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991 lines
30 KiB
991 lines
30 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define THISFIRMWARE "ArduPlane V2.27 Alpha" |
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/* |
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short |
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Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi |
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Please contribute your ideas! |
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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 <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 <Wire.h> // Arduino I2C lib |
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#include <SPI.h> // Arduino SPI lib |
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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> // ArduPilot barometer library |
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) 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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#include <ModeFilter.h> |
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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 <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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//////////////////////////////////////////////////////////////////////////////// |
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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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// 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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DataFlash_APM2 DataFlash; |
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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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// 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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#else |
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#if CONFIG_BARO == AP_BARO_BMP085 |
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# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 |
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static AP_Baro_BMP085 barometer(true); |
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# else |
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static AP_Baro_BMP085 barometer(false); |
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# endif |
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#elif CONFIG_BARO == AP_BARO_MS5611 |
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static AP_Baro_MS5611 barometer; |
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#endif |
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static AP_Compass_HMC5843 compass(Parameters::k_param_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_IMU_TYPE == CONFIG_IMU_MPU6000 |
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN ); |
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# else |
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AP_InertialSensor_Oilpan ins( &adc ); |
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#endif // CONFIG_IMU_TYPE |
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AP_IMU_INS imu( &ins, Parameters::k_param_IMU_calibration ); |
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AP_DCM dcm(&imu, 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_Baro_BMP085_HIL barometer; |
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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_IMU_Shim imu; |
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AP_DCM dcm(&imu, 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_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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// 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(Parameters::k_param_streamrates_port0); |
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GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3); |
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//////////////////////////////////////////////////////////////////////////////// |
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// PITOT selection |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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ModeFilter sonar_mode_filter; |
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#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC |
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AP_AnalogSource_ADC pitot_analog_source( &adc, |
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CONFIG_PITOT_SOURCE_ADC_CHANNEL, 1.0); |
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#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN |
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AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0); |
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#endif |
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#if SONAR_TYPE == MAX_SONAR_XL |
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter); |
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#elif SONAR_TYPE == MAX_SONAR_LV |
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// XXX honestly I think these output the same values |
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// If someone knows, can they confirm it? |
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter); |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// Global variables |
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//////////////////////////////////////////////////////////////////////////////// |
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byte control_mode = INITIALISING; |
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byte oldSwitchPosition; // for remembering the control mode switch |
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bool inverted_flight = false; |
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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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static const char* flight_mode_strings[] = { |
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"Manual", |
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"Circle", |
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"Stabilize", |
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"", |
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"", |
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"FBW_A", |
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"FBW_B", |
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"", |
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"", |
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"", |
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"Auto", |
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"RTL", |
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"Loiter", |
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"Takeoff", |
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"Land"}; |
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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 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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// Failsafe |
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// -------- |
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static int failsafe; // track which type of failsafe is being processed |
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static bool ch3_failsafe; |
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static byte crash_timer; |
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// Radio |
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// ----- |
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static uint16_t elevon1_trim = 1500; // TODO: handle in EEProm |
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static uint16_t elevon2_trim = 1500; |
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static uint16_t ch1_temp = 1500; // Used for elevon mixing |
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static uint16_t ch2_temp = 1500; |
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0}; |
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static bool rc_override_active = false; |
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static uint32_t rc_override_fs_timer = 0; |
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static uint32_t ch3_failsafe_timer = 0; |
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// for elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon |
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// LED output |
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// ---------- |
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static bool GPS_light; // status of the GPS light |
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// GPS variables |
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// ------------- |
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static const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage |
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static float scaleLongUp = 1; // used to reverse longitude scaling |
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static float scaleLongDown = 1; // used to reverse longitude scaling |
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static byte ground_start_count = 5; // have we achieved first lock and set Home? |
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static int ground_start_avg; // 5 samples to avg speed for ground start |
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static bool GPS_enabled = false; // used to quit "looking" for gps with auto-detect if none present |
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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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static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate |
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static long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target |
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static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target |
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static 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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static long hold_course = -1; // deg * 100 dir of plane |
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static byte nav_command_index; // active nav command memory location |
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static byte non_nav_command_index; // active non-nav command memory location |
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static byte nav_command_ID = NO_COMMAND; // active nav command ID |
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static byte non_nav_command_ID = NO_COMMAND; // active non-nav command ID |
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// Airspeed |
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// -------- |
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static int airspeed; // m/s * 100 |
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static int airspeed_nudge; // m/s * 100 : additional airspeed based on throttle stick position in top 1/2 of range |
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static long target_airspeed; // m/s * 100 (used for Auto-flap deployment in FBW_B mode) |
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static float airspeed_error; // m/s * 100 |
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static long energy_error; // energy state error (kinetic + potential) for altitude hold |
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static long airspeed_energy_error; // kinetic portion of energy error (m^2/s^2) |
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// Ground speed |
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static long groundspeed_undershoot = 0; // m/s * 100 (>=0, where > 0 => amount below min ground speed) |
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// Location Errors |
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// --------------- |
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static long bearing_error; // deg * 100 : 0 to 36000 |
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static long altitude_error; // meters * 100 we are off in altitude |
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static float crosstrack_error; // meters we are off trackline |
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// Battery Sensors |
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// --------------- |
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static float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter |
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static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter |
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static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter |
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static float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter |
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static float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter |
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static float current_amps; |
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static float current_total; |
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// Airspeed Sensors |
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// ---------------- |
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static float airspeed_raw; // Airspeed Sensor - is a float to better handle filtering |
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static float airspeed_pressure; // airspeed as a pressure value |
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// Barometer Sensor variables |
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// -------------------------- |
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static unsigned long abs_pressure; |
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// Altitude Sensor variables |
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// ---------------------- |
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static int sonar_alt; |
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// flight mode specific |
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// -------------------- |
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static bool takeoff_complete = true; // Flag for using gps ground course instead of IMU yaw. Set false when takeoff command processes. |
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static bool land_complete; |
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static long takeoff_altitude; |
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// static int landing_distance; // meters; |
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static int landing_pitch; // pitch for landing set by commands |
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static int takeoff_pitch; |
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// Loiter management |
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// ----------------- |
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static long old_target_bearing; // deg * 100 |
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static int loiter_total; // deg : how many times to loiter * 360 |
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static int loiter_delta; // deg : how far we just turned |
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static int loiter_sum; // deg : how far we have turned around a waypoint |
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static long loiter_time; // millis : when we started LOITER mode |
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static int 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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static long nav_roll; // deg * 100 : target roll angle |
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static long nav_pitch; // deg * 100 : target pitch angle |
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static int throttle_nudge = 0; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel |
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// Waypoints |
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// --------- |
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static long wp_distance; // meters - distance between plane and next waypoint |
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static long wp_totalDistance; // meters - distance between old and next waypoint |
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// repeating event control |
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// ----------------------- |
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static byte event_id; // what to do - see defines |
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static long event_timer; // when the event was asked for in ms |
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static uint16_t event_delay; // how long to delay the next firing of event in millis |
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static int event_repeat = 0; // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles |
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static int event_value; // per command value, such as PWM for servos |
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static int event_undo_value; // the value used to cycle events (alternate value to event_value) |
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// delay command |
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// -------------- |
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static long condition_value; // used in condition commands (eg delay, change alt, etc.) |
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static long condition_start; |
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static int condition_rate; |
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// 3D Location vectors |
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// ------------------- |
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static struct Location home; // home location |
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static struct Location prev_WP; // last waypoint |
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static struct Location current_loc; // current location |
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static struct Location next_WP; // next waypoint |
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static struct Location guided_WP; // guided mode waypoint |
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static struct Location next_nav_command; // command preloaded |
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static struct Location next_nonnav_command; // command preloaded |
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static long target_altitude; // used for altitude management between waypoints |
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static long offset_altitude; // used for altitude management between waypoints |
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static bool 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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static 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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static long perf_mon_timer; // Metric based on accel gain deweighting |
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static int G_Dt_max = 0; // Max main loop cycle time in milliseconds |
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static int gps_fix_count = 0; |
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static int pmTest1 = 0; |
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// System Timers |
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// -------------- |
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static unsigned long fast_loopTimer; // Time in miliseconds of main control loop |
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static unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete |
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static uint8_t delta_ms_fast_loop; // Delta Time in miliseconds |
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static int mainLoop_count; |
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static unsigned long medium_loopTimer; // Time in miliseconds of medium loop |
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static byte medium_loopCounter; // Counters for branching from main control loop to slower loops |
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static uint8_t delta_ms_medium_loop; |
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static byte slow_loopCounter; |
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static byte superslow_loopCounter; |
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static byte counter_one_herz; |
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static unsigned long nav_loopTimer; // used to track the elapsed time for GPS nav |
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static unsigned long dTnav; // Delta Time in milliseconds for navigation computations |
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static float load; // % MCU cycles used |
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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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// 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 if possible |
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// ------------------------------------------- |
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if (millis()-fast_loopTimer > 19) { |
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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 (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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resetPerfData(); |
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} |
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} |
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fast_loopTimeStamp = millis(); |
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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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// Read Airspeed |
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// ------------- |
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if (g.airspeed_enabled == true) { |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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read_airspeed(); |
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#else |
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calc_airspeed_errors(); |
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#endif |
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} |
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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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dcm.update_DCM(); |
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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 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)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.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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// 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 > MANUAL) |
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stabilize(); |
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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(45,1000); |
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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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if(GPS_enabled){ |
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update_GPS(); |
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calc_gndspeed_undershoot(); |
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} |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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if(g.compass_enabled){ |
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compass.read(); // Read magnetometer |
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compass.calculate(dcm.get_dcm_matrix()); // Calculate heading |
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compass.null_offsets(dcm.get_dcm_matrix()); |
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} |
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#endif |
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/*{ |
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Serial.print(dcm.roll_sensor, DEC); Serial.printf_P(PSTR("\t")); |
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Serial.print(dcm.pitch_sensor, DEC); Serial.printf_P(PSTR("\t")); |
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Serial.print(dcm.yaw_sensor, DEC); Serial.printf_P(PSTR("\t")); |
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Vector3f tempaccel = imu.get_accel(); |
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Serial.print(tempaccel.x, DEC); Serial.printf_P(PSTR("\t")); |
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Serial.print(tempaccel.y, DEC); Serial.printf_P(PSTR("\t")); |
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Serial.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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if(g_gps->new_data){ |
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g_gps->new_data = false; |
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dTnav = millis() - nav_loopTimer; |
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nav_loopTimer = millis(); |
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// calculate the plane's desired bearing |
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// ------------------------------------- |
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navigate(); |
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} |
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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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// Read altitude from sensors |
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// ------------------ |
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update_alt(); |
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if(g.sonar_enabled) sonar_alt = sonar.read(); |
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// altitude smoothing |
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// ------------------ |
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if (control_mode != FLY_BY_WIRE_B) |
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calc_altitude_error(); |
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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 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)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.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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// send all requested output streams with rates requested |
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// between 5 and 45 Hz |
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gcs_data_stream_send(5,45); |
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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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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 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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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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// Read Control Surfaces/Mix switches |
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// ---------------------------------- |
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update_servo_switches(); |
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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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gcs_data_stream_send(3,5); |
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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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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 (g.log_bitmask & MASK_LOG_CUR) |
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Log_Write_Current(); |
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// send a heartbeat |
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gcs_send_message(MSG_HEARTBEAT); |
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gcs_data_stream_send(1,3); |
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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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if (g_gps->new_data && g_gps->fix) { |
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// for performance |
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// --------------- |
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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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if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT){ |
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startup_ground(); |
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if (g.log_bitmask & MASK_LOG_CMD) |
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Log_Write_Startup(TYPE_GROUNDSTART_MSG); |
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init_home(); |
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} else if (ENABLE_AIR_START == 0) { |
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init_home(); |
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} |
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ground_start_count = 0; |
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} |
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} |
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current_loc.lng = g_gps->longitude; // Lon * 10**7 |
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current_loc.lat = g_gps->latitude; // Lat * 10**7 |
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|
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// see if we've breached the geo-fence |
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geofence_check(false); |
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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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if(control_mode == AUTO){ |
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crash_checker(); |
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switch(nav_command_ID){ |
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case MAV_CMD_NAV_TAKEOFF: |
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if (hold_course > -1) { |
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calc_nav_roll(); |
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} else { |
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nav_roll = 0; |
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} |
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if (g.airspeed_enabled == true) |
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{ |
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calc_nav_pitch(); |
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if (nav_pitch < (long)takeoff_pitch) nav_pitch = (long)takeoff_pitch; |
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} else { |
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nav_pitch = (long)((float)g_gps->ground_speed / (float)g.airspeed_cruise * (float)takeoff_pitch * 0.5); |
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nav_pitch = constrain(nav_pitch, 500l, (long)takeoff_pitch); |
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} |
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g.channel_throttle.servo_out = g.throttle_max; //TODO: Replace with THROTTLE_TAKEOFF or other method of controlling throttle |
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// What is the case for doing something else? Why wouldn't you want max throttle for TO? |
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// ****************************** |
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break; |
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case MAV_CMD_NAV_LAND: |
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calc_nav_roll(); |
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if (g.airspeed_enabled == true){ |
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calc_nav_pitch(); |
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calc_throttle(); |
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}else{ |
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calc_nav_pitch(); // calculate nav_pitch just to use for calc_throttle |
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calc_throttle(); // throttle based on altitude error |
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nav_pitch = landing_pitch; // pitch held constant |
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} |
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if (land_complete){ |
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g.channel_throttle.servo_out = 0; |
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} |
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break; |
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default: |
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hold_course = -1; |
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calc_nav_roll(); |
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calc_nav_pitch(); |
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calc_throttle(); |
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break; |
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} |
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}else{ |
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switch(control_mode){ |
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case RTL: |
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case LOITER: |
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case GUIDED: |
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hold_course = -1; |
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crash_checker(); |
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calc_nav_roll(); |
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calc_nav_pitch(); |
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calc_throttle(); |
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break; |
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|
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case FLY_BY_WIRE_A: |
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// set nav_roll and nav_pitch using sticks |
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nav_roll = g.channel_roll.norm_input() * g.roll_limit; |
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nav_pitch = g.channel_pitch.norm_input() * (-1) * g.pitch_limit_min; |
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// We use pitch_min above because it is usually greater magnitude then pitch_max. -1 is to compensate for its sign. |
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nav_pitch = constrain(nav_pitch, -3000, 3000); // trying to give more pitch authority |
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if (inverted_flight) nav_pitch = -nav_pitch; |
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break; |
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|
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case FLY_BY_WIRE_B: |
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// Substitute stick inputs for Navigation control output |
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// We use g.pitch_limit_min because its magnitude is |
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// normally greater than g.pitch_limit_max |
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nav_roll = g.channel_roll.norm_input() * g.roll_limit; |
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altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min; |
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|
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if ((current_loc.alt>=home.alt+g.FBWB_min_altitude) || (g.FBWB_min_altitude == -1)) { |
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altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min; |
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} else { |
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if (g.channel_pitch.norm_input()<0) |
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altitude_error =( (home.alt + g.FBWB_min_altitude) - current_loc.alt) + g.channel_pitch.norm_input() * g.pitch_limit_min ; |
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else altitude_error =( (home.alt + g.FBWB_min_altitude) - current_loc.alt) ; |
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} |
|
calc_throttle(); |
|
calc_nav_pitch(); |
|
break; |
|
|
|
case STABILIZE: |
|
nav_roll = 0; |
|
nav_pitch = 0; |
|
// throttle is passthrough |
|
break; |
|
|
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case CIRCLE: |
|
// we have no GPS installed and have lost radio contact |
|
// or we just want to fly around in a gentle circle w/o GPS |
|
// ---------------------------------------------------- |
|
nav_roll = g.roll_limit / 3; |
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nav_pitch = 0; |
|
|
|
if (failsafe != FAILSAFE_NONE){ |
|
g.channel_throttle.servo_out = g.throttle_cruise; |
|
} |
|
break; |
|
|
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case MANUAL: |
|
// servo_out is for Sim control only |
|
// --------------------------------- |
|
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(); |
|
g.channel_rudder.servo_out = g.channel_rudder.pwm_to_angle(); |
|
break; |
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//roll: -13788.000, pitch: -13698.000, thr: 0.000, rud: -13742.000 |
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|
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} |
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} |
|
} |
|
|
|
static void update_navigation() |
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{ |
|
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS |
|
// ------------------------------------------------------------------------ |
|
|
|
// distance and bearing calcs only |
|
if(control_mode == AUTO){ |
|
verify_commands(); |
|
}else{ |
|
|
|
switch(control_mode){ |
|
case LOITER: |
|
case RTL: |
|
case GUIDED: |
|
update_loiter(); |
|
calc_bearing_error(); |
|
break; |
|
|
|
} |
|
} |
|
} |
|
|
|
|
|
static void update_alt() |
|
{ |
|
#if HIL_MODE == HIL_MODE_ATTITUDE |
|
current_loc.alt = g_gps->altitude; |
|
#else |
|
// this function is in place to potentially add a sonar sensor in the future |
|
//altitude_sensor = BARO; |
|
|
|
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100) |
|
current_loc.alt += g.altitude_mix * (read_barometer() + home.alt); |
|
#endif |
|
|
|
geofence_check(true); |
|
|
|
// Calculate new climb rate |
|
//if(medium_loopCounter == 0 && slow_loopCounter == 0) |
|
// add_altitude_data(millis() / 100, g_gps->altitude / 10); |
|
}
|
|
|