ardupilot/libraries/APO/AP_Autopilot.cpp

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/*
* AP_Autopilot.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Autopilot.h"
namespace apo {
class AP_HardwareAbstractionLayer;
AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
float loop0Rate, float loop1Rate, float loop2Rate, float loop3Rate) :
Loop(loop0Rate, callback0, this), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal), _loop0Rate(loop0Rate),
_loop1Rate(loop1Rate), _loop2Rate(loop2Rate), _loop3Rate(loop3Rate),
_loop4Rate(loop3Rate) {
hal->setState(MAV_STATE_BOOT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
/*
* Calibration
*/
hal->setState(MAV_STATE_CALIBRATING);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
if (navigator) navigator->calibrate();
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/*
* Look for valid initial state
*/
while (_navigator) {
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// letc gcs known we are alive
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
if (hal->getMode() == MODE_LIVE) {
_navigator->updateSlow(0);
if (hal->gps) {
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if (hal->gps->fix) {
break;
} else {
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hal->gps->update();
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hal->gcs->sendText(SEVERITY_LOW,
PSTR("waiting for gps lock\n"));
hal->debug->printf_P(PSTR("waiting for gps lock\n"));
}
} else { // no gps, can skip
break;
}
} else if (hal->getMode() == MODE_HIL_CNTL) { // hil
hal->hil->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->hil->receive();
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Serial.println("HIL Receive Called");
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if (_navigator->getTimeStamp() != 0) {
// give hil a chance to send some packets
for (int i = 0; i < 5; i++) {
hal->debug->println_P(PSTR("reading initial hil packets"));
hal->gcs->sendText(SEVERITY_LOW,
PSTR("reading initial hil packets"));
delay(1000);
}
break;
}
hal->debug->println_P(PSTR("waiting for hil packet"));
}
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delay(1000);
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}
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AP_MavlinkCommand::home.setAlt(_navigator->getAlt());
AP_MavlinkCommand::home.setLat(_navigator->getLat());
AP_MavlinkCommand::home.setLon(_navigator->getLon());
AP_MavlinkCommand::home.setCommand(MAV_CMD_NAV_WAYPOINT);
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AP_MavlinkCommand::home.save();
_hal->debug->printf_P(PSTR("\nhome before load lat: %f deg, lon: %f deg, cmd: %d\n"),
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AP_MavlinkCommand::home.getLat()*rad2Deg,
AP_MavlinkCommand::home.getLon()*rad2Deg,
AP_MavlinkCommand::home.getCommand());
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AP_MavlinkCommand::home.load();
_hal->debug->printf_P(PSTR("\nhome after load lat: %f deg, lon: %f deg, cmd: %d\n"),
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AP_MavlinkCommand::home.getLat()*rad2Deg,
AP_MavlinkCommand::home.getLon()*rad2Deg,
AP_MavlinkCommand::home.getCommand());
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/*
* Attach loops
*/
hal->debug->println_P(PSTR("attaching loops"));
subLoops().push_back(new Loop(getLoopRate(1), callback1, this));
subLoops().push_back(new Loop(getLoopRate(2), callback2, this));
subLoops().push_back(new Loop(getLoopRate(3), callback3, this));
subLoops().push_back(new Loop(getLoopRate(4), callback4, this));
hal->debug->println_P(PSTR("running"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("running"));
if (hal->getMode() == MODE_LIVE) {
hal->setState(MAV_STATE_ACTIVE);
} else {
hal->setState(MAV_STATE_HILSIM);
}
/*
* Radio setup
*/
hal->debug->println_P(PSTR("initializing radio"));
APM_RC.Init(); // APM Radio initialization,
// start this after control loop is running
}
void AP_Autopilot::callback0(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->hal()->debug->println_P(PSTR("callback 0"));
/*
* ahrs update
*/
if (apo->getNavigator())
apo->getNavigator()->updateFast(1.0 / apo->getLoopRate(0));
}
void AP_Autopilot::callback1(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 1"));
/*
* hardware in the loop
*/
if (apo->getHal()->hil && apo->getHal()->getMode() != MODE_LIVE) {
apo->getHal()->hil->receive();
apo->getHal()->hil->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
}
/*
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* update control laws
*/
if (apo->getController()) {
//apo->getHal()->debug->println_P(PSTR("updating controller"));
apo->getController()->update(1. / apo->getLoopRate(1));
}
/*
char msg[50];
sprintf(msg, "c_hdg: %f, c_thr: %f", apo->guide()->headingCommand, apo->guide()->groundSpeedCommand);
apo->hal()->gcs->sendText(AP_CommLink::SEVERITY_LOW, msg);
*/
}
void AP_Autopilot::callback2(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 2"));
/*
* update guidance laws
*/
if (apo->getGuide())
{
//apo->getHal()->debug->println_P(PSTR("updating guide"));
apo->getGuide()->update();
}
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/*
* send telemetry
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_ATTITUDE);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
}
/*
* slow navigation loop update
*/
if (apo->getNavigator()) {
apo->getNavigator()->updateSlow(1.0 / apo->getLoopRate(2));
}
/*
* handle ground control station communication
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->requestCmds();
apo->getHal()->gcs->sendParameters();
// receive messages
apo->getHal()->gcs->receive();
}
/*
* navigator debug
*/
/*
if (apo->navigator()) {
apo->getHal()->debug->printf_P(PSTR("roll: %f deg\tpitch: %f deg\tyaw: %f deg\n"),
apo->navigator()->getRoll()*rad2Deg,
apo->navigator()->getPitch()*rad2Deg,
apo->navigator()->getYaw()*rad2Deg);
apo->getHal()->debug->printf_P(PSTR("lat: %f deg\tlon: %f deg\talt: %f m\n"),
apo->navigator()->getLat()*rad2Deg,
apo->navigator()->getLon()*rad2Deg,
apo->navigator()->getAlt());
}
*/
}
void AP_Autopilot::callback3(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 3"));
/*
* send heartbeat
*/
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
/*
* load/loop rate/ram debug
*/
apo->getHal()->load = apo->load();
apo->getHal()->debug->printf_P(PSTR("load: %d%%\trate: %f Hz\tfree ram: %d bytes\n"),
apo->load(),1.0/apo->dt(),freeMemory());
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
/*
* adc debug
*/
//apo->getDebug().printf_P(PSTR("adc: %d %d %d %d %d %d %d %d\n"),
//apo->adc()->Ch(0), apo->adc()->Ch(1), apo->adc()->Ch(2),
//apo->adc()->Ch(3), apo->adc()->Ch(4), apo->adc()->Ch(5),
//apo->adc()->Ch(6), apo->adc()->Ch(7), apo->adc()->Ch(8));
}
void AP_Autopilot::callback4(void * data) {
//AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 4"));
}
} // apo