used.
// The cos values are defaulted to 1 to get a decent initial value for a level state
static float cos_roll_x = 1;
static float cos_pitch_x = 1;
static float cos_yaw_x = 1;
static float sin_yaw_y;
static float sin_roll;
static float sin_pitch;
////////////////////////////////////////////////////////////////////////////////
// SIMPLE Mode
////////////////////////////////////////////////////////////////////////////////
// Used to track the orientation of the copter for Simple mode. This value is reset at each arming
// or in SuperSimple mode when the copter leaves a 20m radius from home.
static int32_t initial_simple_bearing;
////////////////////////////////////////////////////////////////////////////////
// Rate contoller targets
////////////////////////////////////////////////////////////////////////////////
static uint8_t rate_targets_frame = EARTH_FRAME; // indicates whether rate targets provided in earth or body frame
static int32_t roll_rate_target_ef = 0;
static int32_t pitch_rate_target_ef = 0;
static int32_t yaw_rate_target_ef = 0;
static int32_t roll_rate_target_bf = 0; // body frame roll rate target
static int32_t pitch_rate_target_bf = 0; // body frame pitch rate target
static int32_t yaw_rate_target_bf = 0; // body frame yaw rate target
////////////////////////////////////////////////////////////////////////////////
// ACRO Mode
////////////////////////////////////////////////////////////////////////////////
// Used to control Axis lock
int32_t roll_axis;
int32_t pitch_axis;
// Filters
AP_LeadFilter xLeadFilter; // Long GPS lag filter
AP_LeadFilter yLeadFilter; // Lat GPS lag filter
// Barometer filter
AverageFilterInt32_Size5 baro_filter;
////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control
////////////////////////////////////////////////////////////////////////////////
// used to determin the desired location in Circle mode
// increments at circle_rate / second
static float circle_angle;
// used to control the speed of Circle mode
// units are in radians, default is 5° per second
static const float circle_rate = 0.0872664625;
// used to track the delat in Circle Mode
static int32_t old_target_bearing;
// deg : how many times to circle * 360 for Loiter/Circle Mission command
static int16_t loiter_total;
// deg : how far we have turned around a waypoint
static int16_t loiter_sum;
// How long we should stay in Loiter Mode for mission scripting
static uint16_t loiter_time_max;
// How long have we been loitering - The start time in millis
static uint32_t loiter_time;
// The synthetic location created to make the copter do circles around a WP
static struct Location circle_WP;
////////////////////////////////////////////////////////////////////////////////
// CH7 control
////////////////////////////////////////////////////////////////////////////////
// This register tracks the current Mission Command index when writing
// a mission using CH7 in flight
static int8_t CH7_wp_index;
////////////////////////////////////////////////////////////////////////////////
// Battery Sensors
////////////////////////////////////////////////////////////////////////////////
// Battery Voltage of battery, initialized above threshold for filter
static float battery_voltage1 = LOW_VOLTAGE * 1.05;
// refers to the instant amp draw – based on an Attopilot Current sensor
static float current_amps1;
// refers to the total amps drawn – based on an Attopilot Current sensor
static float current_total1;
////////////////////////////////////////////////////////////////////////////////
// Altitude
////////////////////////////////////////////////////////////////////////////////
// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
static int32_t altitude_error;
// The cm/s we are moving up or down based on sensor data - Positive = UP
static int16_t climb_rate_actual;
// Used to dither our climb_rate over 50hz
static int16_t climb_rate_error;
// The cm/s we are moving up or down based on filtered data - Positive = UP
static int16_t climb_rate;
// The altitude as reported by Sonar in cm – Values are 20 to 700 generally.
static int16_t sonar_alt;
// The climb_rate as reported by sonar in cm/s
static int16_t sonar_rate;
// The altitude as reported by Baro in cm – Values can be quite high
static int32_t baro_alt;
// The climb_rate as reported by Baro in cm/s
static int16_t baro_rate;
// used to switch out of Manual Boost
static uint8_t reset_throttle_counter;
static int16_t saved_toy_throttle;
////////////////////////////////////////////////////////////////////////////////
// flight modes
////////////////////////////////////////////////////////////////////////////////
// Flight modes are combinations of Roll/Pitch, Yaw and Throttle control modes
// Each Flight mode is a unique combination of these modes
//
// The current desired control scheme for Yaw
static byte yaw_mode;
// The current desired control scheme for roll and pitch / navigation
static byte roll_pitch_mode;
// The current desired control scheme for altitude hold
static byte throttle_mode;
////////////////////////////////////////////////////////////////////////////////
// flight specific
////////////////////////////////////////////////////////////////////////////////
// An additional throttle added to keep the copter at the same altitude when banking
static int16_t angle_boost;
// Push copter down for clean landing
static int16_t landing_boost;
// for controlling the landing throttle curve
//verifies landings
static int16_t ground_detector;
////////////////////////////////////////////////////////////////////////////////
// Navigation general
////////////////////////////////////////////////////////////////////////////////
// The location of the copter in relation to home, updated every GPS read
static int32_t home_to_copter_bearing;
// distance between plane and home in cm
static int32_t home_distance;
// distance between plane and next_WP in cm
// is not static because AP_Camera uses it
int32_t wp_distance;
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
////////////////////////////////////////////////////////////////////////////////
// home location is stored when we have a good GPS lock and arm the copter
// Can be reset each the copter is re-armed
static struct Location home;
// Current location of the copter
static struct Location current_loc;
// Next WP is the desired location of the copter - the next waypoint or loiter location
static struct Location next_WP;
// Prev WP is used to get the optimum path from one WP to the next
static struct Location prev_WP;
// Holds the current loaded command from the EEPROM for navigation
static struct Location command_nav_queue;
// Holds the current loaded command from the EEPROM for conditional scripts
static struct Location command_cond_queue;
// Holds the current loaded command from the EEPROM for guided mode
static struct Location guided_WP;
////////////////////////////////////////////////////////////////////////////////
// Crosstrack
////////////////////////////////////////////////////////////////////////////////
// deg * 100, The original angle to the next_WP when the next_WP was set
// Also used to check when we pass a WP
static int32_t original_target_bearing;
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
////////////////////////////////////////////////////////////////////////////////
// Navigation Roll/Pitch functions
////////////////////////////////////////////////////////////////////////////////
// all angles are deg * 100 : target yaw angle
// The Commanded ROll from the autopilot.
static int32_t nav_roll;
// The Commanded pitch from the autopilot. negative Pitch means go forward.
static int32_t nav_pitch;
// The desired bank towards North (Positive) or South (Negative)
static int32_t auto_roll;
static int32_t auto_pitch;
// Don't be fooled by the fact that Pitch is reversed from Roll in its sign!
static int16_t nav_lat;
// The desired bank towards East (Positive) or West (Negative)
static int16_t nav_lon;
// The Commanded ROll from the autopilot based on optical flow sensor.
static int32_t of_roll;
// The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward.
static int32_t of_pitch;
////////////////////////////////////////////////////////////////////////////////
// Navigation Throttle control
////////////////////////////////////////////////////////////////////////////////
// The Commanded Throttle from the autopilot.
static int16_t nav_throttle; // 0-1000 for throttle control
// This is a simple counter to track the amount of throttle used during flight
// This could be useful later in determining and debuging current usage and predicting battery life
static uint32_t throttle_integrator;
////////////////////////////////////////////////////////////////////////////////
// Climb rate control
////////////////////////////////////////////////////////////////////////////////
// Time when we intiated command in millis - used for controlling decent rate
// Used to track the altitude offset for climbrate control
static int8_t alt_change_flag;
////////////////////////////////////////////////////////////////////////////////
// Navigation Yaw control
////////////////////////////////////////////////////////////////////////////////
// The Commanded Yaw from the autopilot.
static int32_t nav_yaw;
// A speed governer for Yaw control - limits the rate the quad can be turned by the autopilot
static int32_t auto_yaw;
static uint8_t yaw_timer;
// Options include: no tracking, point at next wp, or at a target
static byte yaw_tracking = MAV_ROI_WPNEXT;
// In AP Mission scripting we have a fine level of control for Yaw
// This is our initial angle for relative Yaw movements
static int32_t command_yaw_start;
// Timer values used to control the speed of Yaw movements
static uint32_t command_yaw_start_time;
static uint16_t command_yaw_time; // how long we are turning
static int32_t command_yaw_end; // what angle are we trying to be
// how many degrees will we turn
static int32_t command_yaw_delta;
// Deg/s we should turn
static int16_t command_yaw_speed;
// Direction we will turn – 1 = CW, 0 or -1 = CCW
static byte command_yaw_dir;
// Direction we will turn – 1 = relative, 0 = Absolute
static byte command_yaw_relative;
// Yaw will point at this location if yaw_tracking is set to MAV_ROI_LOCATION
static struct Location target_WP;
////////////////////////////////////////////////////////////////////////////////
// Repeat Mission Scripting Command
////////////////////////////////////////////////////////////////////////////////
// The type of repeating event - Toggle a servo channel, Toggle the APM1 relay, etc
static byte event_id;
// Used to manage the timimng of repeating events
static uint32_t event_timer;
// How long to delay the next firing of event in millis
static uint16_t event_delay;
// how many times to fire : 0 = forever, 1 = do once, 2 = do twice
static int16_t event_repeat;
// per command value, such as PWM for servos
static int16_t event_value;
// the stored value used to undo commands - such as original PWM command
static int16_t event_undo_value;
////////////////////////////////////////////////////////////////////////////////
// Delay Mission Scripting Command
////////////////////////////////////////////////////////////////////////////////
static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
static uint32_t condition_start;
////////////////////////////////////////////////////////////////////////////////
// IMU variables
////////////////////////////////////////////////////////////////////////////////
// Integration time for the gyros (DCM algorithm)
// Updated with the fast loop
static float G_Dt = 0.02;
////////////////////////////////////////////////////////////////////////////////
// Inertial Navigation
////////////////////////////////////////////////////////////////////////////////
#if INERTIAL_NAV == ENABLED
AP_InertialNav inertial_nav(&ahrs, &ins, &barometer, &g_gps);
#endif
////////////////////////////////////////////////////////////////////////////////
// Performance monitoring
////////////////////////////////////////////////////////////////////////////////
// Used to manage the rate of performance logging messages
static int16_t perf_mon_counter;
// The number of GPS fixes we have had
static int16_t gps_fix_count;
// System Timers
// --------------
// Time in microseconds of main control loop
static uint32_t fast_loopTimer;
// Time in microseconds of 50hz control loop
static uint32_t fiftyhz_loopTimer = 0;
// Counters for branching from 10 hz control loop
static byte medium_loopCounter;
// Counters for branching from 3 1/3hz control loop
static byte slow_loopCounter;
// Counters for branching at 1 hz
static byte counter_one_herz;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
// Delta Time in milliseconds for navigation computations, updated with every good GPS read
static float dTnav;
// Counters for branching from 4 minute control loop used to save Compass offsets
static int16_t superslow_loopCounter;
// Loiter timer - Records how long we have been in loiter
static uint32_t loiter_timer;
// disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight
static uint8_t auto_disarming_counter;
// prevents duplicate GPS messages from entering system
static uint32_t last_gps_time;
// Used to auto exit the roll_pitch_trim saving function
static uint8_t save_trim_counter;
// Reference to the AP relay object - APM1 only
AP_Relay relay;
#if CLI_ENABLED == ENABLED
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
#endif
// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount(&current_loc, g_gps, &ahrs, 0);
#endif
#if MOUNT2 == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
#endif
#if CAMERA == ENABLED
//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
#endif
////////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
#ifdef AP_LIMITS
AP_Limits limits;
AP_Limit_GPSLock gpslock_limit(g_gps);
AP_Limit_Geofence geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, &current_loc);
AP_Limit_Altitude altitude_limit(&current_loc);
#endif
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
void setup() {
memcheck_init();
init_ardupilot();
}
void loop()
{
uint32_t timer = micros();
uint16_t num_samples;
// We want this to execute fast
// ----------------------------
num_samples = ins.num_samples_available();
if (num_samples >= NUM_IMU_SAMPLES_FOR_100HZ) {
#if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer));
#endif
//PORTK |= B00010000;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
fast_loopTimer = timer;
// for mainloop failure monitoring
mainLoop_count++;
// Execute the fast loop
// ---------------------
fast_loop();
// run the 50hz loop 1/2 the time
ap_system.run_50hz_loop = !ap_system.run_50hz_loop;
if(ap_system.run_50hz_loop) {
#if DEBUG_MED_LOOP == ENABLED
Log_Write_Data(DATA_MED_LOOP, (int32_t)(timer - fiftyhz_loopTimer));
#endif
// store the micros for the 50 hz timer
fiftyhz_loopTimer = timer;
// port manipulation for external timing of main loops
//PORTK |= B01000000;
// check for new GPS messages
// --------------------------
update_GPS();
// run navigation routines
update_navigation();
// perform 10hz tasks
// ------------------
medium_loop();
// Stuff to run at full 50hz, but after the med loops
// --------------------------------------------------
fifty_hz_loop();
counter_one_herz++;
// trgger our 1 hz loop
if(counter_one_herz >= 50) {
super_slow_loop();
counter_one_herz = 0;
}
perf_mon_counter++;
if (perf_mon_counter > 600 ) {
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
gps_fix_count = 0;
perf_mon_counter = 0;
}
//PORTK &= B10111111;
}
} else {
#ifdef DESKTOP_BUILD
usleep(1000);
#endif
if (num_samples < NUM_IMU_SAMPLES_FOR_100HZ-1) {
// we have some spare cycles available
// less than 20ms has passed. We have at least one millisecond
// of free time. The most useful thing to do with that time is
// to accumulate some sensor readings, specifically the
// compass, which is often very noisy but is not interrupt
// driven, so it can't accumulate readings by itself
if (g.compass_enabled) {
compass.accumulate();
}
}
}
// port manipulation for external timing of main loops
//PORTK &= B11101111;
}
// PORTK |= B01000000;
// PORTK &= B10111111;
// Main loop - 100hz
static void fast_loop()
{
// try to send any deferred messages if the serial port now has
// some space available
gcs_send_message(MSG_RETRY_DEFERRED);
// run low level rate controllers that only require IMU data
run_rate_controllers();
// write out the servo PWM values
// ------------------------------
set_servos_4();
// IMU DCM Algorithm
// --------------------
read_AHRS();
// reads all of the necessary trig functions for cameras, throttle, etc.
// --------------------------------------------------------------------
update_trig();
// Inertial Nav
// --------------------
read_inertia();
// optical flow
// --------------------
#ifdef OPTFLOW_ENABLED
if(g.optflow_enabled) {
update_optical_flow();
}
#endif
// Read radio and 3-position switch on radio
// -----------------------------------------
read_radio();
read_control_switch();
// custom code/exceptions for flight modes
// ---------------------------------------
update_yaw_mode();
update_roll_pitch_mode();
// update targets to rate controllers
update_rate_contoller_targets();
// agmatthews - USERHOOKS
#ifdef USERHOOK_FASTLOOP
USERHOOK_FASTLOOP
#endif
}
static void medium_loop()
{
// This is the start of the medium (10 Hz) loop pieces
// -----------------------------------------
switch(medium_loopCounter) {
// This case deals with the GPS and Compass
//-----------------------------------------
case 0:
medium_loopCounter++;
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled) {
if (compass.read()) {
compass.null_offsets();
}
}
#endif
// save_trim - stores roll and pitch radio inputs to ahrs
save_trim();
// record throttle output
// ------------------------------
throttle_integrator += g.rc_3.servo_out;
break;
// This case performs some navigation computations
//------------------------------------------------
case 1:
medium_loopCounter++;
break;
// command processing
//-------------------
case 2:
medium_loopCounter++;
if(control_mode == TOY_A) {
update_toy_throttle();
if(throttle_mode == THROTTLE_AUTO) {
update_toy_altitude();
}
}
ap_system.alt_sensor_flag = true;
break;
// This case deals with sending high rate telemetry
//-------------------------------------------------
case 3:
medium_loopCounter++;
// perform next command
// --------------------
if(control_mode == AUTO) {
if(ap.home_is_set && g.command_total > 1) {
update_commands();
}
}
if(motors.armed()) {
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
Log_Write_Attitude();
#if SECONDARY_DMP_ENABLED == ENABLED
Log_Write_DMP();
#endif
}
if (g.log_bitmask & MASK_LOG_MOTORS)
Log_Write_Motors();
}
break;
// This case controls the slow loop
//---------------------------------
case 4:
medium_loopCounter = 0;
if (g.battery_monitoring != 0) {
read_battery();
}
// Accel trims = hold > 2 seconds
// Throttle cruise = switch less than 1 second
// --------------------------------------------
read_trim_switch();
// Check for engine arming
// -----------------------
arm_motors();
// agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
USERHOOK_MEDIUMLOOP
#endif
#if COPTER_LEDS == ENABLED
update_copter_leds();
#endif
slow_loop();
break;
default:
// this is just a catch all
// ------------------------
medium_loopCounter = 0;
break;
}
}
// stuff that happens at 50 hz
// ---------------------------
static void fifty_hz_loop()
{
// read altitude sensors or estimate altitude
// ------------------------------------------
update_altitude_est();
// Update the throttle ouput
// -------------------------
update_throttle_mode();
// Read Sonar
// ----------
# if CONFIG_SONAR == ENABLED
if(g.sonar_enabled) {
sonar_alt = sonar.read();
}
#endif
#if TOY_EDF == ENABLED
edf_toy();
#endif
#ifdef USERHOOK_50HZLOOP
USERHOOK_50HZLOOP
#endif
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
// HIL for a copter needs very fast update of the servo values
gcs_send_message(MSG_RADIO_OUT);
#endif
#if MOUNT == ENABLED
// update camera mount's position
camera_mount.update_mount_position();
#endif
#if MOUNT2 == ENABLED
// update camera mount's position
camera_mount2.update_mount_position();
#endif
#if CAMERA == ENABLED
g.camera.trigger_pic_cleanup();
#endif
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
Log_Write_Attitude();
#if SECONDARY_DMP_ENABLED == ENABLED
Log_Write_DMP();
#endif
}
if (g.log_bitmask & MASK_LOG_RAW && motors.armed())
Log_Write_Raw();
#endif
// kick the GCS to process uplink data
gcs_update();
gcs_data_stream_send();
}
static void slow_loop()
{
#if AP_LIMITS == ENABLED
// Run the AP_Limits main loop
limits_loop();
#endif // AP_LIMITS_ENABLED
// This is the slow (3 1/3 Hz) loop pieces
//----------------------------------------
switch (slow_loopCounter) {
case 0:
slow_loopCounter++;
superslow_loopCounter++;
// record if the compass is healthy
set_compass_healthy(compass.healthy);
if(superslow_loopCounter > 1200) {
#if HIL_MODE != HIL_MODE_ATTITUDE
if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled) {
compass.save_offsets();
superslow_loopCounter = 0;
}
#endif
}
if(motors.armed()) {
if (g.log_bitmask & MASK_LOG_ITERM)
Log_Write_Iterm();
}else{
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
}
break;
case 1:
slow_loopCounter++;
#if MOUNT == ENABLED
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
enable_aux_servos();
#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
#if MOUNT2 == ENABLED
camera_mount2.update_mount_type();
#endif
// agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP
#endif
break;
case 2:
slow_loopCounter = 0;
update_events();
// blink if we are armed
update_lights();
if(g.radio_tuning > 0)
tuning();
#if USB_MUX_PIN > 0
check_usb_mux();
#endif
break;
default:
slow_loopCounter = 0;
break;
}
}
#define AUTO_DISARMING_DELAY 25
// 1Hz loop
static void super_slow_loop()
{
Log_Write_Data(DATA_AP_STATE, ap.value);
if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
Log_Write_Current();
#if 0 //CENTER_THROTTLE == 1
// recalibrate the throttle_cruise to center on the sticks
g.rc_3.set_range((g.throttle_cruise - (MAXIMUM_THROTTLE - g.throttle_cruise)), MAXIMUM_THROTTLE);
g.rc_3.set_range_out(0,1000);
#endif
// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 25 seconds
// but only of the control mode is manual
if((control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
auto_disarming_counter++;
if(auto_disarming_counter == AUTO_DISARMING_DELAY) {
init_disarm_motors();
}else if (auto_disarming_counter > AUTO_DISARMING_DELAY) {
auto_disarming_counter = AUTO_DISARMING_DELAY + 1;
}
}else{
auto_disarming_counter = 0;
}
gcs_send_message(MSG_HEARTBEAT);
// agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP
#endif
/*
* //Serial.printf("alt %d, next.alt %d, alt_err: %d, cruise: %d, Alt_I:%1.2f, wp_dist %d, tar_bear %d, home_d %d, homebear %d\n",
* current_loc.alt,
* next_WP.alt,
* altitude_error,
* g.throttle_cruise.get(),
* g.pi_alt_hold.get_integrator(),
* wp_distance,
* target_bearing,
* home_distance,
* home_to_copter_bearing);
*/
// debug
//dump_state();
}
// called at 100hz but data from sensor only arrives at 20 Hz
#ifdef OPTFLOW_ENABLED
static void update_optical_flow(void)
{
static uint32_t last_of_update = 0;
static int log_counter = 0;
// if new data has arrived, process it
if( optflow.last_update != last_of_update ) {
last_of_update = optflow.last_update;
optflow.update_position(ahrs.roll, ahrs.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow
// write to log at 5hz
log_counter++;
if( log_counter >= 4 ) {
log_counter = 0;
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
Log_Write_Optflow();
}
}
}
}
#endif
// called at 50hz
static void update_GPS(void)
{
// A counter that is used to grab at least 10 reads before commiting the Home location
static byte ground_start_count = 10;
g_gps->update();
update_GPS_light();
set_gps_healthy(g_gps->status() == g_gps->GPS_OK);
if (g_gps->new_data && g_gps->fix) {
// clear new data flag
g_gps->new_data = false;
// check for duiplicate GPS messages
if(last_gps_time != g_gps->time) {
// for performance monitoring
// --------------------------
gps_fix_count++;
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 = 5;
}else{
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
}
// save home to eeprom (we must have a good fix to have reached this point)
init_home();
ground_start_count = 0;
}
}
if (g.log_bitmask & MASK_LOG_GPS && motors.armed()) {
Log_Write_GPS();
}
#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode
//update_altitude();
ap_system.alt_sensor_flag = true;
#endif
}
// save GPS time so we don't get duplicate reads
last_gps_time = g_gps->time;
}
}
void update_yaw_mode(void)
{
switch(yaw_mode) {
case YAW_ACRO:
if(g.axis_enabled) {
get_yaw_rate_stabilized_ef(g.rc_4.control_in);
}else{
get_acro_yaw(g.rc_4.control_in);
}
return;
break;
// update to allow external roll/yaw mixing
#if TOY_LOOKUP == TOY_EXTERNAL_MIXER
case YAW_TOY:
#endif
case YAW_HOLD:
get_yaw_rate_stabilized_ef(g.rc_4.control_in);
break;
case YAW_LOOK_AT_HOME:
//nav_yaw updated in update_navigation()
get_stabilize_yaw(nav_yaw);
break;
case YAW_AUTO:
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -60, 60); // 40 deg a second
//Serial.printf("nav_yaw %d ", nav_yaw);
nav_yaw = wrap_360(nav_yaw);
get_stabilize_yaw(nav_yaw);
break;
}
}
void update_roll_pitch_mode(void)
{
if (ap.do_flip) {
if(abs(g.rc_1.control_in) < 4000) {
roll_flip();
return;
}else{
// force an exit from the loop if we are not hands off sticks.
ap.do_flip = false;
Log_Write_Event(DATA_EXIT_FLIP);
}
}
switch(roll_pitch_mode) {
case ROLL_PITCH_ACRO:
if(g.axis_enabled) {
get_roll_rate_stabilized_ef(g.rc_1.control_in);
get_pitch_rate_stabilized_ef(g.rc_2.control_in);
}else{
// ACRO does not get SIMPLE mode ability
#if FRAME_CONFIG == HELI_FRAME
if (motors.flybar_mode == 1) {
g.rc_1.servo_out = g.rc_1.control_in;
g.rc_2.servo_out = g.rc_2.control_in;
} else {
get_acro_roll(g.rc_1.control_in);
get_acro_pitch(g.rc_2.control_in);
}
#else
get_acro_roll(g.rc_1.control_in);
get_acro_pitch(g.rc_2.control_in);
#endif
}
break;
case ROLL_PITCH_STABLE:
// apply SIMPLE mode transform
if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode();
}
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform
if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode();
}
// mix in user control with Nav control
nav_roll += constrain(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_pitch += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
control_roll = g.rc_1.control_mix(nav_roll);
control_pitch = g.rc_2.control_mix(nav_pitch);
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_STABLE_OF:
// apply SIMPLE mode transform
if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode();
}
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
// mix in user control with optical flow
get_stabilize_roll(get_of_roll(control_roll));
get_stabilize_pitch(get_of_pitch(control_pitch));
break;
// THOR
// a call out to the main toy logic
case ROLL_PITCH_TOY:
roll_pitch_toy();
break;
}
if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
reset_rate_I();
reset_stability_I();
}
//if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
//}
if(ap_system.new_radio_frame) {
// clear new radio frame info
ap_system.new_radio_frame = false;
// These values can be used to scale the PID gains
// This allows for a simple gain scheduling implementation
/*
roll_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in);
roll_scale_d = (1 - (roll_scale_d / 4500.0));
roll_scale_d = constrain(roll_scale_d, 0, 1) * g.stabilize_d;
pitch_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in);
pitch_scale_d = (1 - (pitch_scale_d / 4500.0));
pitch_scale_d = constrain(pitch_scale_d, 0, 1) * g.stabilize_d;
*/
}
}
// new radio frame is used to make sure we only call this at 50hz
void update_simple_mode(void)
{
static byte simple_counter = 0; // State machine counter for Simple Mode
static float simple_sin_y=0, simple_cos_x=0;
// used to manage state machine
// which improves speed of function
simple_counter++;
int16_t delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
if (simple_counter == 1) {
// roll
simple_cos_x = sin(radians(90 - delta));
}else if (simple_counter > 2) {
// pitch
simple_sin_y = cos(radians(90 - delta));
simple_counter = 0;
}
// Rotate input by the initial bearing
int16_t _roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
int16_t _pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
g.rc_1.control_in = _roll;
g.rc_2.control_in = _pitch;
}
#define THROTTLE_FILTER_SIZE 2
// 50 hz update rate
// controls all throttle behavior
void update_throttle_mode(void)
{
if(ap.do_flip) // this is pretty bad but needed to flip in AP modes.
return;
int16_t throttle_out;
#if AUTO_THROTTLE_HOLD != 0
static float throttle_avg = 0; // this is initialised to g.throttle_cruise later
#endif
#if FRAME_CONFIG != HELI_FRAME
// calculate angle boost
if(throttle_mode == THROTTLE_MANUAL) {
angle_boost = get_angle_boost(g.rc_3.control_in);
}else{
angle_boost = get_angle_boost(g.throttle_cruise);
}
#endif
switch(throttle_mode) {
case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0) {
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in);
#else
if (control_mode == ACRO) {
g.rc_3.servo_out = g.rc_3.control_in;
}else{
g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
}
#endif
#if AUTO_THROTTLE_HOLD != 0
// ensure throttle_avg has been initialised
if( throttle_avg == 0 ) {
throttle_avg = g.throttle_cruise;
}
// calc average throttle
if ((g.rc_3.control_in > g.throttle_min) && (abs(climb_rate) < 60) && (g_gps->ground_speed < 200)) {
throttle_avg = throttle_avg * .99 + (float)g.rc_3.control_in * .01;
g.throttle_cruise = throttle_avg;
}
#endif
if (false == ap.takeoff_complete && motors.armed()) {
if (g.rc_3.control_in > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}
}else{
// make sure we also request 0 throttle out
// so the props stop ... properly
// ----------------------------------------
g.rc_3.servo_out = 0;
}
break;
case THROTTLE_HOLD:
// allow interactive changing of atitude
if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){
int16_t _rate = 180 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20);
reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(-_rate);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}else if(g.rc_3.radio_in > (g.rc_3.radio_max - 200)){
int16_t _rate = 300 - ((g.rc_3.radio_max - g.rc_3.radio_in) * 18) / 20;
reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(_rate);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}
// allow 1 second of slow down after pilot moves throttle back into deadzone
if(reset_throttle_counter > 0) {
reset_throttle_counter--;
// if 1 second has passed set the target altitude to the current altitude
if(reset_throttle_counter == 0) {
force_new_altitude(max(current_loc.alt, 100));
}else{
nav_throttle = get_throttle_rate(0);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}
}
// else fall through
case THROTTLE_AUTO:
if(motors.auto_armed() == true) {
// how far off are we
altitude_error = get_altitude_error();
//int16_t desired_climb_rate;
if(alt_change_flag == REACHED_ALT) { // we are at or above the target alt
desired_climb_rate = g.pi_alt_hold.get_p(altitude_error); // calculate desired speed from lon error
update_throttle_cruise(g.pi_alt_hold.get_i(altitude_error, .02));
desired_climb_rate = constrain(desired_climb_rate, -250, 250);
nav_throttle = get_throttle_rate(desired_climb_rate);
}else{
desired_climb_rate = get_desired_climb_rate();
nav_throttle = get_throttle_rate(desired_climb_rate);
}
}
// hack to remove the influence of the ground effect
if(g.sonar_enabled && current_loc.alt < 100 && landing_boost != 0) {
nav_throttle = min(nav_throttle, 0);
}
#if FRAME_CONFIG == HELI_FRAME
throttle_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle - landing_boost);
#else
throttle_out = g.throttle_cruise + nav_throttle + angle_boost - landing_boost;
#endif
g.rc_3.servo_out = throttle_out;
break;
}
}
static void read_AHRS(void)
{
// Perform IMU calculations and get attitude info
//-----------------------------------------------
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before ahrs update
gcs_update();
#endif
ahrs.update();
omega = ins.get_gyro();
#if SECONDARY_DMP_ENABLED == ENABLED
ahrs2.update();
#endif
}
static void update_trig(void){
Vector2f yawvector;
Matrix3f temp = ahrs.get_dcm_matrix();
yawvector.x = temp.a.x; // sin
yawvector.y = temp.b.x; // cos
yawvector.normalize();
cos_pitch_x = safe_sqrt(1 - (temp.c.x * temp.c.x)); // level = 1
cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
// this relies on constrain() of infinity doing the right thing,
// which it does do in avr-libc
cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
sin_yaw_y = yawvector.x; // 1y = north
cos_yaw_x = yawvector.y; // 0x = north
// added to convert earth frame to body frame for rate controllers
sin_pitch = -temp.c.x;
sin_roll = temp.c.y / cos_pitch_x;
//flat:
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00,
// 90° = cos_yaw: 1.00, sin_yaw: 0.00,
// 180 = cos_yaw: 0.00, sin_yaw: -1.00,
// 270 = cos_yaw: -1.00, sin_yaw: 0.00,
}
// updated at 10hz
static void update_altitude()
{
static int16_t old_sonar_alt = 0;
static int32_t old_baro_alt = 0;
#if HIL_MODE == HIL_MODE_ATTITUDE
// we are in the SIM, fake out the baro and Sonar
int16_t fake_relative_alt = g_gps->altitude - gps_base_alt;
baro_alt = fake_relative_alt;
sonar_alt = fake_relative_alt;
baro_rate = (baro_alt - old_baro_alt) * 5; // 5hz
old_baro_alt = baro_alt;
#else
// This is real life
// read in Actual Baro Altitude
baro_alt = read_barometer();
// calc the vertical accel rate
// 2.6 way
int16_t temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -500, 500);
old_baro_alt = baro_alt;
// Using Tridge's new clamb rate calc
/*
int16_t temp = barometer.get_climb_rate() * 100;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
*/
// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
#endif
if(g.sonar_enabled) {
// filter out offset
float scale;
// calc rate of change for Sonar
#if HIL_MODE == HIL_MODE_ATTITUDE
// we are in the SIM, fake outthe Sonar rate
sonar_rate = baro_rate;
#else
// This is real life
// calc the vertical accel rate
// positive = going up.
sonar_rate = (sonar_alt - old_sonar_alt) * 10;
sonar_rate = constrain(sonar_rate, -150, 150);
old_sonar_alt = sonar_alt;
#endif
if(baro_alt < 800) {
#if SONAR_TILT_CORRECTION == 1
// correct alt for angle of the sonar
float temp = cos_pitch_x * cos_roll_x;
temp = max(temp, 0.707);
sonar_alt = (float)sonar_alt * temp;
#endif
scale = (float)(sonar_alt - 400) / 200.0;
scale = constrain(scale, 0.0, 1.0);
// solve for a blended altitude
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale);
// solve for a blended climb_rate
climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
}else{
// we must be higher than sonar (>800), don't get tricked by bad sonar reads
current_loc.alt = baro_alt;
// dont blend, go straight baro
climb_rate_actual = baro_rate;
}
}else{
// NO Sonar case
current_loc.alt = baro_alt;
climb_rate_actual = baro_rate;
}
// update the target altitude
verify_altitude();
// calc error
climb_rate_error = (climb_rate_actual - climb_rate) / 5;
}
static void update_altitude_est()
{
if(ap_system.alt_sensor_flag) {
update_altitude();
ap_system.alt_sensor_flag = false;
if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()) {
Log_Write_Control_Tuning();
}
}else{
// simple dithering of climb rate
climb_rate += climb_rate_error;
current_loc.alt += (climb_rate / 50);
}
//Serial.printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt);
}
static void tuning(){
tuning_value = (float)g.rc_6.control_in / 1000.0;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1
switch(g.radio_tuning) {
case CH6_RATE_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
case CH6_STABILIZE_KP:
g.pi_stabilize_roll.kP(tuning_value);
g.pi_stabilize_pitch.kP(tuning_value);
break;
case CH6_STABILIZE_KI:
g.pi_stabilize_roll.kI(tuning_value);
g.pi_stabilize_pitch.kI(tuning_value);
break;
//case CH6_DAMP:
//case CH6_STABILIZE_KD:
//g.stabilize_d = tuning_value;
//break;
case CH6_ACRO_KP:
g.acro_p = tuning_value;
break;
case CH6_RATE_KP:
g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_KI:
g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_YAW_KP:
g.pi_stabilize_yaw.kP(tuning_value);
break;
case CH6_YAW_KI:
g.pi_stabilize_yaw.kI(tuning_value);
break;
case CH6_YAW_RATE_KP:
g.pid_rate_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KD:
g.pid_rate_yaw.kD(tuning_value);
break;
case CH6_THROTTLE_KP:
g.pid_throttle.kP(tuning_value);
break;
case CH6_TOP_BOTTOM_RATIO:
motors.top_bottom_ratio = tuning_value;
break;
case CH6_RELAY:
if (g.rc_6.control_in > 525) relay.on();
if (g.rc_6.control_in < 475) relay.off();
break;
case CH6_TRAVERSE_SPEED:
g.waypoint_speed_max = g.rc_6.control_in;
break;
case CH6_LOITER_KP:
g.pi_loiter_lat.kP(tuning_value);
g.pi_loiter_lon.kP(tuning_value);
break;
case CH6_LOITER_KI:
g.pi_loiter_lat.kI(tuning_value);
g.pi_loiter_lon.kI(tuning_value);
break;
case CH6_NAV_KP:
g.pid_nav_lat.kP(tuning_value);
g.pid_nav_lon.kP(tuning_value);
break;
case CH6_LOITER_RATE_KP:
g.pid_loiter_rate_lon.kP(tuning_value);
g.pid_loiter_rate_lat.kP(tuning_value);
break;
case CH6_LOITER_RATE_KI:
g.pid_loiter_rate_lon.kI(tuning_value);
g.pid_loiter_rate_lat.kI(tuning_value);
break;
case CH6_LOITER_RATE_KD:
g.pid_loiter_rate_lon.kD(tuning_value);
g.pid_loiter_rate_lat.kD(tuning_value);
break;
case CH6_NAV_I:
g.pid_nav_lat.kI(tuning_value);
g.pid_nav_lon.kI(tuning_value);
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain = tuning_value;
break;
#endif
case CH6_THR_HOLD_KP:
g.pi_alt_hold.kP(tuning_value);
break;
case CH6_OPTFLOW_KP:
g.pid_optflow_roll.kP(tuning_value);
g.pid_optflow_pitch.kP(tuning_value);
break;
case CH6_OPTFLOW_KI:
g.pid_optflow_roll.kI(tuning_value);
g.pid_optflow_pitch.kI(tuning_value);
break;
case CH6_OPTFLOW_KD:
g.pid_optflow_roll.kD(tuning_value);
g.pid_optflow_pitch.kD(tuning_value);
break;
#if HIL_MODE != HIL_MODE_ATTITUDE // do not allow modifying _kp or _kp_yaw gains in HIL mode
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value);
break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value);
break;
#endif
#if INERTIAL_NAV == ENABLED
case CH6_INAV_TC:
inertial_nav.set_time_constant_xy(tuning_value);
inertial_nav.set_time_constant_z(tuning_value);
break;
#endif
}
}
// Outputs Nav_Pitch and Nav_Roll
static void update_nav_wp()
{
if(wp_control == LOITER_MODE) {
// calc error to target
calc_location_error(&next_WP);
// use error as the desired rate towards the target
calc_loiter(long_error, lat_error);
}else if(wp_control == CIRCLE_MODE) {
// check if we have missed the WP
int16_t loiter_delta = (target_bearing - old_target_bearing)/100;
// reset the old value
old_target_bearing = target_bearing;
// wrap values
if (loiter_delta > 180) loiter_delta -= 360;
if (loiter_delta < -180) loiter_delta += 360;
// sum the angle around the WP
loiter_sum += loiter_delta;
// create a virtual waypoint that circles the next_WP
// Count the degrees we have circulated the WP
//int16_t circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
circle_angle += (circle_rate * dTnav);
//1° = 0.0174532925 radians
// wrap
if (circle_angle > 6.28318531)
circle_angle -= 6.28318531;
next_WP.lng = circle_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
next_WP.lat = circle_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
// use error as the desired rate towards the target
// nav_lon, nav_lat is calculated
if(wp_distance > 400) {
calc_nav_rate(get_desired_speed(g.waypoint_speed_max));
}else{
// calc the lat and long error to the target
calc_location_error(&next_WP);
calc_loiter(long_error, lat_error);
}
//CIRCLE: angle:29, dist:0, lat:400, lon:242
// debug
//int16_t angleTest = degrees(circle_angle);
//int16_t nroll = nav_roll;
//int16_t npitch = nav_pitch;
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
}else if(wp_control == WP_MODE) {
// calc error to target
calc_location_error(&next_WP);
int16_t speed = get_desired_speed(g.waypoint_speed_max);
// use error as the desired rate towards the target
calc_nav_rate(speed);
}else if(wp_control == NO_NAV_MODE) {
// clear out our nav so we can do things like land straight down
// or change Loiter position
// We bring copy over our Iterms for wind control, but we don't navigate
nav_lon = g.pid_loiter_rate_lon.get_integrator();
nav_lat = g.pid_loiter_rate_lon.get_integrator();
nav_lon = constrain(nav_lon, -2000, 2000); // 20°
nav_lat = constrain(nav_lat, -2000, 2000); // 20°
}
}
static void update_auto_yaw()
{
if(wp_control == CIRCLE_MODE) {
auto_yaw = get_bearing_cd(&current_loc, &circle_WP);
}else if(wp_control == LOITER_MODE) {
// just hold nav_yaw
}else if(yaw_tracking == MAV_ROI_LOCATION) {
auto_yaw = get_bearing_cd(&current_loc, &target_WP);
}else if(yaw_tracking == MAV_ROI_WPNEXT) {
// Point towards next WP
auto_yaw = original_target_bearing;
}
}