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974 lines
34 KiB
974 lines
34 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define THISFIRMWARE "ArduRover v2.30" |
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// This is the APMrover firmware derived from the Arduplane v2.32 by Jean-Louis Naudin (JLN) |
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/* |
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin |
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier |
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Please contribute your ideas! |
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat... |
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This firmware is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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// |
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// JLN updates: last update 2012-06-21 |
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// DOLIST: |
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//------------------------------------------------------------------------------------------------------------------------- |
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// Dev Startup : 2012-04-21 |
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// |
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// 2012-06-21: Update for HIL mode with mavlink 1.0 (new lib) |
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// 2012-06-13: use RangeFinder optical SharpGP2Y instead of ultrasonic sonar |
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// 2012-06-13: added Test sonar |
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// 2012-05-17: added speed_boost during straight line |
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// 2012-05-17: New update about the throttle rate control based on the field test done by Franco Borasio (Thanks Franco..) |
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// 2012-05-15: The Throttle rate can be controlled by the THROTTLE_SLEW_LIMIT (the value give the step increase, 1 = 0.1) |
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// 2012-05-14: Update about mavlink library (now compatible with the latest version of mavlink) |
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// 2012-05-14: Added option (hold roll to full right + SW7 ON/OFF) to init_home during the wp_list reset |
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// 2012-05-13: Add ROV_SONAR_TRIG (default = 200 cm) |
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// 2012-05-13: Restart_nav() added and heading bug correction, tested OK in the field |
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// 2012-05-12: RTL then stop update - Tested in the field |
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// 2012-05-11: The rover now STOP after the RTL... (special update for Franco...) |
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// 2012-05-11: Added SONAR detection for obstacle avoidance (alpha version for SONAR testing) |
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// 2012-05-04: Added #define LITE ENABLED for the APM1280 or APM2560 CPU IMUless version |
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// 2012-05-03: Successful missions tests with a full APM2560 kit (GPS MT3329 + magnetometer HMC5883L) |
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// 2012-05-03: removing stick mixing in auto mode |
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// 2012-05-01: special update for rover about ground_course if compass is enabled |
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// 2012-04-30: Successfully tested in autonomous nav with a waypoints list recorded in live mode |
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// 2012-04-30: Now a full version for APM v1 or APM v2 with magnetometer |
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// 2012-04-27: Cosmetic changes |
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// 2012-04-26: Only one PID (pidNavRoll) for steering the wheel with nav_roll |
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// 2012-04-26: Added ground_speed and ground_course variables in Update_GPS |
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// 2012-04-26: Set GPS to 10 Hz (updated in the AP_GPS lib) |
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// 2012-04-22: Tested on Traxxas Monster Jam Grinder XL-5 3602 |
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// 2012-04-21: Roll set to wheels control and Throttle neutral to 50% (0 -100) - Forward>50, Backward<50 |
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// |
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// Radio setup: |
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// APM INPUT (Rec = receiver) |
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// Rec ch1: Roll |
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// Rec ch2: Throttle |
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// Rec ch3: Pitch |
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// Rec ch4: Yaw |
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// Rec ch5: not used |
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// Rec ch6: not used |
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// Rec ch7: Option channel to 2 positions switch |
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// Rec ch8: Mode channel to 3 positions switch |
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// APM OUTPUT |
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// Ch1: Wheel servo (direction) |
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// Ch2: not used |
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// Ch3: to the motor ESC |
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// Ch4: not used |
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// |
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// more infos about this experimental version: http://diydrones.com/profile/JeanLouisNaudin |
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// ======================================================================================================= |
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*/ |
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//////////////////////////////////////////////////////////////////////////////// |
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// Header includes |
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//////////////////////////////////////////////////////////////////////////////// |
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// 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 <AP_Progmem.h> |
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#include <AP_Menu.h> |
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#include <AP_Param.h> |
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#include <Arduino_Mega_ISR_Registry.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 <I2C.h> // Wayne Truchsess I2C lib |
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#include <SPI.h> // Arduino SPI lib |
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#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus |
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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 <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter |
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#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess |
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#include <AP_Baro.h> |
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library |
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library |
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#include <PID.h> // PID library |
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#include <RC_Channel.h> // RC Channel Library |
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#include <AP_RangeFinder.h> // Range finder library |
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#include <Filter.h> // Filter library |
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#include <AP_Buffer.h> // FIFO buffer library |
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#include <ModeFilter.h> // Mode Filter from Filter library |
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#include <AverageFilter.h> // Mode Filter from Filter library |
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#include <AP_Relay.h> // APM relay |
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#include <AP_Mount.h> // Camera/Antenna mount |
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#include <GCS_MAVLink.h> // MAVLink GCS definitions |
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#include <AP_Airspeed.h> // needed for AHRS build |
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#include <memcheck.h> |
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// Configuration |
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#include "config.h" |
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// Local modules |
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#include "defines.h" |
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#include "Parameters.h" |
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#include "GCS.h" |
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library |
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//////////////////////////////////////////////////////////////////////////////// |
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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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#if TELEMETRY_UART2 == ENABLED |
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// solder bridge set to enable UART2 instead of USB MUX |
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FastSerialPort2(Serial3); |
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#else |
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FastSerialPort3(Serial3); // Telemetry port for APM1 |
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#endif |
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static FastSerial *cliSerial = &Serial; |
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// this sets up the parameter table, and sets the default values. This |
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// must be the first AP_Param variable declared to ensure its |
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// constructor runs before the constructors of the other AP_Param |
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// variables |
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AP_Param param_loader(var_info, WP_START_BYTE); |
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//////////////////////////////////////////////////////////////////////////////// |
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// ISR Registry |
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//////////////////////////////////////////////////////////////////////////////// |
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Arduino_Mega_ISR_Registry isr_registry; |
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//////////////////////////////////////////////////////////////////////////////// |
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// APM_RC_Class Instance |
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//////////////////////////////////////////////////////////////////////////////// |
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 |
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APM_RC_APM2 APM_RC; |
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#else |
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APM_RC_APM1 APM_RC; |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// Dataflash |
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//////////////////////////////////////////////////////////////////////////////// |
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 |
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AP_Semaphore spi3_semaphore; |
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DataFlash_APM2 DataFlash(&spi3_semaphore); |
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#else |
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DataFlash_APM1 DataFlash; |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// the rate we run the main loop at |
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//////////////////////////////////////////////////////////////////////////////// |
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Parameters |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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// Global parameters are all contained within the 'g' class. |
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// |
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static Parameters g; |
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//////////////////////////////////////////////////////////////////////////////// |
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// prototypes |
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static void update_events(void); |
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//////////////////////////////////////////////////////////////////////////////// |
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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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static GPS *g_gps; |
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// flight modes convenience array |
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static AP_Int8 *flight_modes = &g.flight_mode1; |
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#if HIL_MODE == HIL_MODE_DISABLED |
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// real sensors |
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#if CONFIG_ADC == ENABLED |
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static AP_ADC_ADS7844 adc; |
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#endif |
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#ifdef DESKTOP_BUILD |
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AP_Baro_BMP085_HIL barometer; |
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AP_Compass_HIL compass; |
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#include <SITL.h> |
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SITL sitl; |
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#else |
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static AP_Compass_HMC5843 compass; |
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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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# if CONFIG_INS_TYPE == CONFIG_INS_MPU6000 |
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AP_InertialSensor_MPU6000 ins; |
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# else |
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AP_InertialSensor_Oilpan ins( &adc ); |
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#endif // CONFIG_INS_TYPE |
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AP_AHRS_DCM ahrs(&ins, g_gps); |
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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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AP_Compass_HIL compass; |
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AP_GPS_HIL g_gps_driver(NULL); |
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AP_InertialSensor_Oilpan ins( &adc ); |
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AP_AHRS_DCM ahrs(&ins, g_gps); |
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#elif HIL_MODE == HIL_MODE_ATTITUDE |
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AP_ADC_HIL adc; |
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AP_AHRS_HIL ahrs(&ins, g_gps); |
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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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#else |
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#error Unrecognised HIL_MODE setting. |
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#endif // HIL MODE |
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// we always have a timer scheduler |
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AP_TimerProcess timer_scheduler; |
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//////////////////////////////////////////////////////////////////////////////// |
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// GCS selection |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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GCS_MAVLINK gcs0; |
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GCS_MAVLINK gcs3; |
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//////////////////////////////////////////////////////////////////////////////// |
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// SONAR selection |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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ModeFilterInt16_Size5 sonar_mode_filter(2); |
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#if CONFIG_SONAR == ENABLED |
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/* |
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC |
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AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25); |
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN |
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AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN); |
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#endif |
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AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter); |
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*/ |
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AP_AnalogSource_Arduino sonar_analog_source(A0); // use AN0 analog pin for APM2 on left |
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AP_RangeFinder_SharpGP2Y sonar(&sonar_analog_source, &sonar_mode_filter); |
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#endif |
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// relay support |
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AP_Relay relay; |
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// Camera/Antenna mount tracking and stabilisation stuff |
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// -------------------------------------- |
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#if MOUNT == ENABLED |
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AP_Mount camera_mount(g_gps, &dcm); |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// Global variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// APM2 only |
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#if USB_MUX_PIN > 0 |
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static bool usb_connected; |
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#endif |
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static const char *comma = ","; |
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/* Radio values |
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Channel assignments |
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1 Steering |
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2 --- |
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3 Throttle |
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4 --- |
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5 Aux5 |
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6 Aux6 |
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7 Aux7 |
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8 Aux8/Mode |
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Each Aux channel can be configured to have any of the available auxiliary functions assigned to it. |
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See libraries/RC_Channel/RC_Channel_aux.h for more information |
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*/ |
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//////////////////////////////////////////////////////////////////////////////// |
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// Radio |
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//////////////////////////////////////////////////////////////////////////////// |
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// This is the state of the flight control system |
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// There are multiple states defined such as MANUAL, FBW-A, AUTO |
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byte control_mode = INITIALISING; |
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// Used to maintain the state of the previous control switch position |
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// This is set to -1 when we need to re-read the switch |
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byte oldSwitchPosition; |
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// These are values received from the GCS if the user is using GCS joystick |
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// control and are substituted for the values coming from the RC radio |
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0}; |
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// A flag if GCS joystick control is in use |
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static bool rc_override_active = false; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Failsafe |
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//////////////////////////////////////////////////////////////////////////////// |
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// A tracking variable for type of failsafe active |
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// Used for failsafe based on loss of RC signal or GCS signal |
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static int16_t failsafe; |
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// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold |
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// RC receiver should be set up to output a low throttle value when signal is lost |
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static bool ch3_failsafe; |
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// A timer used to track how long since we have received the last GCS heartbeat or rc override message |
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static uint32_t rc_override_fs_timer = 0; |
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// A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal |
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static uint32_t ch3_failsafe_timer = 0; |
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//////////////////////////////////////////////////////////////////////////////// |
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// LED output |
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//////////////////////////////////////////////////////////////////////////////// |
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// state of the GPS light (on/off) |
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static bool GPS_light; |
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//////////////////////////////////////////////////////////////////////////////// |
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// GPS variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// This is used to scale GPS values for EEPROM storage |
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// 10^7 times Decimal GPS means 1 == 1cm |
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// This approximation makes calculations integer and it's easy to read |
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static const float t7 = 10000000.0; |
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// We use atan2 and other trig techniques to calaculate angles |
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// A counter used to count down valid gps fixes to allow the gps estimate to settle |
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// before recording our home position (and executing a ground start if we booted with an air start) |
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static byte ground_start_count = 5; |
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// Used to compute a speed estimate from the first valid gps fixes to decide if we are |
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// on the ground or in the air. Used to decide if a ground start is appropriate if we |
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// booted with an air start. |
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static int16_t ground_start_avg; |
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static int32_t gps_base_alt; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Location & Navigation |
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//////////////////////////////////////////////////////////////////////////////// |
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// Constants |
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const float radius_of_earth = 6378100; // meters |
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const float gravity = 9.81; // meters/ sec^2 |
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// true if we have a position estimate from AHRS |
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static bool have_position; |
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// This is the currently calculated direction to fly. |
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// deg * 100 : 0 to 360 |
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static int32_t nav_bearing; |
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// This is the direction to the next waypoint |
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// deg * 100 : 0 to 360 |
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static int32_t target_bearing; |
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//This is the direction from the last waypoint to the next waypoint |
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// deg * 100 : 0 to 360 |
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static int32_t crosstrack_bearing; |
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// A gain scaler to account for ground speed/headwind/tailwind |
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static float nav_gain_scaler = 1; |
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static bool rtl_complete = false; |
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// There may be two active commands in Auto mode. |
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// This indicates the active navigation command by index number |
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static byte nav_command_index; |
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// This indicates the active non-navigation command by index number |
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static byte non_nav_command_index; |
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// This is the command type (eg navigate to waypoint) of the active navigation command |
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static byte nav_command_ID = NO_COMMAND; |
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static byte non_nav_command_ID = NO_COMMAND; |
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static float groundspeed_error; |
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel |
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static int16_t throttle_nudge = 0; |
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// The distance as reported by Sonar in cm – Values are 20 to 700 generally. |
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static int16_t sonar_dist; |
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static bool obstacle = false; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Ground speed |
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//////////////////////////////////////////////////////////////////////////////// |
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// The amount current ground speed is below min ground speed. Centimeters per second |
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static int32_t groundspeed_undershoot = 0; |
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static int32_t ground_speed = 0; |
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static int16_t throttle_last = 0, throttle = 500; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Location Errors |
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//////////////////////////////////////////////////////////////////////////////// |
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// Difference between current bearing and desired bearing. Hundredths of a degree |
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static int32_t bearing_error; |
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// Difference between current altitude and desired altitude. Centimeters |
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static int32_t altitude_error; |
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// Distance perpandicular to the course line that we are off trackline. Meters |
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static float crosstrack_error; |
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//////////////////////////////////////////////////////////////////////////////// |
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// CH7 control |
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//////////////////////////////////////////////////////////////////////////////// |
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// Used to track the CH7 toggle state. |
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// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true |
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// This allows advanced functionality to know when to execute |
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static boolean trim_flag; |
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// This register tracks the current Mission Command index when writing |
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// a mission using CH7 in flight |
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static int8_t CH7_wp_index; |
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float tuning_value; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Battery Sensors |
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//////////////////////////////////////////////////////////////////////////////// |
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// Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup. |
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static float battery_voltage1 = LOW_VOLTAGE * 1.05; |
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// Battery pack 1 instantaneous currrent draw. Amperes |
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static float current_amps1; |
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// Totalized current (Amp-hours) from battery 1 |
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static float current_total1; |
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// To Do - Add support for second battery pack |
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//static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery 2 Voltage, initialized above threshold for filter |
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//static float current_amps2; // Current (Amperes) draw from battery 2 |
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//static float current_total2; // Totalized current (Amp-hours) from battery 2 |
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// JLN Update |
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uint32_t timesw = 0; |
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static bool speed_boost = false; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Navigation control variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// The instantaneous desired bank angle. Hundredths of a degree |
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static int32_t nav_roll; |
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// Calculated radius for the wp turn based on ground speed and max turn angle |
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static int32_t wp_radius; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Waypoint distances |
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//////////////////////////////////////////////////////////////////////////////// |
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// Distance between plane and next waypoint. Meters |
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static int32_t wp_distance; |
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// Distance between previous and next waypoint. Meters |
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static int32_t wp_totalDistance; |
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//////////////////////////////////////////////////////////////////////////////// |
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// repeating event control |
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//////////////////////////////////////////////////////////////////////////////// |
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// Flag indicating current event type |
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static byte event_id; |
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// when the event was started in ms |
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static int32_t event_timer; |
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// how long to delay the next firing of event in millis |
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static uint16_t event_delay; |
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles |
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static int16_t event_repeat = 0; |
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// per command value, such as PWM for servos |
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static int16_t event_value; |
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// the value used to cycle events (alternate value to event_value) |
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static int16_t event_undo_value; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Conditional command |
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//////////////////////////////////////////////////////////////////////////////// |
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// A value used in condition commands (eg delay, change alt, etc.) |
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// For example in a change altitude command, it is the altitude to change to. |
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static int32_t condition_value; |
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// A starting value used to check the status of a conditional command. |
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// For example in a delay command the condition_start records that start time for the delay |
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static int32_t condition_start; |
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// A value used in condition commands. For example the rate at which to change altitude. |
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static int16_t condition_rate; |
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//////////////////////////////////////////////////////////////////////////////// |
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// 3D Location vectors |
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// Location structure defined in AP_Common |
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//////////////////////////////////////////////////////////////////////////////// |
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// The home location used for RTL. The location is set when we first get stable GPS lock |
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static struct Location home; |
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// Flag for if we have g_gps lock and have set the home location |
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static bool home_is_set; |
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// The location of the previous waypoint. Used for track following and altitude ramp calculations |
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static struct Location prev_WP; |
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// The plane's current location |
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static struct Location current_loc; |
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// The location of the current/active waypoint. Used for track following |
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static struct Location next_WP; |
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// The location of the active waypoint in Guided mode. |
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static struct Location guided_WP; |
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// The location structure information from the Nav command being processed |
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static struct Location next_nav_command; |
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// The location structure information from the Non-Nav command being processed |
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static struct Location next_nonnav_command; |
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//////////////////////////////////////////////////////////////////////////////// |
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// IMU variables |
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//////////////////////////////////////////////////////////////////////////////// |
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// The main loop execution time. Seconds |
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//This is the time between calls to the DCM algorithm and is the Integration time for the gyros. |
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static float G_Dt = 0.02; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Performance monitoring |
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//////////////////////////////////////////////////////////////////////////////// |
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// Timer used to accrue data and trigger recording of the performanc monitoring log message |
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static int32_t perf_mon_timer; |
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// The maximum main loop execution time recorded in the current performance monitoring interval |
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static int16_t G_Dt_max = 0; |
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// The number of gps fixes recorded in the current performance monitoring interval |
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static int16_t gps_fix_count = 0; |
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// A variable used by developers to track performanc metrics. |
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// Currently used to record the number of GCS heartbeat messages received |
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static int16_t pmTest1 = 0; |
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//////////////////////////////////////////////////////////////////////////////// |
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// System Timers |
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//////////////////////////////////////////////////////////////////////////////// |
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// Time in miliseconds of start of main control loop. Milliseconds |
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static uint32_t fast_loopTimer; |
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// Time Stamp when fast loop was complete. Milliseconds |
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static uint32_t fast_loopTimeStamp; |
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// Number of milliseconds used in last main loop cycle |
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static uint8_t delta_ms_fast_loop; |
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// Counter of main loop executions. Used for performance monitoring and failsafe processing |
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static uint16_t mainLoop_count; |
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// Time in miliseconds of start of medium control loop. Milliseconds |
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static uint32_t medium_loopTimer; |
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// Counters for branching from main control loop to slower loops |
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static byte medium_loopCounter; |
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// Number of milliseconds used in last medium loop cycle |
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static uint8_t delta_ms_medium_loop; |
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// Counters for branching from medium control loop to slower loops |
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static byte slow_loopCounter; |
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// Counter to trigger execution of very low rate processes |
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static byte superslow_loopCounter; |
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// Counter to trigger execution of 1 Hz processes |
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static byte counter_one_herz; |
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// % MCU cycles used |
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static float load; |
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//////////////////////////////////////////////////////////////////////////////// |
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// Top-level logic |
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//////////////////////////////////////////////////////////////////////////////// |
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void setup() { |
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memcheck_init(); |
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init_ardupilot(); |
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} |
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void loop() |
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{ |
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// We want this to execute at 50Hz, but synchronised with the gyro/accel |
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uint16_t num_samples = ins.num_samples_available(); |
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if (num_samples >= 1) { |
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delta_ms_fast_loop = millis() - fast_loopTimer; |
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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; |
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fast_loopTimer = millis(); |
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mainLoop_count++; |
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// Execute the fast loop |
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// --------------------- |
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fast_loop(); |
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// Execute the medium loop |
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// ----------------------- |
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medium_loop(); |
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counter_one_herz++; |
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if(counter_one_herz == 50){ |
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one_second_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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#if LITE == DISABLED |
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if (g.log_bitmask & MASK_LOG_PM) |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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Log_Write_Performance(); |
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#endif |
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#endif |
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resetPerfData(); |
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} |
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} |
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fast_loopTimeStamp = millis(); |
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} else if (millis() - fast_loopTimeStamp < 19) { |
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// less than 19ms has passed. We have at least one millisecond |
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// of free time. The most useful thing to do with that time is |
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// to accumulate some sensor readings, specifically the |
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// compass, which is often very noisy but is not interrupt |
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// driven, so it can't accumulate readings by itself |
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if (g.compass_enabled) { |
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compass.accumulate(); |
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} |
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} |
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} |
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// Main loop 50Hz |
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static void fast_loop() |
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{ |
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// This is the fast loop - we want it to execute at 50Hz if possible |
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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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read_radio(); |
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// try to send any deferred messages if the serial port now has |
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// some space available |
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gcs_send_message(MSG_RETRY_DEFERRED); |
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// check for loss of control signal failsafe condition |
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// ------------------------------------ |
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check_short_failsafe(); |
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#if HIL_MODE == HIL_MODE_SENSORS |
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// update hil before dcm update |
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gcs_update(); |
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#endif |
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#if LITE == DISABLED |
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ahrs.update(); |
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#endif |
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// Read Sonar |
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// ---------- |
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#if CONFIG_SONAR == ENABLED |
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if(g.sonar_enabled){ |
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sonar_dist = sonar.read(); |
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if(sonar_dist <= g.sonar_trigger) { // obstacle detected in front |
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obstacle = true; |
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} else { |
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obstacle = false; |
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} |
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} |
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#endif |
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// uses the yaw from the DCM to give more accurate turns |
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calc_bearing_error(); |
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#if LITE == DISABLED |
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# if HIL_MODE == HIL_MODE_DISABLED |
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if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) |
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Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor); |
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if (g.log_bitmask & MASK_LOG_RAW) |
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Log_Write_Raw(); |
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#endif |
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#endif |
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// inertial navigation |
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// ------------------ |
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#if INERTIAL_NAVIGATION == ENABLED |
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// TODO: implement inertial nav function |
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inertialNavigation(); |
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#endif |
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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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// apply desired roll, pitch and yaw to the plane |
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// ---------------------------------------------- |
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if (control_mode > LEARNING) |
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learning(); |
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// write out the servo PWM values |
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// ------------------------------ |
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set_servos(); |
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// XXX is it appropriate to be doing the comms below on the fast loop? |
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gcs_update(); |
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gcs_data_stream_send(); |
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} |
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static void medium_loop() |
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{ |
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#if MOUNT == ENABLED |
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camera_mount.update_mount_position(); |
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#endif |
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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 |
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//------------------------------- |
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case 0: |
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medium_loopCounter++; |
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update_GPS(); |
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calc_gndspeed_undershoot(); |
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//#if LITE == DISABLED |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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if (g.compass_enabled && compass.read()) { |
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ahrs.set_compass(&compass); |
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// Calculate heading |
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compass.null_offsets(); |
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} else { |
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ahrs.set_compass(NULL); |
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} |
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#endif |
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//#endif |
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/*{ |
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cliSerial->print(ahrs.roll_sensor, DEC); cliSerial->printf_P(PSTR("\t")); |
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cliSerial->print(ahrs.pitch_sensor, DEC); cliSerial->printf_P(PSTR("\t")); |
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cliSerial->print(ahrs.yaw_sensor, DEC); cliSerial->printf_P(PSTR("\t")); |
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Vector3f tempaccel = ins.get_accel(); |
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cliSerial->print(tempaccel.x, DEC); cliSerial->printf_P(PSTR("\t")); |
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cliSerial->print(tempaccel.y, DEC); cliSerial->printf_P(PSTR("\t")); |
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cliSerial->println(tempaccel.z, DEC); |
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}*/ |
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break; |
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// This case performs some navigation computations |
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//------------------------------------------------ |
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case 1: |
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medium_loopCounter++; |
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navigate(); |
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break; |
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// command processing |
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//------------------------------ |
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case 2: |
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medium_loopCounter++; |
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// perform next command |
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// -------------------- |
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update_commands(); |
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break; |
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// This case deals with sending high rate telemetry |
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//------------------------------------------------- |
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case 3: |
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medium_loopCounter++; |
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#if LITE == DISABLED |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST)) |
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Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor); |
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if (g.log_bitmask & MASK_LOG_CTUN) |
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Log_Write_Control_Tuning(); |
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#endif |
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if (g.log_bitmask & MASK_LOG_NTUN) |
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Log_Write_Nav_Tuning(); |
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if (g.log_bitmask & MASK_LOG_GPS) |
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Log_Write_GPS(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, (long) g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats); |
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#endif |
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break; |
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// This case controls the slow loop |
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//--------------------------------- |
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case 4: |
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medium_loopCounter = 0; |
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delta_ms_medium_loop = millis() - medium_loopTimer; |
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medium_loopTimer = millis(); |
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if (g.battery_monitoring != 0){ |
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read_battery(); |
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} |
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read_trim_switch(); |
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slow_loop(); |
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break; |
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} |
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} |
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static void slow_loop() |
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{ |
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// This is the slow (3 1/3 Hz) loop pieces |
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//---------------------------------------- |
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switch (slow_loopCounter){ |
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case 0: |
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slow_loopCounter++; |
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check_long_failsafe(); |
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superslow_loopCounter++; |
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if(superslow_loopCounter >=200) { // 200 = Execute every minute |
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#if LITE == DISABLED |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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if(g.compass_enabled) { |
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compass.save_offsets(); |
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} |
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#endif |
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#endif |
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superslow_loopCounter = 0; |
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} |
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break; |
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case 1: |
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slow_loopCounter++; |
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// Read 3-position switch on radio |
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// ------------------------------- |
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read_control_switch(); |
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); |
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#if MOUNT == ENABLED |
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camera_mount.update_mount_type(); |
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#endif |
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break; |
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case 2: |
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slow_loopCounter = 0; |
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update_events(); |
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mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter |
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#if USB_MUX_PIN > 0 |
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check_usb_mux(); |
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#endif |
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#if TRACE == ENABLED |
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// cliSerial->printf_P(PSTR("NAV->gnd_crs=%3.0f, nav_brg=%3.0f, tgt_brg=%3.0f, brg_err=%3.0f, nav_rll=%3.1f rsvo=%3.1f\n"), |
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// ahrs.yaw_sensor*0.01, (float)nav_bearing/100, (float)target_bearing/100, (float)bearing_error/100, (float)nav_roll/100, (float)g.channel_roll.servo_out/100); |
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// cliSerial->printf_P(PSTR("WPL->g.command_total=%d, g.command_index=%d, nav_command_index=%d\n"), |
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// g.command_total, g.command_index, nav_command_index); |
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cliSerial->printf_P(PSTR("NAV->gnd_crs=%3.0f, sonar_dist = %d obstacle = %d\n"), ahrs.yaw_sensor*0.01, (int)sonar_dist, obstacle); |
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#endif |
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break; |
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} |
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} |
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static void one_second_loop() |
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{ |
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#if LITE == DISABLED |
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if (g.log_bitmask & MASK_LOG_CUR) |
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Log_Write_Current(); |
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#endif |
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// send a heartbeat |
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gcs_send_message(MSG_HEARTBEAT); |
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} |
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static void update_GPS(void) |
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{ |
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g_gps->update(); |
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update_GPS_light(); |
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have_position = ahrs.get_position(¤t_loc); |
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if (g_gps->new_data && g_gps->status() == GPS::GPS_OK) { |
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gps_fix_count++; |
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if(ground_start_count > 1){ |
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ground_start_count--; |
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ground_start_avg += g_gps->ground_speed; |
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} else if (ground_start_count == 1) { |
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// We countdown N number of good GPS fixes |
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// so that the altitude is more accurate |
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// ------------------------------------- |
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if (current_loc.lat == 0) { |
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ground_start_count = 5; |
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} else { |
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init_home(); |
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if (g.compass_enabled) { |
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// Set compass declination automatically |
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compass.set_initial_location(g_gps->latitude, g_gps->longitude); |
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} |
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ground_start_count = 0; |
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} |
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} |
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ground_speed = g_gps->ground_speed; |
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} |
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} |
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|
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static void update_current_flight_mode(void) |
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{ |
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switch(control_mode){ |
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case AUTO: |
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case RTL: |
|
calc_nav_roll(); |
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calc_throttle(); |
|
break; |
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case LEARNING: |
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case MANUAL: |
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nav_roll = 0; |
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g.channel_roll.servo_out = g.channel_roll.pwm_to_angle(); |
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g.channel_pitch.servo_out = g.channel_pitch.pwm_to_angle(); |
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g.channel_rudder.servo_out = g.channel_roll.pwm_to_angle(); |
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break; |
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} |
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} |
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static void update_navigation() |
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{ |
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switch (control_mode) { |
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case AUTO: |
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verify_commands(); |
|
break; |
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|
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case RTL: |
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case GUIDED: |
|
// no loitering around the wp with the rover, goes direct to the wp position |
|
calc_nav_roll(); |
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calc_bearing_error(); |
|
if(verify_RTL()) { |
|
g.channel_throttle.servo_out = g.throttle_min.get(); |
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set_mode(MANUAL); |
|
} |
|
break; |
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} |
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}
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