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1606 lines
44 KiB
1606 lines
44 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define THISFIRMWARE "ArduCopter V2.1.0 Alpha" |
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/* |
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ArduCopter Version 2.0 Beta |
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Authors: Jason Short |
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Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen |
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Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier |
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This firmware is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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Special Thanks for Contributors: |
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Hein Hollander :Octo Support |
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Dani Saez :V Ocoto Support |
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Max Levine :Tri Support, Graphics |
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Jose Julio :Stabilization Control laws |
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Randy MacKay :Heli Support |
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Jani Hiriven :Testing feedback |
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Andrew Tridgell :Mavlink Support |
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James Goppert :Mavlink Support |
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Doug Weibel :Libraries |
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Mike Smith :Libraries, Coding support |
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HappyKillmore :Mavlink GCS |
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Michael Oborne :Mavlink GCS |
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Jack Dunkle :Alpha testing |
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Christof Schmid :Alpha testing |
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Oliver :Piezo support |
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Guntars :Arming safety suggestion |
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And much more so PLEASE PM me on DIYDRONES to add your contribution to the List |
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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> |
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library |
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library |
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#include <AP_IMU.h> // ArduPilot Mega IMU Library |
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#include <AP_PeriodicProcess.h> // Parent header of Timer and TimerAperiodic |
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// (only included for makefile libpath to work) |
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#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads. |
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#include <AP_TimerAperiodicProcess.h> // TimerAperiodicProcess is the scheduler for ADC reads. |
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#include <AP_DCM.h> // ArduPilot Mega DCM Library |
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#include <APM_PI.h> // PI 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 <AP_OpticalFlow.h> // Optical Flow library |
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#include <ModeFilter.h> |
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#include <AP_Relay.h> // APM relay |
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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 "defines.h" |
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#include "config.h" |
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// Local modules |
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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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Arduino_Mega_ISR_Registry isr_registry; |
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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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// RC Hardware |
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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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// 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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AP_ADC_ADS7844 adc; |
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#endif |
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#ifdef DESKTOP_BUILD |
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APM_BMP085_HIL_Class barometer; |
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AP_Compass_HIL compass; |
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#else |
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APM_BMP085_Class barometer; |
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AP_Compass_HMC5843 compass(Parameters::k_param_compass); |
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#endif |
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#ifdef OPTFLOW_ENABLED |
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AP_OpticalFlow_ADNS3080 optflow; |
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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 |
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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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AP_TimerProcess timer_scheduler; |
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#elif HIL_MODE == HIL_MODE_SENSORS |
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// sensor emulators |
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AP_ADC_HIL adc; |
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APM_BMP085_HIL_Class barometer; |
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AP_Compass_HIL compass; |
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AP_GPS_HIL g_gps_driver(NULL); |
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AP_IMU_Shim imu; |
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AP_DCM dcm(&imu, g_gps); |
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AP_PeriodicProcessStub timer_scheduler; |
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AP_InertialSensor_Stub ins; |
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static int32_t gps_base_alt; |
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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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AP_InertialSensor_Stub ins; |
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AP_PeriodicProcessStub timer_scheduler; |
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#ifdef OPTFLOW_ENABLED |
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AP_OpticalFlow_ADNS3080 optflow; |
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#endif |
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static int32_t gps_base_alt; |
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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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//////////////////////////////////////////////////////////////////////////////// |
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// GCS selection |
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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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// SONAR selection |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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ModeFilter sonar_mode_filter; |
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#if CONFIG_SONAR == ENABLED |
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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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#if SONAR_TYPE == MAX_SONAR_XL |
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AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter); |
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#else |
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#error Unrecognised SONAR_TYPE setting. |
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#endif |
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#endif |
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// agmatthews USERHOOKS |
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//////////////////////////////////////////////////////////////////////////////// |
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// User variables |
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//////////////////////////////////////////////////////////////////////////////// |
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#ifdef USERHOOK_VARIABLES |
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#include USERHOOK_VARIABLES |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// Global variables |
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//////////////////////////////////////////////////////////////////////////////// |
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static const char *comma = ","; |
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static const char* flight_mode_strings[] = { |
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"STABILIZE", |
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"ACRO", |
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"ALT_HOLD", |
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"AUTO", |
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"GUIDED", |
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"LOITER", |
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"RTL", |
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"CIRCLE", |
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"POSITION", |
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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 Mode - 3 position switch |
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6 User assignable |
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7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second) |
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8 TBD |
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*/ |
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// temp |
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static int16_t y_actual_speed; |
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static int16_t y_rate_error; |
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// calc the |
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static int16_t x_actual_speed; |
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static int16_t x_rate_error; |
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// Radio |
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// ----- |
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static byte control_mode = STABILIZE; |
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static byte old_control_mode = STABILIZE; |
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static byte oldSwitchPosition; // for remembering the control mode switch |
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static int16_t motor_out[8]; |
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static bool do_simple = false; |
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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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// Heli |
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// ---- |
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#if FRAME_CONFIG == HELI_FRAME |
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static float heli_rollFactor[3], heli_pitchFactor[3]; // only required for 3 swashplate servos |
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static int16_t heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly |
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static int32_t heli_servo_out[4]; // used for servo averaging for analog servos |
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static int16_t heli_servo_out_count = 0; // use for servo averaging |
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#endif |
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// Failsafe |
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// -------- |
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static boolean failsafe; // did our throttle dip below the failsafe value? |
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static boolean ch3_failsafe; |
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static boolean motor_armed; |
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static boolean motor_auto_armed; // if true, |
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// PIDs |
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// ---- |
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static Vector3f omega; |
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float tuning_value; |
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// LED output |
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// ---------- |
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static boolean motor_light; // status of the Motor safety |
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static boolean GPS_light; // status of the GPS light |
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static byte led_mode = NORMAL_LEDS; |
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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 = 10; // have we achieved first lock and set Home? |
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static bool did_ground_start = false; // have we ground started after first arming |
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// Location & Navigation |
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// --------------------- |
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static bool nav_ok; |
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static const float radius_of_earth = 6378100; // meters |
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static const float gravity = 9.81; // meters/ sec^2 |
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static int32_t target_bearing; // deg * 100 : 0 to 360 location of the plane to the target |
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static int32_t home_bearing; // used to track difference in angle |
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static byte wp_control; // used to control - navgation or loiter |
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static byte command_nav_index; // current command memory location |
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static byte prev_nav_index; |
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static byte command_cond_index; // current command memory location |
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//static byte command_nav_ID; // current command ID |
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//static byte command_cond_ID; // current command ID |
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static byte wp_verify_byte; // used for tracking state of navigating waypoints |
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static float cos_roll_x = 1; |
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static float cos_pitch_x = 1; |
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static float cos_yaw_x = 1; |
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static float sin_pitch_y, sin_yaw_y, sin_roll_y; |
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static int32_t initial_simple_bearing; // used for Simple mode |
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static float simple_sin_y, simple_cos_x; |
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static int8_t jump = -10; // used to track loops in jump command |
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static int16_t waypoint_speed_gov; |
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static float circle_angle; |
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// replace with param |
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static const float circle_rate = 0.0872664625; |
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// Acro |
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#if CH7_OPTION == CH7_FLIP |
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static bool do_flip = false; |
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#endif |
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static boolean trim_flag; |
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static int8_t CH7_wp_index; |
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// Airspeed |
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// -------- |
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static int16_t airspeed; // m/s * 100 |
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// Location Errors |
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// --------------- |
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static int32_t long_error, lat_error; // temp for debugging |
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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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static bool low_batt = false; |
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// Barometer Sensor variables |
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// -------------------------- |
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static int32_t abs_pressure; |
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static int32_t ground_pressure; |
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static int16_t ground_temperature; |
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// Altitude Sensor variables |
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// ---------------------- |
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static byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR |
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static int32_t altitude_error; // meters * 100 we are off in altitude |
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static int16_t climb_rate; // m/s * 100 |
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static int16_t sonar_alt; |
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static int16_t old_sonar_alt; |
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static int16_t sonar_rate; |
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static int32_t baro_alt; |
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static int32_t old_baro_alt; |
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static int16_t baro_rate; |
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// flight mode specific |
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// -------------------- |
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static byte yaw_mode; |
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static byte roll_pitch_mode; |
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static byte throttle_mode; |
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static boolean takeoff_complete; // Flag for using take-off controls |
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static boolean land_complete; |
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static int32_t old_alt; // used for managing altitude rates |
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static int16_t velocity_land; |
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static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target |
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static int16_t manual_boost; // used in adjust altitude to make changing alt faster |
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static int16_t angle_boost; // used in adjust altitude to make changing alt faster |
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// Loiter management |
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// ----------------- |
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static int32_t original_target_bearing; // deg * 100, used to check we are not passing the WP |
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static int32_t old_target_bearing; // used to track difference in angle |
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static int16_t loiter_total; // deg : how many times to loiter * 360 |
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static int16_t loiter_sum; // deg : how far we have turned around a waypoint |
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static uint32_t loiter_time; // millis : when we started LOITER mode |
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static unsigned 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 int32_t nav_roll; // deg * 100 : target roll angle |
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static int32_t nav_pitch; // deg * 100 : target pitch angle |
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static int32_t nav_yaw; // deg * 100 : target yaw angle |
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static int32_t home_to_copter_bearing; // deg * 100 : target yaw angle |
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static int32_t auto_yaw; // deg * 100 : target yaw angle |
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static int32_t nav_lat; // for error calcs |
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static int32_t nav_lon; // for error calcs |
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static int16_t nav_throttle; // 0-1000 for throttle control |
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static int16_t crosstrack_error; |
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static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life |
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static bool invalid_throttle; // used to control when we calculate nav_throttle |
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//static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value |
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static int32_t command_yaw_start; // what angle were we to begin with |
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static uint32_t command_yaw_start_time; // when did we start turning |
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static uint16_t command_yaw_time; // how long we are turning |
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static int32_t command_yaw_end; // what angle are we trying to be |
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static int32_t command_yaw_delta; // how many degrees will we turn |
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static int16_t command_yaw_speed; // how fast to turn |
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static byte command_yaw_dir; |
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static byte command_yaw_relative; |
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static int16_t auto_level_counter; |
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// Waypoints |
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// --------- |
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static int32_t home_distance; // meters - distance between plane and next waypoint |
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static int32_t wp_distance; // meters - distance between plane and next waypoint |
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static int32_t wp_totalDistance; // meters - distance between old and next waypoint |
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//static byte next_wp_index; // Current active command index |
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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 uint32_t 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 int16_t event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice |
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static int16_t event_value; // per command value, such as PWM for servos |
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static int16_t event_undo_value; // the value used to undo commands |
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//static byte repeat_forever; |
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//static byte undo_event; // counter for timing the undo |
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// delay command |
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// -------------- |
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static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.) |
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static int32_t condition_start; |
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//static int16_t condition_rate; |
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// land command |
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// ------------ |
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static int32_t land_start; // when we intiated command in millis() |
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static int32_t original_alt; // altitide reference for start of command |
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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 target_WP; // where do we want to you towards? |
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static struct Location command_nav_queue; // command preloaded |
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static struct Location command_cond_queue; // command preloaded |
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static struct Location guided_WP; // guided mode waypoint |
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static int32_t target_altitude; // used for |
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static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location |
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// IMU variables |
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// ------------- |
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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 int32_t perf_mon_timer; |
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//static float imu_health; // Metric based on accel gain deweighting |
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static int16_t gps_fix_count; |
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static byte gps_watchdog; |
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static int pmTest1; |
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// System Timers |
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// -------------- |
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static uint32_t fast_loopTimer; // Time in miliseconds of main control loop |
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static byte medium_loopCounter; // Counters for branching from main control loop to slower loops |
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static uint32_t fiftyhz_loopTimer; |
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static byte slow_loopCounter; |
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static int16_t superslow_loopCounter; |
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static byte simple_timer; // for limiting the execution of flight mode thingys |
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static float dTnav; // Delta Time in milliseconds for navigation computations |
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static uint32_t nav_loopTimer; // used to track the elapsed ime for GPS nav |
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static byte counter_one_herz; |
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static bool GPS_enabled = false; |
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static bool new_radio_frame; |
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AP_Relay relay; |
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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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//////////////////////////////////////////////////////////////////////////////// |
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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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int32_t timer = micros(); |
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// We want this to execute fast |
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// ---------------------------- |
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if ((timer - fast_loopTimer) >= 5000) { |
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//PORTK |= B00010000; |
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G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops |
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fast_loopTimer = timer; |
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// Execute the fast loop |
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// --------------------- |
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fast_loop(); |
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} |
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//PORTK &= B11101111; |
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if ((timer - fiftyhz_loopTimer) >= 20000) { |
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fiftyhz_loopTimer = timer; |
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//PORTK |= B01000000; |
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// reads all of the necessary trig functions for cameras, throttle, etc. |
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update_trig(); |
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// perform 10hz tasks |
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medium_loop(); |
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// Stuff to run at full 50hz, but after the loops |
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fifty_hz_loop(); |
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counter_one_herz++; |
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if(counter_one_herz == 50){ |
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super_slow_loop(); |
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counter_one_herz = 0; |
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} |
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if (millis() - perf_mon_timer > 1200 /*20000*/) { |
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if (g.log_bitmask & MASK_LOG_PM) |
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Log_Write_Performance(); |
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gps_fix_count = 0; |
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perf_mon_timer = millis(); |
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} |
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//PORTK &= B10111111; |
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} |
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} |
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// PORTK |= B01000000; |
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// PORTK &= B10111111; |
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// Main loop |
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static void fast_loop() |
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{ |
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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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// Read radio |
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// ---------- |
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read_radio(); |
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// IMU DCM Algorithm |
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read_AHRS(); |
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// custom code/exceptions for flight modes |
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// --------------------------------------- |
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update_yaw_mode(); |
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update_roll_pitch_mode(); |
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// write out the servo PWM values |
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// ------------------------------ |
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set_servos_4(); |
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//if(motor_armed) |
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//Log_Write_Attitude(); |
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// agmatthews - USERHOOKS |
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#ifdef USERHOOK_FASTLOOP |
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USERHOOK_FASTLOOP |
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#endif |
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} |
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static void medium_loop() |
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{ |
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// This is the start of the medium (10 Hz) loop pieces |
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// ----------------------------------------- |
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switch(medium_loopCounter) { |
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// This case deals with the GPS and Compass |
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//----------------------------------------- |
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case 0: |
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medium_loopCounter++; |
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#ifdef OPTFLOW_ENABLED |
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if(g.optflow_enabled){ |
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optflow.read(); |
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optflow.update_position(dcm.roll, dcm.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow |
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// write to log |
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if (g.log_bitmask & MASK_LOG_OPTFLOW){ |
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Log_Write_Optflow(); |
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} |
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} |
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#endif |
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if(GPS_enabled){ |
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update_GPS(); |
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} |
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#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode |
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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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// auto_trim, uses an auto_level algorithm |
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auto_trim(); |
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// record throttle output |
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// ------------------------------ |
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throttle_integrator += g.rc_3.servo_out; |
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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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// Auto control modes: |
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if(nav_ok){ |
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// clear nav flag |
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nav_ok = false; |
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// invalidate GPS data |
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// ------------------- |
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g_gps->new_data = false; |
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// calculate the copter's desired bearing and WP distance |
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// ------------------------------------------------------ |
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if(navigate()){ |
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// control mode specific updates |
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// ----------------------------- |
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update_navigation(); |
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if (g.log_bitmask & MASK_LOG_NTUN) |
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Log_Write_Nav_Tuning(); |
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} |
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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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#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode |
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update_altitude(); |
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#endif |
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// invalidate the throttle hold value |
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// ---------------------------------- |
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invalid_throttle = true; |
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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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// perform next command |
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// -------------------- |
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if(control_mode == AUTO){ |
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if(home_is_set == true && g.command_total > 1){ |
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update_commands(); |
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} |
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} |
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if(motor_armed){ |
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if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) |
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Log_Write_Attitude(); |
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if (g.log_bitmask & MASK_LOG_CTUN) |
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Log_Write_Control_Tuning(); |
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} |
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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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if (g.log_bitmask & MASK_LOG_MOTORS) |
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Log_Write_Motors(); |
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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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if (g.battery_monitoring != 0){ |
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read_battery(); |
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} |
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// Accel trims = hold > 2 seconds |
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// Throttle cruise = switch less than 1 second |
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// -------------------------------------------- |
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read_trim_switch(); |
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// Check for engine arming |
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// ----------------------- |
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arm_motors(); |
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// Do an extra baro read |
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// --------------------- |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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barometer.Read(); |
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#endif |
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// agmatthews - USERHOOKS |
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#ifdef USERHOOK_MEDIUMLOOP |
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USERHOOK_MEDIUMLOOP |
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#endif |
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slow_loop(); |
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break; |
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default: |
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// this is just a catch all |
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// ------------------------ |
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medium_loopCounter = 0; |
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break; |
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} |
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} |
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// stuff that happens at 50 hz |
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// --------------------------- |
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static void fifty_hz_loop() |
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{ |
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// moved to slower loop |
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// -------------------- |
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update_throttle_mode(); |
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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_alt = sonar.read(); |
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} |
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#endif |
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// agmatthews - USERHOOKS |
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#ifdef USERHOOK_50HZLOOP |
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USERHOOK_50HZLOOP |
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#endif |
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#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME |
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// HIL for a copter needs very fast update of the servo values |
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gcs_send_message(MSG_RADIO_OUT); |
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#endif |
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camera_stabilization(); |
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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(); |
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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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// kick the GCS to process uplink data |
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gcs_update(); |
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gcs_data_stream_send(45,1000); |
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#if FRAME_CONFIG == TRI_FRAME |
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// servo Yaw |
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g.rc_4.calc_pwm(); |
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APM_RC.OutputCh(CH_7, g.rc_4.radio_out); |
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#endif |
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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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superslow_loopCounter++; |
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if(superslow_loopCounter > 1200){ |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled){ |
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compass.save_offsets(); |
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superslow_loopCounter = 0; |
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} |
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#endif |
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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 main battery voltage if hooked up - does not read the 5v from radio |
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// ------------------------------------------------------------------------ |
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//#if BATTERY_EVENT == 1 |
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// read_battery(); |
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//#endif |
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#if AUTO_RESET_LOITER == 1 |
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if(control_mode == LOITER){ |
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//if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 1500){ |
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// reset LOITER to current position |
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//next_WP = current_loc; |
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//} |
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} |
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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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// blink if we are armed |
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update_lights(); |
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// send all requested output streams with rates requested |
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// between 3 and 5 Hz |
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gcs_data_stream_send(3,5); |
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if(g.radio_tuning > 0) |
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tuning(); |
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#if MOTOR_LEDS == 1 |
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update_motor_leds(); |
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#endif |
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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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default: |
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slow_loopCounter = 0; |
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break; |
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} |
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// agmatthews - USERHOOKS |
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#ifdef USERHOOK_SLOWLOOP |
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USERHOOK_SLOWLOOP |
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#endif |
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} |
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// 1Hz loop |
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static void super_slow_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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gcs_send_message(MSG_HEARTBEAT); |
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gcs_data_stream_send(1,3); |
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// agmatthews - USERHOOKS |
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#ifdef USERHOOK_SUPERSLOWLOOP |
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USERHOOK_SUPERSLOWLOOP |
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#endif |
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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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|
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//current_loc.lng = 377697000; // Lon * 10 * *7 |
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//current_loc.lat = -1224318000; // Lat * 10 * *7 |
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//current_loc.alt = 100; // alt * 10 * *7 |
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//return; |
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if(gps_watchdog < 12){ |
|
gps_watchdog++; |
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}else{ |
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// we have lost GPS signal for a moment. Reduce our error to avoid flyaways |
|
nav_roll >>= 1; |
|
nav_pitch >>= 1; |
|
} |
|
|
|
if (g_gps->new_data && g_gps->fix) { |
|
gps_watchdog = 0; |
|
|
|
// OK to run the nav routines |
|
nav_ok = true; |
|
|
|
// for performance |
|
// --------------- |
|
gps_fix_count++; |
|
|
|
// we are not tracking I term on navigation, so this isn't needed |
|
dTnav = (float)(millis() - nav_loopTimer)/ 1000.0; |
|
nav_loopTimer = millis(); |
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|
|
// prevent runup from bad GPS |
|
dTnav = min(dTnav, 1.0); |
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|
|
if(ground_start_count > 1){ |
|
ground_start_count--; |
|
|
|
} else if (ground_start_count == 1) { |
|
|
|
// We countdown N number of good GPS fixes |
|
// so that the altitude is more accurate |
|
// ------------------------------------- |
|
if (current_loc.lat == 0) { |
|
ground_start_count = 5; |
|
|
|
}else{ |
|
init_home(); |
|
ground_start_count = 0; |
|
} |
|
} |
|
|
|
current_loc.lng = g_gps->longitude; // Lon * 10 * *7 |
|
current_loc.lat = g_gps->latitude; // Lat * 10 * *7 |
|
|
|
if (g.log_bitmask & MASK_LOG_GPS){ |
|
Log_Write_GPS(); |
|
} |
|
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode |
|
update_altitude(); |
|
#endif |
|
|
|
} else { |
|
g_gps->new_data = false; |
|
} |
|
} |
|
|
|
|
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void update_yaw_mode(void) |
|
{ |
|
switch(yaw_mode){ |
|
case YAW_ACRO: |
|
g.rc_4.servo_out = get_rate_yaw(g.rc_4.control_in); |
|
return; |
|
break; |
|
|
|
case YAW_HOLD: |
|
// calcualte new nav_yaw offset |
|
if (control_mode <= STABILIZE){ |
|
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, g.rc_3.control_in); |
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}else{ |
|
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, 1); |
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} |
|
break; |
|
|
|
case YAW_LOOK_AT_HOME: |
|
//nav_yaw updated in update_navigation() |
|
break; |
|
|
|
case YAW_AUTO: |
|
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20); |
|
nav_yaw = wrap_360(nav_yaw); |
|
break; |
|
} |
|
|
|
// Yaw control |
|
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); |
|
|
|
//Serial.printf("4: %d\n",g.rc_4.servo_out); |
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} |
|
|
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void update_roll_pitch_mode(void) |
|
{ |
|
#if CH7_OPTION == CH7_FLIP |
|
if (do_flip){ |
|
roll_flip(); |
|
return; |
|
} |
|
#endif |
|
|
|
int control_roll = 0, control_pitch = 0; |
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|
|
//read_radio(); |
|
if(do_simple && new_radio_frame){ |
|
new_radio_frame = false; |
|
simple_timer++; |
|
|
|
int delta = wrap_360(dcm.yaw_sensor - initial_simple_bearing)/100; |
|
|
|
if (simple_timer == 1){ |
|
// roll |
|
simple_cos_x = sin(radians(90 - delta)); |
|
|
|
}else if (simple_timer > 2){ |
|
// pitch |
|
simple_sin_y = cos(radians(90 - delta)); |
|
simple_timer = 0; |
|
} |
|
|
|
// Rotate input by the initial bearing |
|
control_roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y; |
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control_pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x); |
|
|
|
g.rc_1.control_in = control_roll; |
|
g.rc_2.control_in = control_pitch; |
|
} |
|
|
|
switch(roll_pitch_mode){ |
|
case ROLL_PITCH_ACRO: |
|
g.rc_1.servo_out = get_rate_roll(g.rc_1.control_in); |
|
g.rc_2.servo_out = get_rate_pitch(g.rc_2.control_in); |
|
break; |
|
|
|
case ROLL_PITCH_STABLE: |
|
g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in); |
|
g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in); |
|
break; |
|
|
|
case ROLL_PITCH_AUTO: |
|
// mix in user control with Nav control |
|
control_roll = g.rc_1.control_mix(nav_roll); |
|
control_pitch = g.rc_2.control_mix(nav_pitch); |
|
g.rc_1.servo_out = get_stabilize_roll(control_roll); |
|
g.rc_2.servo_out = get_stabilize_pitch(control_pitch); |
|
break; |
|
} |
|
} |
|
|
|
// 50 hz update rate, not 250 |
|
void update_throttle_mode(void) |
|
{ |
|
switch(throttle_mode){ |
|
|
|
case THROTTLE_MANUAL: |
|
if (g.rc_3.control_in > 0){ |
|
#if FRAME_CONFIG == HELI_FRAME |
|
g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in); |
|
#else |
|
angle_boost = get_angle_boost(g.rc_3.control_in); |
|
g.rc_3.servo_out = g.rc_3.control_in + angle_boost; |
|
#endif |
|
}else{ |
|
g.pi_stabilize_roll.reset_I(); |
|
g.pi_stabilize_pitch.reset_I(); |
|
g.pi_rate_roll.reset_I(); |
|
g.pi_rate_pitch.reset_I(); |
|
g.rc_3.servo_out = 0; |
|
} |
|
break; |
|
|
|
case THROTTLE_HOLD: |
|
// allow interactive changing of atitude |
|
adjust_altitude(); |
|
// fall through |
|
|
|
case THROTTLE_AUTO: |
|
|
|
// calculate angle boost |
|
angle_boost = get_angle_boost(g.throttle_cruise); |
|
|
|
// manual command up or down? |
|
if(manual_boost != 0){ |
|
|
|
//remove alt_hold_velocity when implemented |
|
#if FRAME_CONFIG == HELI_FRAME |
|
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost); |
|
#else |
|
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost; |
|
#endif |
|
|
|
// reset next_WP.alt |
|
next_WP.alt = max(current_loc.alt, 100); |
|
|
|
}else{ |
|
// 10hz, don't run up i term |
|
if(invalid_throttle && motor_auto_armed == true){ |
|
|
|
// how far off are we |
|
altitude_error = get_altitude_error(); |
|
|
|
// get the AP throttle |
|
nav_throttle = get_nav_throttle(altitude_error); |
|
|
|
// clear the new data flag |
|
invalid_throttle = false; |
|
} |
|
|
|
#if FRAME_CONFIG == HELI_FRAME |
|
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping()); |
|
#else |
|
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping(); |
|
#endif |
|
} |
|
break; |
|
} |
|
} |
|
|
|
// called after a GPS read |
|
static void update_navigation() |
|
{ |
|
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS |
|
// ------------------------------------------------------------------------ |
|
switch(control_mode){ |
|
case AUTO: |
|
verify_commands(); |
|
// note: wp_control is handled by commands_logic |
|
|
|
// calculates desired Yaw |
|
update_auto_yaw(); |
|
|
|
// calculates the desired Roll and Pitch |
|
update_nav_wp(); |
|
break; |
|
|
|
case GUIDED: |
|
wp_control = WP_MODE; |
|
// check if we are close to point > loiter |
|
wp_verify_byte = 0; |
|
verify_nav_wp(); |
|
|
|
if (wp_control == WP_MODE) { |
|
update_auto_yaw(); |
|
} else { |
|
set_mode(LOITER); |
|
} |
|
update_nav_wp(); |
|
break; |
|
|
|
case RTL: |
|
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ |
|
//lets just jump to Loiter Mode after RTL |
|
//if(land after RTL) |
|
//set_mode(LAND); |
|
//else |
|
set_mode(LOITER); |
|
|
|
}else{ |
|
// calculates desired Yaw |
|
// XXX this is an experiment |
|
#if FRAME_CONFIG == HELI_FRAME |
|
update_auto_yaw(); |
|
#endif |
|
|
|
wp_control = WP_MODE; |
|
} |
|
|
|
// calculates the desired Roll and Pitch |
|
update_nav_wp(); |
|
break; |
|
|
|
// switch passthrough to LOITER |
|
case LOITER: |
|
case POSITION: |
|
case LAND: |
|
wp_control = LOITER_MODE; |
|
|
|
// calculates the desired Roll and Pitch |
|
update_nav_wp(); |
|
break; |
|
|
|
case CIRCLE: |
|
yaw_tracking = MAV_ROI_WPNEXT; |
|
wp_control = CIRCLE_MODE; |
|
|
|
// calculates desired Yaw |
|
update_auto_yaw(); |
|
update_nav_wp(); |
|
break; |
|
|
|
} |
|
|
|
// are we in SIMPLE mode? |
|
if(do_simple){ |
|
// get distance to home |
|
if(home_distance > 10){ |
|
// 10m |
|
// we reset the angular offset to be a vector from home to the quad |
|
initial_simple_bearing = home_to_copter_bearing; |
|
//Serial.printf("ISB: %d\n", initial_simple_bearing); |
|
} |
|
} |
|
|
|
if(yaw_mode == YAW_LOOK_AT_HOME){ |
|
if(home_is_set){ |
|
//nav_yaw = point_at_home_yaw(); |
|
nav_yaw = get_bearing(¤t_loc, &home); |
|
} else { |
|
nav_yaw = 0; |
|
} |
|
} |
|
} |
|
|
|
static void read_AHRS(void) |
|
{ |
|
// Perform IMU calculations and get attitude info |
|
//----------------------------------------------- |
|
#if HIL_MODE != HIL_MODE_DISABLED |
|
// update hil before dcm update |
|
gcs_update(); |
|
#endif |
|
|
|
dcm.update_DCM_fast(); |
|
omega = imu.get_gyro(); |
|
} |
|
|
|
static void update_trig(void){ |
|
Vector2f yawvector; |
|
Matrix3f temp = dcm.get_dcm_matrix(); |
|
|
|
yawvector.x = temp.a.x; // sin |
|
yawvector.y = temp.b.x; // cos |
|
yawvector.normalize(); |
|
|
|
|
|
sin_pitch_y = -temp.c.x; |
|
cos_pitch_x = sqrt(1 - (temp.c.x * temp.c.x)); |
|
|
|
cos_roll_x = temp.c.z / cos_pitch_x; |
|
sin_roll_y = temp.c.y / cos_pitch_x; |
|
|
|
cos_yaw_x = yawvector.y; // 0 x = north |
|
sin_yaw_y = yawvector.x; // 1 y |
|
|
|
//flat: |
|
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00, |
|
// 90° = cos_yaw: 1.00, sin_yaw: 0.00, |
|
// 180 = cos_yaw: 0.00, sin_yaw: -1.00, |
|
// 270 = cos_yaw: -1.00, sin_yaw: 0.00, |
|
} |
|
|
|
// updated at 10hz |
|
static void update_altitude() |
|
{ |
|
altitude_sensor = BARO; |
|
//current_loc.alt = g_gps->altitude - gps_base_alt; |
|
//climb_rate = (g_gps->altitude - old_baro_alt) * 10; |
|
//old_baro_alt = g_gps->altitude; |
|
//baro_alt = g_gps->altitude; |
|
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE |
|
// we are in the SIM, fake out the baro and Sonar |
|
int fake_relative_alt = g_gps->altitude - gps_base_alt; |
|
baro_alt = fake_relative_alt; |
|
sonar_alt = fake_relative_alt; |
|
|
|
baro_rate = (baro_alt - old_baro_alt) * 5; // 5hz |
|
old_baro_alt = baro_alt; |
|
|
|
#else |
|
// This is real life |
|
|
|
// read in Actual Baro Altitude |
|
baro_alt = (baro_alt + read_barometer()) >> 1; |
|
|
|
// calc the vertical accel rate |
|
int temp = (baro_alt - old_baro_alt) * 10; |
|
baro_rate = (temp + baro_rate) >> 1; |
|
old_baro_alt = baro_alt; |
|
|
|
// sonar_alt is calculaed in a faster loop and filtered with a mode filter |
|
#endif |
|
|
|
|
|
if(g.sonar_enabled){ |
|
// filter out offset |
|
float scale; |
|
|
|
// calc rate of change for Sonar |
|
#if HIL_MODE == HIL_MODE_ATTITUDE |
|
// we are in the SIM, fake outthe Sonar rate |
|
sonar_rate = baro_rate; |
|
#else |
|
// This is real life |
|
// calc the vertical accel rate |
|
sonar_rate = (sonar_alt - old_sonar_alt) * 10; |
|
old_sonar_alt = sonar_alt; |
|
#endif |
|
|
|
if(baro_alt < 800){ |
|
#if SONAR_TILT_CORRECTION == 1 |
|
// correct alt for angle of the sonar |
|
float temp = cos_pitch_x * cos_roll_x; |
|
temp = max(temp, 0.707); |
|
sonar_alt = (float)sonar_alt * temp; |
|
#endif |
|
|
|
scale = (sonar_alt - 400) / 200; |
|
scale = constrain(scale, 0, 1); |
|
|
|
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt; |
|
|
|
// solve for a blended climb_rate |
|
climb_rate = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale; |
|
|
|
}else{ |
|
// we must be higher than sonar, don't get tricked by bad sonar reads |
|
current_loc.alt = baro_alt + home.alt; // home alt = 0 |
|
// dont blend, go straight baro |
|
climb_rate = baro_rate; |
|
} |
|
|
|
}else{ |
|
|
|
// NO Sonar case |
|
current_loc.alt = baro_alt + home.alt; |
|
climb_rate = baro_rate; |
|
} |
|
|
|
// manage bad data |
|
climb_rate = constrain(climb_rate, -300, 300); |
|
} |
|
|
|
static void |
|
adjust_altitude() |
|
{ |
|
/* |
|
// old vert control |
|
if(g.rc_3.control_in <= 200){ |
|
next_WP.alt -= 1; // 1 meter per second |
|
next_WP.alt = max(next_WP.alt, (current_loc.alt - 500)); // don't go less than 4 meters below current location |
|
next_WP.alt = max(next_WP.alt, 100); // don't go less than 1 meter |
|
//manual_boost = (g.rc_3.control_in == 0) ? -20 : 0; |
|
|
|
}else if (g.rc_3.control_in > 700){ |
|
next_WP.alt += 1; // 1 meter per second |
|
next_WP.alt = min(next_WP.alt, (current_loc.alt + 500)); // don't go more than 4 meters below current location |
|
//manual_boost = (g.rc_3.control_in == 800) ? 20 : 0; |
|
}*/ |
|
|
|
if(g.rc_3.control_in <= 180){ |
|
// we remove 0 to 100 PWM from hover |
|
manual_boost = g.rc_3.control_in - 180; |
|
manual_boost = max(-120, manual_boost); |
|
g.throttle_cruise += g.pi_alt_hold.get_integrator(); |
|
g.pi_alt_hold.reset_I(); |
|
g.pi_throttle.reset_I(); |
|
|
|
}else if (g.rc_3.control_in >= 650){ |
|
// we add 0 to 100 PWM to hover |
|
manual_boost = g.rc_3.control_in - 650; |
|
g.throttle_cruise += g.pi_alt_hold.get_integrator(); |
|
g.pi_alt_hold.reset_I(); |
|
g.pi_throttle.reset_I(); |
|
|
|
}else { |
|
manual_boost = 0; |
|
} |
|
} |
|
|
|
static void tuning(){ |
|
tuning_value = (float)g.rc_6.control_in / 1000.0; |
|
|
|
switch(g.radio_tuning){ |
|
|
|
/*case CH6_STABILIZE_KP: |
|
g.rc_6.set_range(0,2000); // 0 to 8 |
|
tuning_value = (float)g.rc_6.control_in / 100.0; |
|
alt_hold_gain = tuning_value; |
|
break;*/ |
|
|
|
case CH6_STABILIZE_KP: |
|
g.rc_6.set_range(0,8000); // 0 to 8 |
|
g.pi_stabilize_roll.kP(tuning_value); |
|
g.pi_stabilize_pitch.kP(tuning_value); |
|
break; |
|
|
|
case CH6_STABILIZE_KI: |
|
g.rc_6.set_range(0,300); // 0 to .3 |
|
tuning_value = (float)g.rc_6.control_in / 1000.0; |
|
g.pi_stabilize_roll.kI(tuning_value); |
|
g.pi_stabilize_pitch.kI(tuning_value); |
|
break; |
|
|
|
case CH6_RATE_KP: |
|
g.rc_6.set_range(40,300); // 0 to .3 |
|
g.pi_rate_roll.kP(tuning_value); |
|
g.pi_rate_pitch.kP(tuning_value); |
|
break; |
|
|
|
case CH6_RATE_KI: |
|
g.rc_6.set_range(0,300); // 0 to .3 |
|
g.pi_rate_roll.kI(tuning_value); |
|
g.pi_rate_pitch.kI(tuning_value); |
|
break; |
|
|
|
case CH6_YAW_KP: |
|
g.rc_6.set_range(0,1000); |
|
g.pi_stabilize_yaw.kP(tuning_value); |
|
break; |
|
|
|
case CH6_YAW_RATE_KP: |
|
g.rc_6.set_range(0,1000); |
|
g.pi_rate_yaw.kP(tuning_value); |
|
break; |
|
|
|
case CH6_THROTTLE_KP: |
|
g.rc_6.set_range(0,1000); // 0 to 1 |
|
g.pi_throttle.kP(tuning_value); |
|
break; |
|
|
|
case CH6_TOP_BOTTOM_RATIO: |
|
g.rc_6.set_range(800,1000); // .8 to 1 |
|
g.top_bottom_ratio = tuning_value; |
|
break; |
|
|
|
case CH6_RELAY: |
|
g.rc_6.set_range(0,1000); |
|
if (g.rc_6.control_in > 525) relay.on(); |
|
if (g.rc_6.control_in < 475) relay.off(); |
|
break; |
|
|
|
case CH6_TRAVERSE_SPEED: |
|
g.rc_6.set_range(0,1000); |
|
g.waypoint_speed_max = g.rc_6.control_in; |
|
break; |
|
|
|
case CH6_LOITER_P: |
|
g.rc_6.set_range(0,1000); |
|
g.pi_loiter_lat.kP(tuning_value); |
|
g.pi_loiter_lon.kP(tuning_value); |
|
break; |
|
|
|
case CH6_NAV_P: |
|
g.rc_6.set_range(0,6000); |
|
g.pi_nav_lat.kP(tuning_value); |
|
g.pi_nav_lon.kP(tuning_value); |
|
break; |
|
|
|
#if FRAME_CONFIG == HELI_FRAME |
|
case CH6_HELI_EXTERNAL_GYRO: |
|
g.rc_6.set_range(1000,2000); |
|
g.heli_ext_gyro_gain = tuning_value * 1000; |
|
break; |
|
#endif |
|
|
|
case CH6_THR_HOLD_KP: |
|
g.rc_6.set_range(0,1000); // 0 to 1 |
|
g.pi_alt_hold.kP(tuning_value); |
|
break; |
|
} |
|
} |
|
|
|
static void update_nav_wp() |
|
{ |
|
if(wp_control == LOITER_MODE){ |
|
|
|
// calc a pitch to the target |
|
calc_location_error(&next_WP); |
|
|
|
// use error as the desired rate towards the target |
|
calc_loiter(long_error, lat_error); |
|
|
|
// rotate pitch and roll to the copter frame of reference |
|
calc_loiter_pitch_roll(); |
|
|
|
}else if(wp_control == CIRCLE_MODE){ |
|
|
|
// check if we have missed the WP |
|
int loiter_delta = (target_bearing - old_target_bearing)/100; |
|
|
|
// reset the old value |
|
old_target_bearing = target_bearing; |
|
|
|
// wrap values |
|
if (loiter_delta > 180) loiter_delta -= 360; |
|
if (loiter_delta < -180) loiter_delta += 360; |
|
|
|
// sum the angle around the WP |
|
loiter_sum += loiter_delta; |
|
|
|
// create a virtual waypoint that circles the next_WP |
|
// Count the degrees we have circulated the WP |
|
//int circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100; |
|
|
|
circle_angle += (circle_rate * dTnav); |
|
//1° = 0.0174532925 radians |
|
|
|
// wrap |
|
if (circle_angle > 6.28318531) |
|
circle_angle -= 6.28318531; |
|
|
|
target_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp); |
|
target_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle)); |
|
|
|
// calc the lat and long error to the target |
|
calc_location_error(&target_WP); |
|
|
|
// use error as the desired rate towards the target |
|
// nav_lon, nav_lat is calculated |
|
calc_loiter(long_error, lat_error); |
|
|
|
//CIRCLE: angle:29, dist:0, lat:400, lon:242 |
|
|
|
// rotate pitch and roll to the copter frame of reference |
|
calc_loiter_pitch_roll(); |
|
//int angleTest = degrees(circle_angle); |
|
//int nroll = nav_roll; |
|
//int npitch = nav_pitch; |
|
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll); |
|
} else { |
|
// use error as the desired rate towards the target |
|
calc_nav_rate(g.waypoint_speed_max); |
|
// rotate pitch and roll to the copter frame of reference |
|
calc_nav_pitch_roll(); |
|
} |
|
} |
|
|
|
static void update_auto_yaw() |
|
{ |
|
// this tracks a location so the copter is always pointing towards it. |
|
if(yaw_tracking == MAV_ROI_LOCATION){ |
|
auto_yaw = get_bearing(¤t_loc, &target_WP); |
|
|
|
}else if(yaw_tracking == MAV_ROI_WPNEXT){ |
|
auto_yaw = target_bearing; |
|
} |
|
// MAV_ROI_NONE = basic Yaw hold |
|
} |
|
|
|
|
|
|
|
|