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294 lines
10 KiB
294 lines
10 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define THISFIRMWARE "AntennaTracker V0.4" |
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/* |
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Lead developers: Matthew Ridley and Andrew Tridgell |
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Please contribute your ideas! See http://dev.ardupilot.com for details |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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//////////////////////////////////////////////////////////////////////////////// |
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// 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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#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_Param.h> |
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#include <StorageManager.h> |
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#include <AP_GPS.h> // ArduPilot GPS library |
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#include <AP_Baro.h> // ArduPilot barometer library |
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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_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_InertialSensor.h> // Inertial Sensor Library |
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library |
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#include <Filter.h> // Filter library |
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#include <AP_Buffer.h> // APM FIFO Buffer |
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#include <memcheck.h> |
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#include <GCS_MAVLink.h> // MAVLink GCS definitions |
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#include <AP_SerialManager.h> // Serial manager library |
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library |
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#include <DataFlash.h> |
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#include <SITL.h> |
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#include <PID.h> |
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#include <AP_Scheduler.h> // main loop scheduler |
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#include <AP_NavEKF.h> |
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#include <AP_Vehicle.h> |
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#include <AP_Mission.h> |
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#include <AP_Terrain.h> |
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#include <AP_Rally.h> |
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#include <AP_Notify.h> // Notify library |
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#include <AP_BattMonitor.h> // Battery monitor library |
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#include <AP_Airspeed.h> |
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#include <RC_Channel.h> |
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#include <AP_BoardConfig.h> |
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#include <AP_OpticalFlow.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_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_FLYMAPLE.h> |
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#include <AP_HAL_Linux.h> |
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#include <AP_HAL_Empty.h> |
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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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//////////////////////////////////////////////////////////////////////////////// |
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// the rate we run the main loop at |
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//////////////////////////////////////////////////////////////////////////////// |
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Parameters |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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// Global parameters are all contained within the 'g' class. |
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// |
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static Parameters g; |
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// main loop scheduler |
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static AP_Scheduler scheduler; |
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// notification object for LEDs, buzzers etc |
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static AP_Notify notify; |
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static uint32_t start_time_ms; |
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static bool usb_connected; |
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//////////////////////////////////////////////////////////////////////////////// |
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// prototypes |
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void gcs_send_text_fmt(const prog_char_t *fmt, ...); |
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//////////////////////////////////////////////////////////////////////////////// |
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// Sensors |
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//////////////////////////////////////////////////////////////////////////////// |
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static AP_GPS gps; |
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static AP_Baro barometer; |
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static Compass compass; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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AP_ADC_ADS7844 apm1_adc; |
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#endif |
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AP_InertialSensor ins; |
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// Inertial Navigation EKF |
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#if AP_AHRS_NAVEKF_AVAILABLE |
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AP_AHRS_NavEKF ahrs(ins, barometer, gps); |
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#else |
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AP_AHRS_DCM ahrs(ins, barometer, gps); |
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#endif |
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#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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antenna control channels |
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*/ |
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static RC_Channel channel_yaw(CH_YAW); |
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static RC_Channel channel_pitch(CH_PITCH); |
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//////////////////////////////////////////////////////////////////////////////// |
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// GCS selection |
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//////////////////////////////////////////////////////////////////////////////// |
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static AP_SerialManager serial_manager; |
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static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS; |
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static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS]; |
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// board specific config |
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static AP_BoardConfig BoardConfig; |
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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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static struct Location current_loc; |
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// This is the state of the antenna control system |
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// There are multiple states defined such as MANUAL, FBW-A, AUTO |
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static enum ControlMode control_mode = INITIALISING; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Vehicle state |
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//////////////////////////////////////////////////////////////////////////////// |
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static struct { |
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bool location_valid; // true if we have a valid location for the vehicle |
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Location location; // lat, long in degrees * 10^7; alt in meters * 100 |
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Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100 |
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uint32_t last_update_us; // last position update in micxroseconds |
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uint32_t last_update_ms; // last position update in milliseconds |
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float heading; // last known direction vehicle is moving |
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float ground_speed; // vehicle's last known ground speed in m/s |
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} vehicle; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Navigation controller state |
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//////////////////////////////////////////////////////////////////////////////// |
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static struct { |
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float bearing; // bearing to vehicle in centi-degrees |
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float distance; // distance to vehicle in meters |
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float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below) |
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float altitude_difference; // altitude difference between tracker and vehicle in meters. positive value means vehicle is above tracker |
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float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer |
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bool manual_control_yaw : 1;// true if tracker yaw is under manual control |
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bool manual_control_pitch : 1;// true if tracker pitch is manually controlled |
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bool need_altitude_calibration : 1;// true if tracker altitude has not been determined (true after startup) |
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bool scan_reverse_pitch : 1;// controls direction of pitch movement in SCAN mode |
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bool scan_reverse_yaw : 1;// controls direction of yaw movement in SCAN mode |
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} nav_status; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Servo state |
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//////////////////////////////////////////////////////////////////////////////// |
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static struct { |
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bool yaw_lower : 1; // true if yaw servo has been limited from moving to a lower position (i.e. position or rate limited) |
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bool yaw_upper : 1; // true if yaw servo has been limited from moving to a higher position (i.e. position or rate limited) |
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bool pitch_lower : 1; // true if pitch servo has been limited from moving to a lower position (i.e. position or rate limited) |
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bool pitch_upper : 1; // true if pitch servo has been limited from moving to a higher position (i.e. position or rate limited) |
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} servo_limit; |
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/* |
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scheduler table - all regular tasks apart from the fast_loop() |
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should be listed here, along with how often they should be called |
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(in 20ms units) and the maximum time they are expected to take (in |
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microseconds) |
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*/ |
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static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = { |
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{ update_ahrs, 1, 1000 }, |
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{ read_radio, 1, 200 }, |
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{ update_tracking, 1, 1000 }, |
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{ update_GPS, 5, 4000 }, |
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{ update_compass, 5, 1500 }, |
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{ update_barometer, 5, 1500 }, |
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{ gcs_update, 1, 1700 }, |
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{ gcs_data_stream_send, 1, 3000 }, |
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{ compass_accumulate, 1, 1500 }, |
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{ barometer_accumulate, 1, 900 }, |
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{ update_notify, 1, 100 }, |
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{ check_usb_mux, 5, 300 }, |
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{ gcs_retry_deferred, 1, 1000 }, |
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{ one_second_loop, 50, 3900 } |
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}; |
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// setup the var_info table |
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AP_Param param_loader(var_info); |
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/** |
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setup the sketch - called once on startup |
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*/ |
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void setup() |
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{ |
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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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// antenna tracker does not use pre-arm checks or battery failsafe |
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AP_Notify::flags.pre_arm_check = true; |
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AP_Notify::flags.pre_arm_gps_check = true; |
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AP_Notify::flags.failsafe_battery = false; |
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notify.init(false); |
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init_tracker(); |
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// initialise the main loop scheduler |
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scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0])); |
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} |
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/** |
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loop() is called continuously |
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*/ |
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void loop() |
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{ |
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// wait for an INS sample |
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ins.wait_for_sample(); |
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// tell the scheduler one tick has passed |
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scheduler.tick(); |
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scheduler.run(19900UL); |
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} |
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static void one_second_loop() |
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{ |
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// send a heartbeat |
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gcs_send_message(MSG_HEARTBEAT); |
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// make it possible to change orientation at runtime |
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ahrs.set_orientation(); |
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// sync MAVLink system ID |
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mavlink_system.sysid = g.sysid_this_mav; |
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// updated armed/disarmed status LEDs |
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update_armed_disarmed(); |
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static uint8_t counter; |
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counter++; |
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if (counter >= 60) { |
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if(g.compass_enabled) { |
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compass.save_offsets(); |
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} |
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counter = 0; |
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} |
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} |
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AP_HAL_MAIN();
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