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ardupilot/libraries/AP_RCTelemetry/AP_RCTelemetry.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Abstract Telemetry library
*/
#include "AP_RCTelemetry.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_FWVersion.h>
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
#include <math.h>
#ifdef TELEM_DEBUG
# define debug(fmt, args...) hal.console->printf("Telem: " fmt "\n", ##args)
#else
# define debug(fmt, args...) do {} while(0)
#endif
extern const AP_HAL::HAL& hal;
/*
setup ready for passthrough telem
*/
bool AP_RCTelemetry::init(void)
{
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
// make telemetry available to GCS_MAVLINK (used to queue statustext messages from GCS_MAVLINK)
// add firmware and frame info to message queue
const char* _frame_string = gcs().frame_string();
if (_frame_string == nullptr) {
queue_message(MAV_SEVERITY_INFO, AP::fwversion().fw_string);
} else {
char firmware_buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
snprintf(firmware_buf, sizeof(firmware_buf), "%s %s", AP::fwversion().fw_string, _frame_string);
queue_message(MAV_SEVERITY_INFO, firmware_buf);
}
#endif
setup_wfq_scheduler();
return true;
}
void AP_RCTelemetry::update_avg_packet_rate()
{
uint32_t poll_now = AP_HAL::millis();
_scheduler.avg_packet_counter++;
if (poll_now - _scheduler.last_poll_timer > 1000) { //average in last 1000ms
// initialize
if (_scheduler.avg_packet_rate == 0) _scheduler.avg_packet_rate = _scheduler.avg_packet_counter;
// moving average
_scheduler.avg_packet_rate = (uint16_t)_scheduler.avg_packet_rate * 0.75f + _scheduler.avg_packet_counter * 0.25f;
// reset
_scheduler.last_poll_timer = poll_now;
_scheduler.avg_packet_counter = 0;
debug("avg packet rate %dHz, rates(Hz) %d %d %d %d %d %d %d %d", _scheduler.avg_packet_rate,
_scheduler.packet_rate[0],
_scheduler.packet_rate[1],
_scheduler.packet_rate[2],
_scheduler.packet_rate[3],
_scheduler.packet_rate[4],
_scheduler.packet_rate[5],
_scheduler.packet_rate[6],
_scheduler.packet_rate[7]);
}
}
/*
* WFQ scheduler
* returns the actual packet type index (if any) sent by the scheduler
*/
uint8_t AP_RCTelemetry::run_wfq_scheduler(const bool use_shaper)
{
update_avg_packet_rate();
update_max_packet_rate();
uint32_t now = AP_HAL::millis();
int8_t max_delay_idx = -1;
float max_delay = 0;
float delay = 0;
bool packet_ready = false;
// build message queue for sensor_status_flags
check_sensor_status_flags();
// build message queue for ekf_status
check_ekf_status();
// dynamic priorities
bool queue_empty;
{
WITH_SEMAPHORE(_statustext.sem);
queue_empty = !_statustext.available && _statustext.queue.is_empty();
}
adjust_packet_weight(queue_empty);
// search the packet with the longest delay after the scheduled time
for (int i=0; i<_time_slots; i++) {
// normalize packet delay relative to packet weight
delay = (now - _scheduler.packet_timer[i])/static_cast<float>(_scheduler.packet_weight[i]);
// use >= so with equal delays we choose the packet with lowest priority
// this is ensured by the packets being sorted by desc frequency
// apply the rate limiter
if (delay >= max_delay && check_scheduler_entry_time_constraints(now, i, use_shaper)) {
packet_ready = is_scheduler_entry_enabled(i) && is_packet_ready(i, queue_empty);
if (packet_ready) {
max_delay = delay;
max_delay_idx = i;
}
}
}
if (max_delay_idx < 0) { // nothing was ready
return max_delay_idx;
}
now = AP_HAL::millis();
#ifdef TELEM_DEBUG
_scheduler.packet_rate[max_delay_idx] = (_scheduler.packet_rate[max_delay_idx] + 1000 / (now - _scheduler.packet_timer[max_delay_idx])) / 2;
#endif
_scheduler.packet_timer[max_delay_idx] = now;
//debug("process_packet(%d): %f", max_delay_idx, max_delay);
// send packet
process_packet(max_delay_idx);
// let the caller know which packet type was sent
return max_delay_idx;
}
/*
* do not run the scheduler and process a specific entry
*/
bool AP_RCTelemetry::process_scheduler_entry(const uint8_t slot )
{
if (slot >= TELEM_TIME_SLOT_MAX) {
return false;
}
if (!is_scheduler_entry_enabled(slot)) {
return false;
}
bool queue_empty;
{
WITH_SEMAPHORE(_statustext.sem);
queue_empty = !_statustext.available && _statustext.queue.is_empty();
}
if (!is_packet_ready(slot, queue_empty)) {
return false;
}
process_packet(slot);
return true;
}
/*
* add message to message cue for transmission through link
*/
void AP_RCTelemetry::queue_message(MAV_SEVERITY severity, const char *text)
{
mavlink_statustext_t statustext{};
statustext.severity = severity;
strncpy_noterm(statustext.text, text, sizeof(statustext.text));
// The force push will ensure comm links do not block other comm links forever if they fail.
// If we push to a full buffer then we overwrite the oldest entry, effectively removing the
// block but not until the buffer fills up.
WITH_SEMAPHORE(_statustext.sem);
_statustext.queue.push_force(statustext);
}
/*
* add sensor_status_flags information to message cue, normally passed as sys_status mavlink messages to the GCS, for transmission through FrSky link
*/
void AP_RCTelemetry::check_sensor_status_flags(void)
{
uint32_t now = AP_HAL::millis();
const uint32_t _sensor_status_flags = sensor_status_flags();
if ((now - check_sensor_status_timer) >= 5000) { // prevent repeating any system_status messages unless 5 seconds have passed
// only one error is reported at a time (in order of preference). Same setup and displayed messages as Mission Planner.
if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_GPS) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad GPS Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_3D_GYRO) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Gyro Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_3D_ACCEL) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Accel Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_3D_MAG) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Compass Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Baro Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_LASER_POSITION) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad LiDAR Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad OptFlow Health");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_TERRAIN) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad or No Terrain Data");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_GEOFENCE) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Geofence Breach");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_AHRS) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad AHRS");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_RC_RECEIVER) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "No RC Receiver");
check_sensor_status_timer = now;
} else if ((_sensor_status_flags & MAV_SYS_STATUS_LOGGING) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Logging");
check_sensor_status_timer = now;
}
}
}
/*
* add innovation variance information to message cue, normally passed as ekf_status_report mavlink messages to the GCS, for transmission through FrSky link
*/
void AP_RCTelemetry::check_ekf_status(void)
{
// get variances
bool get_variance;
float velVar, posVar, hgtVar, tasVar;
Vector3f magVar;
{
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
get_variance = _ahrs.get_variances(velVar, posVar, hgtVar, magVar, tasVar);
}
if (get_variance) {
uint32_t now = AP_HAL::millis();
if ((now - check_ekf_status_timer) >= 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed
// multiple errors can be reported at a time. Same setup as Mission Planner.
if (velVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error velocity variance");
check_ekf_status_timer = now;
}
if (posVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error pos horiz variance");
check_ekf_status_timer = now;
}
if (hgtVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error pos vert variance");
check_ekf_status_timer = now;
}
if (magVar.length() >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error compass variance");
check_ekf_status_timer = now;
}
if (tasVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error terrain alt variance");
check_ekf_status_timer = now;
}
}
}
}
uint32_t AP_RCTelemetry::sensor_status_flags() const
{
uint32_t present;
uint32_t enabled;
uint32_t health;
gcs().get_sensor_status_flags(present, enabled, health);
return ~health & enabled & present;
}