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913 lines
29 KiB
913 lines
29 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define THISFIRMWARE "ArduRover v2.42beta" |
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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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Please contribute your ideas! |
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat... |
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This firmware is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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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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*/ |
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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 <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_Mount.h> // Camera/Antenna mount |
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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 <memcheck.h> |
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#include <DataFlash.h> |
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#include <SITL.h> |
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#include <stdarg.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_Empty.h> |
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#include "compat.h" |
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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, WP_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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//////////////////////////////////////////////////////////////////////////////// |
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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("/tmp/APMlogs"); |
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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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#else |
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DataFlash_Empty DataFlash; |
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#endif |
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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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// All GPS access should be through this pointer. |
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static GPS *g_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_ADC == ENABLED |
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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_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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// GPS selection |
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO |
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AP_GPS_Auto g_gps_driver(&g_gps); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA |
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AP_GPS_NMEA g_gps_driver; |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF |
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AP_GPS_SIRF g_gps_driver; |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX |
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AP_GPS_UBLOX g_gps_driver; |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK |
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AP_GPS_MTK g_gps_driver; |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 |
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AP_GPS_MTK19 g_gps_driver; |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE |
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AP_GPS_None g_gps_driver; |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL |
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AP_GPS_HIL g_gps_driver; |
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#else |
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#error Unrecognised GPS_PROTOCOL setting. |
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#endif // GPS PROTOCOL |
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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_STUB |
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AP_InertialSensor_Stub 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 HIL_MODE == HIL_MODE_ATTITUDE |
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AP_AHRS_HIL ahrs(&ins, g_gps); |
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#else |
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AP_AHRS_DCM ahrs(&ins, g_gps); |
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#endif |
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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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GCS_MAVLINK gcs0; |
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GCS_MAVLINK gcs3; |
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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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AP_HAL::AnalogSource *vcc_pin; |
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AP_HAL::AnalogSource * batt_volt_pin; |
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AP_HAL::AnalogSource * batt_curr_pin; |
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//////////////////////////////////////////////////////////////////////////////// |
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// SONAR selection |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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static AP_RangeFinder_analog sonar; |
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static AP_RangeFinder_analog sonar2; |
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// relay support |
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AP_Relay relay; |
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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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AP_Mount camera_mount(g_gps, &dcm); |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// Global variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// APM2 only |
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#if USB_MUX_PIN > 0 |
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static bool usb_connected; |
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#endif |
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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 |
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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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} failsafe; |
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//////////////////////////////////////////////////////////////////////////////// |
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// LED output |
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//////////////////////////////////////////////////////////////////////////////// |
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// state of the GPS light (on/off) |
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static bool GPS_light; |
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//////////////////////////////////////////////////////////////////////////////// |
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// GPS variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// This is used to scale GPS values for EEPROM storage |
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// 10^7 times Decimal GPS means 1 == 1cm |
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// This approximation makes calculations integer and it's easy to read |
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static const float t7 = 10000000.0; |
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// We use atan2 and other trig techniques to calaculate angles |
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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 = 5; |
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// Used to compute a speed estimate from the first valid gps fixes to decide if we are |
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// on the ground or in the air. Used to decide if a ground start is appropriate if we |
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// booted with an air start. |
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static int16_t ground_start_avg; |
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static int32_t gps_base_alt; |
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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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// This is the currently calculated direction to fly. |
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// deg * 100 : 0 to 360 |
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static int32_t nav_bearing; |
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// This is the direction to the next waypoint |
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// deg * 100 : 0 to 360 |
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static int32_t target_bearing; |
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//This is the direction from the last waypoint to the next waypoint |
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// deg * 100 : 0 to 360 |
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static int32_t crosstrack_bearing; |
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// A gain scaler to account for ground speed/headwind/tailwind |
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static float nav_gain_scaler = 1.0f; |
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static bool rtl_complete = false; |
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// There may be two active commands in Auto mode. |
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// This indicates the active navigation command by index number |
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static uint8_t nav_command_index; |
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// This indicates the active non-navigation command by index number |
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static uint8_t non_nav_command_index; |
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// This is the command type (eg navigate to waypoint) of the active navigation command |
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static uint8_t nav_command_ID = NO_COMMAND; |
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static uint8_t non_nav_command_ID = NO_COMMAND; |
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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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// Location Errors |
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//////////////////////////////////////////////////////////////////////////////// |
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// Difference between current bearing and desired bearing. in centi-degrees |
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static int32_t bearing_error_cd; |
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// Distance perpandicular to the course line that we are off trackline. Meters |
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static float crosstrack_error; |
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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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// This register tracks the current Mission Command index when writing |
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// a mission using CH7 in flight |
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static int8_t CH7_wp_index; |
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float tuning_value; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Battery Sensors |
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//////////////////////////////////////////////////////////////////////////////// |
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// Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup. |
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static float battery_voltage1 = LOW_VOLTAGE * 1.05; |
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// Battery pack 1 instantaneous currrent draw. Amperes |
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static float current_amps1; |
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// Totalized current (Amp-hours) from battery 1 |
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static float current_total1; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Navigation control variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// The instantaneous desired steering angle. Hundredths of a degree |
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static int32_t nav_steer_cd; |
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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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// repeating event control |
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//////////////////////////////////////////////////////////////////////////////// |
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// Flag indicating current event type |
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static uint8_t event_id; |
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// when the event was started in ms |
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static int32_t event_timer; |
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// how long to delay the next firing of event in millis |
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static uint16_t event_delay; |
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles |
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static int16_t event_repeat = 0; |
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// per command value, such as PWM for servos |
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static int16_t event_value; |
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// the value used to cycle events (alternate value to event_value) |
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static int16_t event_undo_value; |
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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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// A value used in condition commands. For example the rate at which to change altitude. |
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static int16_t condition_rate; |
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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 struct Location home; |
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// Flag for if we have g_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 rover's current location |
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static struct Location current_loc; |
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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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// The location structure information from the Nav command being processed |
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static struct Location next_nav_command; |
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// The location structure information from the Non-Nav command being processed |
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static struct Location next_nonnav_command; |
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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 int16_t G_Dt_max = 0; |
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// The number of gps fixes recorded in the current performance monitoring interval |
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static uint8_t gps_fix_count = 0; |
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// A variable used by developers to track performanc metrics. |
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// Currently used to record the number of GCS heartbeat messages received |
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static int16_t pmTest1 = 0; |
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//////////////////////////////////////////////////////////////////////////////// |
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// System Timers |
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//////////////////////////////////////////////////////////////////////////////// |
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// Time in miliseconds of start of main control loop. Milliseconds |
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static uint32_t fast_loopTimer; |
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// Time Stamp when fast loop was complete. Milliseconds |
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static uint32_t fast_loopTimeStamp; |
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// Number of milliseconds used in last main loop cycle |
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static uint8_t delta_ms_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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// Time in miliseconds of start of medium control loop. Milliseconds |
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static uint32_t medium_loopTimer; |
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// Counters for branching from main control loop to slower loops |
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static uint8_t medium_loopCounter; |
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// Number of milliseconds used in last medium loop cycle |
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static uint8_t delta_ms_medium_loop; |
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// Counters for branching from medium control loop to slower loops |
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static uint8_t slow_loopCounter; |
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// Counter to trigger execution of very low rate processes |
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static uint8_t superslow_loopCounter; |
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// Counter to trigger execution of 1 Hz processes |
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static uint8_t counter_one_herz; |
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// % MCU cycles used |
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static float load; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Top-level logic |
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//////////////////////////////////////////////////////////////////////////////// |
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void setup() { |
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memcheck_init(); |
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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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rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE); |
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vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC); |
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batt_volt_pin = hal.analogin->channel(g.battery_volt_pin); |
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batt_curr_pin = hal.analogin->channel(g.battery_curr_pin); |
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init_ardupilot(); |
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} |
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void loop() |
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{ |
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// We want this to execute at 50Hz, but synchronised with the gyro/accel |
|
uint16_t num_samples = ins.num_samples_available(); |
|
if (num_samples >= 1) { |
|
delta_ms_fast_loop = millis() - fast_loopTimer; |
|
load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop; |
|
G_Dt = (float)delta_ms_fast_loop / 1000.f; |
|
fast_loopTimer = millis(); |
|
|
|
mainLoop_count++; |
|
|
|
// Execute the fast loop |
|
// --------------------- |
|
fast_loop(); |
|
|
|
// Execute the medium loop |
|
// ----------------------- |
|
medium_loop(); |
|
|
|
counter_one_herz++; |
|
if(counter_one_herz == 50){ |
|
one_second_loop(); |
|
counter_one_herz = 0; |
|
} |
|
|
|
if (millis() - perf_mon_timer > 20000) { |
|
if (mainLoop_count != 0) { |
|
if (g.log_bitmask & MASK_LOG_PM) |
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
Log_Write_Performance(); |
|
#endif |
|
resetPerfData(); |
|
} |
|
} |
|
|
|
fast_loopTimeStamp = millis(); |
|
} else if (millis() - fast_loopTimeStamp < 19) { |
|
// less than 19ms 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(); |
|
} |
|
} |
|
} |
|
|
|
// Main loop 50Hz |
|
static void fast_loop() |
|
{ |
|
// This is the fast loop - we want it to execute at 50Hz if possible |
|
// ----------------------------------------------------------------- |
|
if (delta_ms_fast_loop > G_Dt_max) |
|
G_Dt_max = delta_ms_fast_loop; |
|
|
|
// Read radio |
|
// ---------- |
|
read_radio(); |
|
|
|
// try to send any deferred messages if the serial port now has |
|
// some space available |
|
gcs_send_message(MSG_RETRY_DEFERRED); |
|
|
|
#if HIL_MODE == HIL_MODE_SENSORS |
|
// update hil before dcm update |
|
gcs_update(); |
|
#endif |
|
|
|
ahrs.update(); |
|
|
|
read_sonars(); |
|
|
|
// uses the yaw from the DCM to give more accurate turns |
|
calc_bearing_error(); |
|
|
|
# if HIL_MODE == HIL_MODE_DISABLED |
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) |
|
Log_Write_Attitude(); |
|
|
|
if (g.log_bitmask & MASK_LOG_IMU) |
|
DataFlash.Log_Write_IMU(&ins); |
|
#endif |
|
|
|
// custom code/exceptions for flight modes |
|
// --------------------------------------- |
|
update_current_mode(); |
|
|
|
// write out the servo PWM values |
|
// ------------------------------ |
|
set_servos(); |
|
|
|
gcs_update(); |
|
gcs_data_stream_send(); |
|
} |
|
|
|
static void medium_loop() |
|
{ |
|
#if MOUNT == ENABLED |
|
camera_mount.update_mount_position(); |
|
#endif |
|
|
|
// This is the start of the medium (10 Hz) loop pieces |
|
// ----------------------------------------- |
|
switch(medium_loopCounter) { |
|
|
|
// This case deals with the GPS |
|
//------------------------------- |
|
case 0: |
|
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000); |
|
medium_loopCounter++; |
|
update_GPS(); |
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
if (g.compass_enabled && compass.read()) { |
|
ahrs.set_compass(&compass); |
|
// Calculate heading |
|
compass.null_offsets(); |
|
if (g.log_bitmask & MASK_LOG_COMPASS) { |
|
Log_Write_Compass(); |
|
} |
|
} else { |
|
ahrs.set_compass(NULL); |
|
} |
|
#endif |
|
break; |
|
|
|
// This case performs some navigation computations |
|
//------------------------------------------------ |
|
case 1: |
|
medium_loopCounter++; |
|
navigate(); |
|
break; |
|
|
|
// command processing |
|
//------------------------------ |
|
case 2: |
|
medium_loopCounter++; |
|
|
|
read_receiver_rssi(); |
|
|
|
// perform next command |
|
// -------------------- |
|
update_commands(); |
|
break; |
|
|
|
// This case deals with sending high rate telemetry |
|
//------------------------------------------------- |
|
case 3: |
|
medium_loopCounter++; |
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST)) |
|
Log_Write_Attitude(); |
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN) |
|
Log_Write_Control_Tuning(); |
|
#endif |
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN) |
|
Log_Write_Nav_Tuning(); |
|
break; |
|
|
|
// This case controls the slow loop |
|
//--------------------------------- |
|
case 4: |
|
medium_loopCounter = 0; |
|
delta_ms_medium_loop = millis() - medium_loopTimer; |
|
medium_loopTimer = millis(); |
|
|
|
if (g.battery_monitoring != 0){ |
|
read_battery(); |
|
} |
|
|
|
read_trim_switch(); |
|
|
|
slow_loop(); |
|
break; |
|
} |
|
} |
|
|
|
static void slow_loop() |
|
{ |
|
// This is the slow (3 1/3 Hz) loop pieces |
|
//---------------------------------------- |
|
switch (slow_loopCounter){ |
|
case 0: |
|
slow_loopCounter++; |
|
superslow_loopCounter++; |
|
if(superslow_loopCounter >=200) { // 200 = Execute every minute |
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
if(g.compass_enabled) { |
|
compass.save_offsets(); |
|
} |
|
#endif |
|
superslow_loopCounter = 0; |
|
} |
|
break; |
|
|
|
case 1: |
|
slow_loopCounter++; |
|
|
|
// Read 3-position switch on radio |
|
// ------------------------------- |
|
read_control_switch(); |
|
|
|
update_aux_servo_function(&g.rc_2, &g.rc_4, &g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); |
|
|
|
#if MOUNT == ENABLED |
|
camera_mount.update_mount_type(); |
|
#endif |
|
break; |
|
|
|
case 2: |
|
slow_loopCounter = 0; |
|
|
|
update_events(); |
|
|
|
mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter |
|
|
|
check_usb_mux(); |
|
break; |
|
} |
|
} |
|
|
|
static void one_second_loop() |
|
{ |
|
if (g.log_bitmask & MASK_LOG_CURRENT) |
|
Log_Write_Current(); |
|
// send a heartbeat |
|
gcs_send_message(MSG_HEARTBEAT); |
|
} |
|
|
|
static void update_GPS(void) |
|
{ |
|
static uint32_t last_gps_reading; |
|
g_gps->update(); |
|
update_GPS_light(); |
|
|
|
if (g_gps->last_message_time_ms() != last_gps_reading) { |
|
last_gps_reading = g_gps->last_message_time_ms(); |
|
if (g.log_bitmask & MASK_LOG_GPS) { |
|
DataFlash.Log_Write_GPS(g_gps, current_loc.alt); |
|
} |
|
} |
|
|
|
have_position = ahrs.get_projected_position(¤t_loc); |
|
|
|
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) { |
|
gps_fix_count++; |
|
|
|
if(ground_start_count > 1){ |
|
ground_start_count--; |
|
ground_start_avg += g_gps->ground_speed; |
|
|
|
} 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 { |
|
init_home(); |
|
if (g.compass_enabled) { |
|
// Set compass declination automatically |
|
compass.set_initial_location(g_gps->latitude, g_gps->longitude); |
|
} |
|
ground_start_count = 0; |
|
} |
|
} |
|
ground_speed = g_gps->ground_speed * 0.01; |
|
} |
|
} |
|
|
|
static void update_current_mode(void) |
|
{ |
|
switch (control_mode){ |
|
case AUTO: |
|
case RTL: |
|
case GUIDED: |
|
calc_nav_steer(); |
|
calc_throttle(g.speed_cruise); |
|
break; |
|
|
|
case STEERING: |
|
/* |
|
in steering mode we control the bearing error, which gives |
|
the same type of steering control as auto mode. The throttle |
|
controls the target speed, in proportion to the throttle |
|
*/ |
|
bearing_error_cd = g.channel_steer.pwm_to_angle(); |
|
calc_nav_steer(); |
|
|
|
/* we need to reset the I term or it will build up */ |
|
g.pidNavSteer.reset_I(); |
|
calc_throttle(g.channel_throttle.pwm_to_angle() * 0.01 * g.speed_cruise); |
|
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 |
|
*/ |
|
g.channel_throttle.servo_out = g.channel_throttle.control_in; |
|
g.channel_steer.servo_out = g.channel_steer.pwm_to_angle(); |
|
break; |
|
|
|
case HOLD: |
|
// hold position - stop motors and center steering |
|
g.channel_throttle.servo_out = 0; |
|
g.channel_steer.servo_out = 0; |
|
break; |
|
|
|
case INITIALISING: |
|
break; |
|
} |
|
} |
|
|
|
static void update_navigation() |
|
{ |
|
switch (control_mode) { |
|
case MANUAL: |
|
case HOLD: |
|
case LEARNING: |
|
case STEERING: |
|
case INITIALISING: |
|
break; |
|
|
|
case AUTO: |
|
verify_commands(); |
|
break; |
|
|
|
case RTL: |
|
case GUIDED: |
|
// no loitering around the wp with the rover, goes direct to the wp position |
|
calc_nav_steer(); |
|
calc_bearing_error(); |
|
if (verify_RTL()) { |
|
g.channel_throttle.servo_out = g.throttle_min.get(); |
|
set_mode(HOLD); |
|
} |
|
break; |
|
} |
|
} |
|
|
|
AP_HAL_MAIN();
|
|
|