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270 lines
9.6 KiB
270 lines
9.6 KiB
/* |
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www.ArduCopter.com - www.DIYDrones.com |
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Copyright (c) 2010. All rights reserved. |
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An Open Source Arduino based multicopter. |
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File : ArducopterNG.pde |
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Version : v1.0, 11 October 2010 |
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Author(s): ArduCopter Team |
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Ted Carancho (AeroQuad), Jose Julio, Jordi Muñoz, |
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Jani Hirvinen, Ken McEwans, Roberto Navoni, |
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Sandro Benigno, Chris Anderson |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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/* ********************************************************************** */ |
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/* Hardware : ArduPilot Mega + Sensor Shield (Production versions) */ |
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/* Mounting position : RC connectors pointing backwards */ |
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/* This code use this libraries : */ |
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/* APM_RC : Radio library (with InstantPWM) */ |
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/* APM_ADC : External ADC library */ |
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/* DataFlash : DataFlash log library */ |
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/* APM_BMP085 : BMP085 barometer library */ |
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/* APM_Compass : HMC5843 compass library [optional] */ |
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/* GPS_MTK or GPS_UBLOX or GPS_NMEA : GPS library [optional] */ |
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/* ********************************************************************** */ |
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/* ************************************************************ */ |
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/* **************** MAIN PROGRAM - MODULES ******************** */ |
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/* ************************************************************ */ |
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/* User definable modules */ |
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// Comment out with // modules that you are not using |
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//#define IsGPS // Do we have a GPS connected |
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//#define IsNEWMTEK // Do we have MTEK with new firmware |
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//#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator |
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//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port |
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//#define IsAM // Do we have motormount LED's. AM = Atraction Mode |
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//#define UseAirspeed |
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//#define UseBMP |
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!) |
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#define CONFIGURATOR |
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// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link |
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// If we are using normal FTDI/USB port as our telemetry/configuration, comment out next line |
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//#define SerXbee |
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//#define Ser0 // FTDI/USB Port Either one |
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//#define Ser3 // Telemetry port |
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// Frame build condiguration |
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#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration |
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//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms |
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/* ************************************************************ */ |
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/* **************** MAIN PROGRAM - INCLUDES ******************* */ |
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/* ************************************************************ */ |
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#include <avr/io.h> |
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#include <avr/eeprom.h> |
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#include <avr/pgmspace.h> |
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#include <math.h> |
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#include <APM_RC.h> // ArduPilot Mega RC Library |
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#include <APM_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library |
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library |
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#include <APM_Compass.h> // ArduPilot Mega Magnetometer Library |
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#include <Wire.h> // I2C Communication library |
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library |
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#include <EEPROM.h> // EEPROM |
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#include "Arducopter.h" |
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#include "ArduUser.h" |
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// GPS library (Include only one library) |
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#include <GPS_MTK.h> // ArduPilot MTK GPS Library |
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//#include <GPS_IMU.h> // ArduPilot IMU/SIM GPS Library |
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//#include <GPS_UBLOX.h> // ArduPilot Ublox GPS Library |
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//#include <GPS_NMEA.h> // ArduPilot NMEA GPS library |
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/* Software version */ |
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#define VER 1.5 // Current software version (only numeric values) |
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/* ************************************************************ */ |
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/* ************* MAIN PROGRAM - DECLARATIONS ****************** */ |
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/* ************************************************************ */ |
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byte flightMode; |
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unsigned long currentTime, previousTime; |
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unsigned long mainLoop = 0; |
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unsigned long mediumLoop = 0; |
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unsigned long slowLoop = 0; |
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/* ************************************************************ */ |
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/* **************** MAIN PROGRAM - SETUP ********************** */ |
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/* ************************************************************ */ |
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void setup() { |
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APM_Init(); // APM Hardware initialization (in System.pde) |
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mainLoop = millis(); // Initialize timers |
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mediumLoop = mainLoop; |
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GPS_timer = mainLoop; |
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motorArmed = 0; |
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Read_adc_raw(); // Initialize ADC readings... |
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delay(10); |
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digitalWrite(LED_Green,HIGH); // Ready to go... |
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} |
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/* ************************************************************ */ |
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/* ************** MAIN PROGRAM - MAIN LOOP ******************** */ |
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/* ************************************************************ */ |
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// Sensor reading loop is inside APM_ADC and runs at 400Hz (based on Timer2 interrupt) |
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// * fast rate loop => Main loop => 200Hz |
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// read sensors |
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// IMU : update attitude |
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// motor control |
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// Asyncronous task : read transmitter |
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// * medium rate loop (60Hz) |
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// Asyncronous task : read GPS |
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// * slow rate loop (10Hz) |
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// magnetometer |
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// barometer (20Hz) |
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// external command/telemetry |
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// Battery monitor |
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void loop() |
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{ |
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//int aux; |
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//int i; |
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//float aux_float; |
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currentTime = millis(); |
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// Main loop at 200Hz (IMU + control) |
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if ((currentTime-mainLoop) > 5) // 200Hz (every 5ms) |
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{ |
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G_Dt = (currentTime-mainLoop)*0.001; // Microseconds!!! |
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mainLoop = currentTime; |
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//IMU DCM Algorithm |
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Read_adc_raw(); // Read sensors raw data |
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Matrix_update(); |
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Normalize(); |
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Drift_correction(); |
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Euler_angles(); |
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// Read radio values (if new data is available) |
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if (APM_RC.GetState() == 1) // New radio frame? |
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read_radio(); |
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// Attitude control |
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if(flightMode == STABLE_MODE) { // STABLE Mode |
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gled_speed = 1200; |
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if (AP_mode == AP_NORMAL_MODE) // Normal mode |
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Attitude_control_v3(command_rx_roll,command_rx_pitch,command_rx_yaw); |
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else // Automatic mode : GPS position hold mode |
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Attitude_control_v3(command_rx_roll+command_gps_roll,command_rx_pitch+command_gps_pitch,command_rx_yaw); |
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} |
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else { // ACRO Mode |
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gled_speed = 400; |
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Rate_control_v2(); |
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// Reset yaw, so if we change to stable mode we continue with the actual yaw direction |
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command_rx_yaw = ToDeg(yaw); |
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} |
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// Send output commands to motor ESCs... |
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motor_output(); |
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// Autopilot mode functions |
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if (AP_mode == AP_AUTOMATIC_MODE) |
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{ |
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if (target_position) |
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{ |
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if (GPS.NewData) // New GPS info? |
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{ |
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read_GPS_data(); |
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Position_control(target_lattitude,target_longitude); // Call GPS position hold routine |
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} |
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} |
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else // First time we enter in GPS position hold we capture the target position as the actual position |
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{ |
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if (GPS.Fix){ // We need a GPS Fix to capture the actual position... |
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target_lattitude = GPS.Lattitude; |
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target_longitude = GPS.Longitude; |
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target_position=1; |
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//target_sonar_altitude = sonar_value; |
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target_baro_altitude = press_alt; |
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Initial_Throttle = ch_throttle; |
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Reset_I_terms_navigation(); // Reset I terms (in Navigation.pde) |
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} |
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command_gps_roll=0; |
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command_gps_pitch=0; |
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} |
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} |
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else |
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target_position=0; |
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} |
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// Medium loop (about 60Hz) |
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if ((currentTime-mediumLoop)>=17){ |
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mediumLoop = currentTime; |
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GPS.Read(); // Read GPS data |
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// Each of the six cases executes at 10Hz |
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switch (medium_loopCounter){ |
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case 0: // Magnetometer reading (10Hz) |
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medium_loopCounter++; |
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slowLoop++; |
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#ifdef IsMAG |
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if (MAGNETOMETER == 1) { |
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APM_Compass.Read(); // Read magnetometer |
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APM_Compass.Calculate(roll,pitch); // Calculate heading |
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} |
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#endif |
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break; |
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case 1: // Barometer reading (2x10Hz = 20Hz) |
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medium_loopCounter++; |
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#ifdef UseBMP |
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if (APM_BMP085.Read()){ |
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read_baro(); |
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Baro_new_data = 1; |
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} |
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#endif |
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break; |
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case 2: // Send serial telemetry (10Hz) |
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medium_loopCounter++; |
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#ifdef CONFIGURATOR |
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sendSerialTelemetry(); |
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#endif |
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break; |
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case 3: // Read serial telemetry (10Hz) |
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medium_loopCounter++; |
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#ifdef CONFIGURATOR |
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readSerialCommand(); |
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#endif |
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break; |
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case 4: // second Barometer reading (2x10Hz = 20Hz) |
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medium_loopCounter++; |
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#ifdef UseBMP |
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if (APM_BMP085.Read()){ |
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read_baro(); |
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Baro_new_data = 1; |
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} |
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#endif |
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break; |
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case 5: // Battery monitor (10Hz) |
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medium_loopCounter=0; |
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#if BATTERY_EVENT == 1 |
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read_battery(); // Battery monitor |
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#endif |
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break; |
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} |
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} |
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} |
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