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1391 lines
37 KiB
1391 lines
37 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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ArduCopter Version 2.0 Beta |
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Authors: Jason Short |
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Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen |
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Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier |
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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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*/ |
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//////////////////////////////////////////////////////////////////////////////// |
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// Header includes |
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//////////////////////////////////////////////////////////////////////////////// |
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// AVR runtime |
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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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// Libraries |
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#include <FastSerial.h> |
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#include <AP_Common.h> |
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#include <APM_RC.h> // ArduPilot Mega RC Library |
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#include <AP_GPS.h> // ArduPilot GPS library |
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#include <Wire.h> // Arduino I2C lib |
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#include <SPI.h> |
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library |
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#include <AP_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 <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_IMU.h> // ArduPilot Mega IMU Library |
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#include <AP_DCM.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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#define MAVLINK_COMM_NUM_BUFFERS 2 |
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#include <GCS_MAVLink.h> // MAVLink GCS definitions |
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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 "HIL.h" |
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//////////////////////////////////////////////////////////////////////////////// |
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// Serial ports |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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// Note that FastSerial port buffers are allocated at ::begin time, |
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// so there is not much of a penalty to defining ports that we don't |
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// use. |
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// |
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FastSerialPort0(Serial); // FTDI/console |
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FastSerialPort1(Serial1); // GPS port |
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FastSerialPort3(Serial3); // Telemetry port |
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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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Parameters g; |
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//////////////////////////////////////////////////////////////////////////////// |
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// prototypes |
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void update_events(void); |
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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 flight 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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GPS *g_gps; |
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#if HIL_MODE == HIL_MODE_DISABLED |
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// real sensors |
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AP_ADC_ADS7844 adc; |
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APM_BMP085_Class barometer; |
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// MAG PROTOCOL |
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#if MAG_PROTOCOL == MAG_PROTOCOL_5843 |
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AP_Compass_HMC5843 compass(Parameters::k_param_compass); |
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#elif MAG_PROTOCOL == MAG_PROTOCOL_5883L |
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AP_Compass_HMC5883L compass(Parameters::k_param_compass); |
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#else |
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#error Unrecognised MAG_PROTOCOL setting. |
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#endif |
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// real GPS selection |
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO |
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA |
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AP_GPS_NMEA g_gps_driver(&Serial1); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF |
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AP_GPS_SIRF g_gps_driver(&Serial1); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX |
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AP_GPS_UBLOX g_gps_driver(&Serial1); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK |
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AP_GPS_MTK g_gps_driver(&Serial1); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16 |
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AP_GPS_MTK16 g_gps_driver(&Serial1); |
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE |
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AP_GPS_None g_gps_driver(NULL); |
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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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#elif HIL_MODE == HIL_MODE_SENSORS |
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// sensor emulators |
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AP_ADC_HIL adc; |
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APM_BMP085_HIL_Class barometer; |
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AP_Compass_HIL compass; |
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AP_GPS_HIL g_gps_driver(NULL); |
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#elif HIL_MODE == HIL_MODE_ATTITUDE |
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AP_DCM_HIL dcm; |
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AP_GPS_HIL g_gps_driver(NULL); |
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AP_Compass_HIL compass; // never used |
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AP_IMU_Shim imu; // never used |
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#else |
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#error Unrecognised HIL_MODE setting. |
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#endif // HIL MODE |
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#if HIL_MODE != HIL_MODE_DISABLED |
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK |
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GCS_MAVLINK hil(Parameters::k_param_streamrates_port0); |
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#elif HIL_PROTOCOL == HIL_PROTOCOL_XPLANE |
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HIL_XPLANE hil; |
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#endif // HIL PROTOCOL |
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#endif // HIL_MODE |
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// We may have a hil object instantiated just for mission planning |
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#if HIL_MODE == HIL_MODE_DISABLED && HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_PORT == 0 |
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GCS_MAVLINK hil(Parameters::k_param_streamrates_port0); |
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#endif |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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#if HIL_MODE != HIL_MODE_SENSORS |
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// Normal |
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AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration); |
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#else |
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// hil imu |
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AP_IMU_Shim imu; |
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#endif |
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// normal dcm |
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AP_DCM dcm(&imu, g_gps); |
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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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#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK |
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GCS_MAVLINK gcs(Parameters::k_param_streamrates_port3); |
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#else |
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// If we are not using a GCS, we need a stub that does nothing. |
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GCS_Class gcs; |
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#endif |
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//#include <GCS_SIMPLE.h> |
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//GCS_SIMPLE gcs_simple(&Serial); |
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AP_RangeFinder_MaxsonarXL sonar; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Global variables |
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//////////////////////////////////////////////////////////////////////////////// |
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byte control_mode = STABILIZE; |
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byte oldSwitchPosition; // for remembering the control mode switch |
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const char *comma = ","; |
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const char* flight_mode_strings[] = { |
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"STABILIZE", |
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"ACRO", |
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"ALT_HOLD", |
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"SIMPLE", |
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"AUTO", |
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"GCS_AUTO", |
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"LOITER", |
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"RTL"}; |
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/* Radio values |
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Channel assignments |
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1 Ailerons (rudder if no ailerons) |
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2 Elevator |
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3 Throttle |
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4 Rudder (if we have ailerons) |
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5 Mode - 3 position switch |
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6 User assignable |
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7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second) |
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8 TBD |
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*/ |
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// Radio |
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// ----- |
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int motor_out[8]; |
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Vector3f omega; |
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// Heli |
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// ---- |
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float heli_rollFactor[3], heli_pitchFactor[3]; // only required for 3 swashplate servos |
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int heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly |
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int heli_servo_out[4]; |
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// Failsafe |
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// -------- |
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boolean failsafe; // did our throttle dip below the failsafe value? |
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boolean ch3_failsafe; |
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boolean motor_armed; |
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boolean motor_auto_armed; // if true, |
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// PIDs |
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// ---- |
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//int max_stabilize_dampener; // |
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//int max_yaw_dampener; // |
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boolean rate_yaw_flag; // used to transition yaw control from Rate control to Yaw hold |
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byte yaw_debug; |
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bool did_clear_yaw_control; |
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// LED output |
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// ---------- |
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boolean motor_light; // status of the Motor safety |
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boolean GPS_light; // status of the GPS light |
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boolean timer_light; // status of the Motor safety |
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// GPS variables |
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// ------------- |
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const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage |
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float scaleLongUp = 1; // used to reverse longtitude scaling |
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float scaleLongDown = 1; // used to reverse longtitude scaling |
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byte ground_start_count = 10; // have we achieved first lock and set Home? |
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// Location & Navigation |
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// --------------------- |
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const float radius_of_earth = 6378100; // meters |
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const float gravity = 9.81; // meters/ sec^2 |
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long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate |
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long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target |
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long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target |
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int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate |
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float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1? |
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int last_ground_speed; // used to dampen navigation |
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byte wp_control; // used to control - navgation or loiter |
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byte command_must_index; // current command memory location |
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byte command_may_index; // current command memory location |
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byte command_must_ID; // current command ID |
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byte command_may_ID; // current command ID |
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byte wp_verify_byte; // used for tracking state of navigating waypoints |
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float cos_roll_x = 1; |
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float cos_pitch_x = 1; |
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float cos_yaw_x = 1; |
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float sin_pitch_y, sin_yaw_y, sin_roll_y; |
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float sin_nav_y, cos_nav_x; // used in calc_nav_output XXX move to local funciton |
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bool simple_bearing_is_set = false; |
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long initial_simple_bearing; // used for Simple mode |
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float Y6_scaling = Y6_MOTOR_SCALER; |
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// Airspeed |
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// -------- |
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int airspeed; // m/s * 100 |
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// Location Errors |
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// --------------- |
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long bearing_error; // deg * 100 : 0 to 36000 |
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long altitude_error; // meters * 100 we are off in altitude |
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float crosstrack_error; // meters we are off trackline |
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long distance_error; // distance to the WP |
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long yaw_error; // how off are we pointed |
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long long_error, lat_error; // temp for debugging |
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// Battery Sensors |
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// --------------- |
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float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter |
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float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter |
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float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter |
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float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter |
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float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter |
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float current_amps; |
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float current_total; |
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// Airspeed Sensors |
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// ---------------- |
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// Barometer Sensor variables |
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// -------------------------- |
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unsigned long abs_pressure; |
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unsigned long ground_pressure; |
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int ground_temperature; |
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// Altitude Sensor variables |
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// ---------------------- |
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int sonar_alt; |
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int baro_alt; |
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int baro_alt_offset; |
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byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR |
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// flight mode specific |
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// -------------------- |
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boolean takeoff_complete; // Flag for using take-off controls |
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boolean land_complete; |
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//int takeoff_altitude; |
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int landing_distance; // meters; |
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long old_alt; // used for managing altitude rates |
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int velocity_land; |
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byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target |
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// Loiter management |
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// ----------------- |
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long saved_target_bearing; // deg * 100 |
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long loiter_time; // millis : when we started LOITER mode |
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long loiter_time_max; // millis : how long to stay in LOITER mode |
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// these are the values for navigation control functions |
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// ---------------------------------------------------- |
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long nav_roll; // deg * 100 : target roll angle |
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long nav_pitch; // deg * 100 : target pitch angle |
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long nav_yaw; // deg * 100 : target yaw angle |
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long nav_lat; // for error calcs |
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long nav_lon; // for error calcs |
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int nav_throttle; // 0-1000 for throttle control |
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int nav_throttle_old; // for filtering |
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long throttle_integrator; // used to control when we calculate nav_throttle |
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bool invalid_throttle; // used to control when we calculate nav_throttle |
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bool invalid_nav; // used to control when we calculate nav_throttle |
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bool set_throttle_cruise_flag = false; // used to track the throttle crouse value |
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long command_yaw_start; // what angle were we to begin with |
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long command_yaw_start_time; // when did we start turning |
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int command_yaw_time; // how long we are turning |
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long command_yaw_end; // what angle are we trying to be |
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long command_yaw_delta; // how many degrees will we turn |
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int command_yaw_speed; // how fast to turn |
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byte command_yaw_dir; |
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byte command_yaw_relative; |
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// Waypoints |
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// --------- |
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long wp_distance; // meters - distance between plane and next waypoint |
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long wp_totalDistance; // meters - distance between old and next waypoint |
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byte next_wp_index; // Current active command index |
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// repeating event control |
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// ----------------------- |
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byte event_id; // what to do - see defines |
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long event_timer; // when the event was asked for in ms |
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int event_delay; // how long to delay the next firing of event in millis |
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int event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice |
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int event_value; // per command value, such as PWM for servos |
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int event_undo_value; // the value used to undo commands |
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byte repeat_forever; |
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byte undo_event; // counter for timing the undo |
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// delay command |
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// -------------- |
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long condition_value; // used in condition commands (eg delay, change alt, etc.) |
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long condition_start; |
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int condition_rate; |
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// land command |
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// ------------ |
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long land_start; // when we intiated command in millis() |
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long original_alt; // altitide reference for start of command |
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// 3D Location vectors |
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// ------------------- |
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struct Location home; // home location |
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struct Location prev_WP; // last waypoint |
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struct Location current_loc; // current location |
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struct Location next_WP; // next waypoint |
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struct Location target_WP; // where do we want to you towards? |
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struct Location simple_WP; // |
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struct Location next_command; // command preloaded |
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long target_altitude; // used for |
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boolean home_is_set; // Flag for if we have g_gps lock and have set the home location |
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// IMU variables |
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// ------------- |
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float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm) |
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// Performance monitoring |
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// ---------------------- |
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long perf_mon_timer; |
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float imu_health; // Metric based on accel gain deweighting |
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int G_Dt_max; // Max main loop cycle time in milliseconds |
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int gps_fix_count; |
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byte gcs_messages_sent; |
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// GCS |
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// --- |
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char GCS_buffer[53]; |
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char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed |
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// System Timers |
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// -------------- |
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unsigned long fast_loopTimer; // Time in miliseconds of main control loop |
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unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete |
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uint8_t delta_ms_fast_loop; // Delta Time in miliseconds |
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int mainLoop_count; |
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unsigned long medium_loopTimer; // Time in miliseconds of navigation control loop |
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byte medium_loopCounter; // Counters for branching from main control loop to slower loops |
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uint8_t delta_ms_medium_loop; |
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unsigned long fiftyhz_loopTimer; |
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uint8_t delta_ms_fiftyhz; |
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byte slow_loopCounter; |
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int superslow_loopCounter; |
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byte flight_timer; // for limiting the execution of flight mode thingys |
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unsigned long dTnav; // Delta Time in milliseconds for navigation computations |
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unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav |
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unsigned long elapsedTime; // for doing custom events |
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float load; // % MCU cycles used |
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byte counter_one_herz; |
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bool GPS_enabled = false; |
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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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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 fast |
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// ---------------------------- |
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if (millis() - fast_loopTimer >= 5) { |
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delta_ms_fast_loop = millis() - fast_loopTimer; |
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fast_loopTimer = millis(); |
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load = float(fast_loopTimeStamp - fast_loopTimer) / delta_ms_fast_loop; |
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G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator |
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mainLoop_count++; |
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/* |
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if(delta_ms_fast_loop > 11){ |
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update_timer_light(true); |
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//Serial.println(delta_ms_fast_loop,DEC); |
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}else{ |
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update_timer_light(false); |
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}*/ |
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// Execute the fast loop |
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// --------------------- |
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fast_loop(); |
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fast_loopTimeStamp = millis(); |
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} |
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if (millis() - fiftyhz_loopTimer > 19) { |
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delta_ms_fiftyhz = millis() - fiftyhz_loopTimer; |
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fiftyhz_loopTimer = millis(); |
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medium_loop(); |
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fifty_hz_loop(); |
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counter_one_herz++; |
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if(counter_one_herz == 50){ |
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super_slow_loop(); |
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counter_one_herz = 0; |
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} |
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if (millis() - perf_mon_timer > 20000) { |
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if (mainLoop_count != 0) { |
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gcs.send_message(MSG_PERF_REPORT); |
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if (g.log_bitmask & MASK_LOG_PM) |
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Log_Write_Performance(); |
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resetPerfData(); |
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} |
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} |
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} |
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} |
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// Main loop 160Hz |
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void fast_loop() |
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{ |
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// IMU DCM Algorithm |
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read_AHRS(); |
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// This is the fast loop - we want it to execute at >= 100Hz |
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// --------------------------------------------------------- |
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if (delta_ms_fast_loop > G_Dt_max) |
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G_Dt_max = delta_ms_fast_loop; |
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// Read radio |
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// ---------- |
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if (APM_RC.GetState() == 1) |
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read_radio(); // read the radio first |
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// custom code/exceptions for flight modes |
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// --------------------------------------- |
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update_current_flight_mode(); |
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// write out the servo PWM values |
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// ------------------------------ |
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set_servos_4(); |
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// record throttle output |
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// ------------------------------ |
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//throttle_integrator += g.rc_3.servo_out; |
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED |
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// HIL for a copter needs very fast update of the servo values |
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hil.send_message(MSG_RADIO_OUT); |
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#endif |
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} |
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void medium_loop() |
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{ |
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|
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// reads all of the necessary trig functions for cameras, throttle, etc. |
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update_trig(); |
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// This is the start of the medium (10 Hz) loop pieces |
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// ----------------------------------------- |
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switch(medium_loopCounter) { |
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// This case deals with the GPS and Compass |
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//----------------------------------------- |
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case 0: |
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medium_loopCounter++; |
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if(GPS_enabled){ |
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update_GPS(); |
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} |
|
|
|
//readCommands(); |
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
if(g.compass_enabled){ |
|
compass.read(); // Read magnetometer |
|
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading |
|
//compass.calculate(dcm.roll, dcm.pitch); // Calculate heading |
|
compass.null_offsets(dcm.get_dcm_matrix()); |
|
} |
|
#endif |
|
break; |
|
|
|
// This case performs some navigation computations |
|
//------------------------------------------------ |
|
case 1: |
|
medium_loopCounter++; |
|
|
|
// hack to stop navigation in Simple mode |
|
if (control_mode == SIMPLE){ |
|
// clear GPS data |
|
g_gps->new_data = false; |
|
break; |
|
} |
|
|
|
// Auto control modes: |
|
if(g_gps->new_data){ |
|
g_gps->new_data = false; |
|
|
|
// we are not tracking I term on navigation, so this isn't needed |
|
dTnav = millis() - nav_loopTimer; |
|
nav_loopTimer = millis(); |
|
|
|
// calculate the copter's desired bearing and WP distance |
|
// ------------------------------------------------------ |
|
navigate(); |
|
|
|
// control mode specific updates to nav_bearing |
|
// -------------------------------------------- |
|
update_navigation(); |
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN) |
|
Log_Write_Nav_Tuning(); |
|
} |
|
|
|
break; |
|
|
|
// command processing |
|
//------------------- |
|
case 2: |
|
medium_loopCounter++; |
|
|
|
// Read altitude from sensors |
|
// -------------------------- |
|
update_alt(); |
|
|
|
// altitude smoothing |
|
// ------------------ |
|
//calc_altitude_smoothing_error(); |
|
|
|
calc_altitude_error(); |
|
|
|
// invalidate the throttle hold value |
|
// ---------------------------------- |
|
invalid_throttle = true; |
|
|
|
// perform next command |
|
// -------------------- |
|
if(control_mode == AUTO){ |
|
//if(home_is_set){ |
|
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) |
|
Log_Write_Attitude(); |
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN) |
|
Log_Write_Control_Tuning(); |
|
#endif |
|
|
|
|
|
// XXX this should be a "GCS medium loop" interface |
|
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK |
|
gcs.data_stream_send(5,45); |
|
// send all requested output streams with rates requested |
|
// between 5 and 45 Hz |
|
#else |
|
gcs.send_message(MSG_ATTITUDE); // Sends attitude data |
|
#endif |
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0) |
|
hil.data_stream_send(5,45); |
|
#endif |
|
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(); |
|
} |
|
|
|
// Accel trims = hold > 2 seconds |
|
// Throttle cruise = switch less than 1 second |
|
// -------------------------------------------- |
|
read_trim_switch(); |
|
|
|
// Check for engine arming |
|
// ----------------------- |
|
arm_motors(); |
|
|
|
slow_loop(); |
|
break; |
|
|
|
default: |
|
// this is just a catch all |
|
// ------------------------ |
|
medium_loopCounter = 0; |
|
break; |
|
} |
|
|
|
} |
|
|
|
// stuff that happens at 50 hz |
|
// --------------------------- |
|
void fifty_hz_loop() |
|
{ |
|
// use Yaw to find our bearing error |
|
calc_bearing_error(); |
|
|
|
// guess how close we are - fixed observer calc |
|
//calc_distance_error(); |
|
|
|
# if HIL_MODE == HIL_MODE_DISABLED |
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) |
|
Log_Write_Attitude(); |
|
|
|
if (g.log_bitmask & MASK_LOG_RAW) |
|
Log_Write_Raw(); |
|
#endif |
|
|
|
#if CAMERA_STABILIZER == ENABLED |
|
camera_stabilization(); |
|
#endif |
|
|
|
|
|
// XXX is it appropriate to be doing the comms below on the fast loop? |
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED && HIL_PORT != GCS_PORT |
|
// kick the HIL to process incoming sensor packets |
|
hil.update(); |
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK |
|
hil.data_stream_send(45,1000); |
|
#else |
|
hil.send_message(MSG_SERVO_OUT); |
|
#endif |
|
#elif HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE == HIL_MODE_DISABLED && HIL_PORT == 0 |
|
// Case for hil object on port 0 just for mission planning |
|
hil.update(); |
|
hil.data_stream_send(45,1000); |
|
#endif |
|
|
|
// kick the GCS to process uplink data |
|
gcs.update(); |
|
|
|
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK |
|
gcs.data_stream_send(45,1000); |
|
#endif |
|
// XXX this should be absorbed into the above, |
|
// or be a "GCS fast loop" interface |
|
|
|
#if FRAME_CONFIG == TRI_FRAME |
|
// Hack - had to move to 50hz loop to test a theory |
|
// servo Yaw |
|
APM_RC.OutputCh(CH_7, g.rc_4.radio_out); |
|
#endif |
|
} |
|
|
|
|
|
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 > 800){ // every 4 minutes |
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
if(g.rc_3.control_in == 0 && g.compass_enabled){ |
|
compass.save_offsets(); |
|
superslow_loopCounter = 0; |
|
} |
|
#endif |
|
} |
|
break; |
|
|
|
case 1: |
|
slow_loopCounter++; |
|
|
|
// Read 3-position switch on radio |
|
// ------------------------------- |
|
read_control_switch(); |
|
|
|
// Read main battery voltage if hooked up - does not read the 5v from radio |
|
// ------------------------------------------------------------------------ |
|
#if BATTERY_EVENT == 1 |
|
read_battery(); |
|
#endif |
|
|
|
#if AUTO_RESET_LOITER == 1 |
|
if(control_mode == LOITER){ |
|
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){ |
|
// reset LOITER to current position |
|
long temp = next_WP.alt; |
|
next_WP = current_loc; |
|
next_WP.alt = temp; |
|
} |
|
} |
|
#endif |
|
|
|
break; |
|
|
|
case 2: |
|
slow_loopCounter = 0; |
|
update_events(); |
|
|
|
// blink if we are armed |
|
update_motor_light(); |
|
|
|
// XXX this should be a "GCS slow loop" interface |
|
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK |
|
gcs.data_stream_send(1,5); |
|
// send all requested output streams with rates requested |
|
// between 1 and 5 Hz |
|
#else |
|
gcs.send_message(MSG_LOCATION); |
|
gcs.send_message(MSG_CPU_LOAD, load*100); |
|
#endif |
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0) |
|
hil.data_stream_send(1,5); |
|
#endif |
|
|
|
#if CHANNEL_6_TUNING != CH6_NONE |
|
tuning(); |
|
#endif |
|
|
|
|
|
// filter out the baro offset. |
|
if(baro_alt_offset > 0) baro_alt_offset--; |
|
if(baro_alt_offset < 0) baro_alt_offset++; |
|
|
|
|
|
#if MOTOR_LEDS == 1 |
|
update_motor_leds(); |
|
#endif |
|
|
|
break; |
|
|
|
default: |
|
slow_loopCounter = 0; |
|
break; |
|
|
|
} |
|
} |
|
|
|
// 1Hz loop |
|
void super_slow_loop() |
|
{ |
|
if (g.log_bitmask & MASK_LOG_CURRENT) |
|
Log_Write_Current(); |
|
|
|
gcs.send_message(MSG_HEARTBEAT); // XXX This is running at 3 1/3 Hz instead of 1 Hz |
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0) |
|
hil.send_message(MSG_HEARTBEAT); |
|
#endif |
|
|
|
//if(gcs_simple.read()){ |
|
// Serial.print("!"); |
|
/* |
|
Location temp; |
|
temp.id = gcs_simple.id; |
|
temp.p1 = gcs_simple.p1; |
|
temp.alt = gcs_simple.altitude; |
|
temp.lat = gcs_simple.latitude; |
|
temp.lng = gcs_simple.longitude; |
|
set_command_with_index(temp, gcs_simple.index); |
|
gcs_simple.ack(); |
|
*/ |
|
//} |
|
|
|
} |
|
|
|
void update_GPS(void) |
|
{ |
|
g_gps->update(); |
|
update_GPS_light(); |
|
|
|
//current_loc.lng = 377697000; // Lon * 10 * *7 |
|
//current_loc.lat = -1224318000; // Lat * 10 * *7 |
|
//current_loc.alt = 100; // alt * 10 * *7 |
|
//return; |
|
|
|
if (g_gps->new_data && g_gps->fix) { |
|
|
|
// XXX We should be sending GPS data off one of the regular loops so that we send |
|
// no-GPS-fix data too |
|
#if GCS_PROTOCOL != GCS_PROTOCOL_MAVLINK |
|
gcs.send_message(MSG_LOCATION); |
|
#endif |
|
|
|
// for performance |
|
// --------------- |
|
gps_fix_count++; |
|
|
|
if(ground_start_count > 1){ |
|
ground_start_count--; |
|
|
|
} else if (ground_start_count == 1) { |
|
|
|
// We countdown N number of good GPS fixes |
|
// so that the altitude is more accurate |
|
// ------------------------------------- |
|
if (current_loc.lat == 0) { |
|
SendDebugln("!! bad loc"); |
|
ground_start_count = 5; |
|
|
|
}else{ |
|
//Serial.printf("init Home!"); |
|
|
|
// reset our nav loop timer |
|
//nav_loopTimer = millis(); |
|
init_home(); |
|
|
|
// init altitude |
|
current_loc.alt = home.alt; |
|
ground_start_count = 0; |
|
} |
|
} |
|
|
|
current_loc.lng = g_gps->longitude; // Lon * 10 * *7 |
|
current_loc.lat = g_gps->latitude; // Lat * 10 * *7 |
|
|
|
if (g.log_bitmask & MASK_LOG_GPS){ |
|
Log_Write_GPS(); |
|
} |
|
} |
|
} |
|
|
|
void update_current_flight_mode(void) |
|
{ |
|
if(control_mode == AUTO){ |
|
|
|
// this is a hack to prevent run up of the throttle I term for alt hold |
|
if(command_must_ID == MAV_CMD_NAV_TAKEOFF){ |
|
invalid_throttle = (g.rc_3.control_in != 0); |
|
// make invalid_throttle false if we are waiting to take off. |
|
} |
|
|
|
switch(command_must_ID){ |
|
default: |
|
// Output Pitch, Roll, Yaw and Throttle |
|
// ------------------------------------ |
|
auto_yaw(); |
|
|
|
// mix in user control |
|
control_nav_mixer(); |
|
|
|
// perform stabilzation |
|
output_stabilize_roll(); |
|
output_stabilize_pitch(); |
|
|
|
if(invalid_throttle) |
|
calc_nav_throttle(); |
|
|
|
// apply throttle control |
|
output_auto_throttle(); |
|
break; |
|
} |
|
|
|
}else{ |
|
|
|
switch(control_mode){ |
|
case ACRO: |
|
// clear any AP naviagtion values |
|
nav_pitch = 0; |
|
nav_roll = 0; |
|
|
|
// Yaw control |
|
output_manual_yaw(); |
|
|
|
// apply throttle control |
|
output_manual_throttle(); |
|
|
|
// mix in user control |
|
control_nav_mixer(); |
|
|
|
// perform rate or stabilzation |
|
// ---------------------------- |
|
|
|
// Roll control |
|
if(abs(g.rc_1.control_in) >= ACRO_RATE_TRIGGER){ |
|
output_rate_roll(); // rate control yaw |
|
}else{ |
|
output_stabilize_roll(); // hold yaw |
|
} |
|
|
|
// Roll control |
|
if(abs(g.rc_2.control_in) >= ACRO_RATE_TRIGGER){ |
|
output_rate_pitch(); // rate control yaw |
|
}else{ |
|
output_stabilize_pitch(); // hold yaw |
|
} |
|
break; |
|
|
|
case STABILIZE: |
|
// clear any AP naviagtion values |
|
nav_pitch = 0; |
|
nav_roll = 0; |
|
|
|
if(g.rc_3.control_in == 0){ |
|
clear_yaw_control(); |
|
}else{ |
|
// Yaw control |
|
output_manual_yaw(); |
|
} |
|
|
|
// apply throttle control |
|
output_manual_throttle(); |
|
|
|
// mix in user control |
|
control_nav_mixer(); |
|
|
|
// perform stabilzation |
|
output_stabilize_roll(); |
|
output_stabilize_pitch(); |
|
break; |
|
|
|
case SIMPLE: |
|
flight_timer++; |
|
// 25 hz |
|
if(flight_timer > 4){ |
|
flight_timer = 0; |
|
|
|
simple_WP.lat = 0; |
|
simple_WP.lng = 0; |
|
|
|
next_WP.lng = (float)g.rc_1.control_in *.4; // X: 4500 / 2 = 2250 = 25 meteres |
|
next_WP.lat = -((float)g.rc_2.control_in *.4); // Y: 4500 / 2 = 2250 = 25 meteres |
|
|
|
// calc a new bearing |
|
nav_bearing = get_bearing(&simple_WP, &next_WP) + initial_simple_bearing; |
|
nav_bearing = wrap_360(nav_bearing); |
|
wp_distance = get_distance(&simple_WP, &next_WP); |
|
calc_bearing_error(); |
|
/* |
|
Serial.printf("lat: %ld lon:%ld, bear:%ld, dist:%ld, init:%ld, err:%ld ", |
|
next_WP.lat, |
|
next_WP.lng, |
|
nav_bearing, |
|
wp_distance, |
|
initial_simple_bearing, |
|
bearing_error); |
|
*/ |
|
// get nav_pitch and nav_roll |
|
calc_simple_nav(); |
|
calc_nav_output(); |
|
limit_nav_pitch_roll(4500); |
|
} |
|
|
|
// are we at rest? reset nav_yaw |
|
if(g.rc_3.control_in == 0){ |
|
clear_yaw_control(); |
|
}else{ |
|
// Yaw control |
|
output_manual_yaw(); |
|
} |
|
|
|
// apply throttle control |
|
output_manual_throttle(); |
|
|
|
// apply nav_pitch and nav_roll to output |
|
simple_mixer(); |
|
|
|
// perform stabilzation |
|
output_stabilize_roll(); |
|
output_stabilize_pitch(); |
|
break; |
|
|
|
case ALT_HOLD: |
|
// clear any AP naviagtion values |
|
nav_pitch = 0; |
|
nav_roll = 0; |
|
|
|
// allow interactive changing of atitude |
|
adjust_altitude(); |
|
|
|
// Yaw control |
|
// ----------- |
|
output_manual_yaw(); |
|
|
|
// Output Pitch, Roll, Yaw and Throttle |
|
// ------------------------------------ |
|
|
|
if(invalid_throttle) |
|
calc_nav_throttle(); |
|
|
|
// apply throttle control |
|
output_auto_throttle(); |
|
|
|
// mix in user control |
|
control_nav_mixer(); |
|
|
|
// perform stabilzation |
|
output_stabilize_roll(); |
|
output_stabilize_pitch(); |
|
break; |
|
|
|
case RTL: |
|
// Output Pitch, Roll, Yaw and Throttle |
|
// ------------------------------------ |
|
auto_yaw(); |
|
|
|
if(invalid_throttle) |
|
calc_nav_throttle(); |
|
|
|
// apply throttle control |
|
output_auto_throttle(); |
|
|
|
// mix in user control with Nav control |
|
control_nav_mixer(); |
|
|
|
// perform stabilzation |
|
output_stabilize_roll(); |
|
output_stabilize_pitch(); |
|
break; |
|
|
|
case LOITER: |
|
// allow interactive changing of atitude |
|
adjust_altitude(); |
|
|
|
// Output Pitch, Roll, Yaw and Throttle |
|
// ------------------------------------ |
|
|
|
// Yaw control |
|
// ----------- |
|
output_manual_yaw(); |
|
|
|
if(invalid_throttle) |
|
calc_nav_throttle(); |
|
|
|
// apply throttle control |
|
output_auto_throttle(); |
|
|
|
// mix in user control with Nav control |
|
control_nav_mixer(); |
|
|
|
// perform stabilzation |
|
output_stabilize_roll(); |
|
output_stabilize_pitch(); |
|
break; |
|
|
|
default: |
|
//Serial.print("$"); |
|
break; |
|
|
|
} |
|
} |
|
} |
|
|
|
// called after a GPS read |
|
void update_navigation() |
|
{ |
|
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS |
|
// ------------------------------------------------------------------------ |
|
switch(control_mode){ |
|
case AUTO: |
|
verify_commands(); |
|
|
|
// note: wp_control is handled by commands_logic |
|
|
|
// calculates desired Yaw |
|
update_nav_yaw(); |
|
|
|
// calculates the desired Roll and Pitch |
|
update_nav_wp(); |
|
break; |
|
|
|
case RTL: |
|
// calculates desired Yaw |
|
update_nav_yaw(); |
|
case LOITER: |
|
// are we Traversing or Loitering? |
|
wp_control = (wp_distance < 50) ? LOITER_MODE : WP_MODE; |
|
//wp_control = LOITER_MODE; |
|
|
|
// calculates the desired Roll and Pitch |
|
update_nav_wp(); |
|
break; |
|
|
|
/*#if YAW_HACK == 1 |
|
case SIMPLE: |
|
// calculates desired Yaw |
|
// exprimental_hack |
|
if(g.rc_6.control_in > 900) |
|
update_nav_yaw(); |
|
if(g.rc_6.control_in < 100){ |
|
nav_yaw = dcm.yaw_sensor; |
|
} |
|
break; |
|
#endif |
|
*/ |
|
} |
|
} |
|
|
|
void read_AHRS(void) |
|
{ |
|
// Perform IMU calculations and get attitude info |
|
//----------------------------------------------- |
|
#if HIL_MODE == HIL_MODE_SENSORS |
|
// update hil before dcm update |
|
hil.update(); |
|
#endif |
|
|
|
dcm.update_DCM(G_Dt); |
|
omega = dcm.get_gyro(); |
|
} |
|
|
|
void update_trig(void){ |
|
Vector2f yawvector; |
|
Matrix3f temp = dcm.get_dcm_matrix(); |
|
|
|
yawvector.x = temp.a.x; // sin |
|
yawvector.y = temp.b.x; // cos |
|
yawvector.normalize(); |
|
|
|
cos_yaw_x = yawvector.y; // 0 x = north |
|
sin_yaw_y = yawvector.x; // 1 y |
|
|
|
sin_pitch_y = -temp.c.x; |
|
cos_pitch_x = sqrt(1 - (temp.c.x * temp.c.x)); |
|
|
|
cos_roll_x = temp.c.z / cos_pitch_x; |
|
sin_roll_y = temp.c.y / cos_pitch_x; |
|
} |
|
|
|
|
|
void update_alt() |
|
{ |
|
altitude_sensor = BARO; |
|
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE |
|
current_loc.alt = g_gps->altitude; |
|
#else |
|
if(g.sonar_enabled){ |
|
// filter out offset |
|
|
|
// read barometer |
|
baro_alt = read_barometer(); |
|
int temp_sonar = sonar.read(); |
|
|
|
// spike filter |
|
if((temp_sonar - sonar_alt) < 50){ |
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sonar_alt = temp_sonar; |
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} |
|
|
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//sonar_alt = sonar.read(); |
|
|
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// decide if we're using sonar |
|
if ((baro_alt < 1200) || sonar_alt < 300){ |
|
//if (baro_alt < 700){ |
|
// correct alt for angle of the sonar |
|
float temp = cos_pitch_x * cos_roll_x; |
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temp = max(temp, 0.707); |
|
|
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sonar_alt = (float)sonar_alt * temp; |
|
|
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if(sonar_alt < 450){ |
|
altitude_sensor = SONAR; |
|
baro_alt_offset = sonar_alt - baro_alt; |
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} |
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} |
|
|
|
// calculate our altitude |
|
if(altitude_sensor == BARO){ |
|
current_loc.alt = baro_alt + baro_alt_offset + home.alt; |
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}else{ |
|
current_loc.alt = sonar_alt + home.alt; |
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} |
|
|
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}else{ |
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baro_alt = read_barometer(); |
|
// no sonar altitude |
|
current_loc.alt = baro_alt + home.alt; |
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} |
|
|
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//Serial.printf("b_alt: %ld, home: %ld ", baro_alt, home.alt); |
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#endif |
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} |
|
|
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void |
|
adjust_altitude() |
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{ |
|
flight_timer++; |
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if(flight_timer >= 2){ |
|
flight_timer = 0; |
|
|
|
if(g.rc_3.control_in <= 200){ |
|
next_WP.alt -= 1; // 1 meter per second |
|
next_WP.alt = max(next_WP.alt, (current_loc.alt - 100)); // don't go more than 4 meters below current location |
|
next_WP.alt = max(next_WP.alt, 100); // no lower than 1 meter? |
|
|
|
}else if (g.rc_3.control_in > 700){ |
|
next_WP.alt += 2; // 1 meter per second |
|
//next_WP.alt = min((current_loc.alt + 400), next_WP.alt); // don't go more than 4 meters below current location |
|
next_WP.alt = min(next_WP.alt, (current_loc.alt + 200)); // don't go more than 4 meters below current location |
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} |
|
} |
|
} |
|
|
|
void tuning(){ |
|
|
|
#if CHANNEL_6_TUNING == CH6_STABLIZE_KP |
|
g.pid_stabilize_roll.kP((float)g.rc_6.control_in / 1000.0); |
|
g.pid_stabilize_pitch.kP((float)g.rc_6.control_in / 1000.0); |
|
|
|
#elif CHANNEL_6_TUNING == CH6_STABLIZE_KD |
|
// uncomment me out to try in flight dampening, 0 = unflyable, .2 = unfun, .13 worked for me. |
|
// use test,radio to get the value to use in your config. |
|
g.pid_stabilize_pitch.kD((float)g.rc_6.control_in / 1000.0); |
|
g.pid_stabilize_roll.kD((float)g.rc_6.control_in / 1000.0); |
|
|
|
#elif CHANNEL_6_TUNING == CH6_BARO_KP |
|
g.pid_baro_throttle.kP((float)g.rc_6.control_in / 1000.0); |
|
|
|
#elif CHANNEL_6_TUNING == CH6_BARO_KD |
|
g.pid_baro_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1 |
|
|
|
#elif CHANNEL_6_TUNING == CH6_SONAR_KP |
|
g.pid_sonar_throttle.kP((float)g.rc_6.control_in / 1000.0); |
|
|
|
#elif CHANNEL_6_TUNING == CH6_SONAR_KD |
|
g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1 |
|
|
|
#elif CHANNEL_6_TUNING == CH6_Y6_SCALING |
|
Y6_scaling = (float)g.rc_6.control_in / 1000.0; |
|
|
|
#elif CHANNEL_6_TUNING == CH6_PMAX |
|
g.pitch_max.set(g.rc_6.control_in * 2); // 0 to 2000 |
|
|
|
#elif CHANNEL_6_TUNING == CH6_YAW_KP |
|
// yaw heading |
|
g.pid_yaw.kP((float)g.rc_6.control_in / 200.0); // range from 0.0 ~ 5.0 |
|
|
|
#elif CHANNEL_6_TUNING == CH6_YAW_KD |
|
// yaw heading |
|
g.pid_yaw.kD((float)g.rc_6.control_in / 1000.0); |
|
|
|
#elif CHANNEL_6_TUNING == CH6_YAW_RATE_KP |
|
// yaw rate |
|
g.pid_acro_rate_yaw.kP((float)g.rc_6.control_in / 1000.0); |
|
|
|
#elif CHANNEL_6_TUNING == CH6_YAW_RATE_KD |
|
// yaw rate |
|
g.pid_acro_rate_yaw.kD((float)g.rc_6.control_in / 1000.0); |
|
|
|
#endif |
|
} |
|
|
|
void update_nav_wp() |
|
{ |
|
if(wp_control == LOITER_MODE){ |
|
// calc a pitch to the target |
|
calc_loiter_nav(); |
|
|
|
// rotate pitch and roll to the copter frame of reference |
|
calc_loiter_output(); |
|
|
|
} else { |
|
// how far are we from the ideal trajectory? |
|
// this pushes us back on course |
|
update_crosstrack(); |
|
|
|
// calc a rate dampened pitch to the target |
|
calc_rate_nav(); |
|
|
|
// rotate that pitch to the copter frame of reference |
|
calc_nav_output(); |
|
} |
|
} |
|
|
|
void update_nav_yaw() |
|
{ |
|
// this tracks a location so the copter is always pointing towards it. |
|
if(yaw_tracking == MAV_ROI_LOCATION){ |
|
nav_yaw = get_bearing(¤t_loc, &target_WP); |
|
|
|
}else if(yaw_tracking == MAV_ROI_WPNEXT){ |
|
nav_yaw = target_bearing; |
|
} |
|
}
|
|
|