ardupilot/ArduCopter/system.pde

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*****************************************************************************
*   The init_ardupilot function processes everything we need for an in - air restart
*        We will determine later if we are actually on the ground and process a
*        ground start in that case.
*
*****************************************************************************/

#if CLI_ENABLED == ENABLED
// Functions called from the top-level menu
static int8_t   process_logs(uint8_t argc, const Menu::arg *argv);      // in Log.pde
static int8_t   setup_mode(uint8_t argc, const Menu::arg *argv);        // in setup.pde
static int8_t   test_mode(uint8_t argc, const Menu::arg *argv);         // in test.cpp
static int8_t   reboot_board(uint8_t argc, const Menu::arg *argv);

// This is the help function
static int8_t   main_menu_help(uint8_t argc, const Menu::arg *argv)
{
    cliSerial->printf_P(PSTR("Commands:\n"
                         "  logs\n"
                         "  setup\n"
                         "  test\n"
                         "  reboot\n"
                         "\n"));
    return(0);
}

// Command/function table for the top-level menu.
const struct Menu::command main_menu_commands[] PROGMEM = {
//   command		function called
//   =======        ===============
    {"logs",                process_logs},
    {"setup",               setup_mode},
    {"test",                test_mode},
    {"reboot",              reboot_board},
    {"help",                main_menu_help},
};

// Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands);

static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
{
    hal.scheduler->reboot(false);
    return 0;
}

// the user wants the CLI. It never exits
static void run_cli(AP_HAL::UARTDriver *port)
{
    cliSerial = port;
    Menu::set_port(port);
    port->set_blocking_writes(true);

    // disable the mavlink delay callback
    hal.scheduler->register_delay_callback(NULL, 5);

    // disable main_loop failsafe
    failsafe_disable();

    // cut the engines
    if(motors.armed()) {
        motors.armed(false);
        motors.output();
    }

    while (1) {
        main_menu.run();
    }
}

#endif // CLI_ENABLED

static void init_ardupilot()
{
    if (!hal.gpio->usb_connected()) {
        // USB is not connected, this means UART0 may be a Xbee, with
        // its darned bricking problem. We can't write to it for at
        // least one second after powering up. Simplest solution for
        // now is to delay for 1 second. Something more elegant may be
        // added later
        delay(1000);
    }

    // initialise serial port
    serial_manager.init_console();

    cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
                         "\n\nFree RAM: %u\n"),
                        hal.util->available_memory());

#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
    /*
      run the timer a bit slower on APM2 to reduce the interrupt load
      on the CPU
     */
    hal.scheduler->set_timer_speed(500);
#endif

    //
    // Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
    //
    report_version();

    // load parameters from EEPROM
    load_parameters();

    BoardConfig.init();

    // initialise serial port
    serial_manager.init();

    // init EPM cargo gripper
#if EPM_ENABLED == ENABLED
    epm.init();
#endif

    // initialise notify system
    // disable external leds if epm is enabled because of pin conflict on the APM
    notify.init(true);

    // initialise battery monitor
    battery.init();
    
    rssi_analog_source      = hal.analogin->channel(g.rssi_pin);

    barometer.init();

    // init the GCS connected to the console
    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);

    // Register the mavlink service callback. This will run
    // anytime there are more than 5ms remaining in a call to
    // hal.scheduler->delay.
    hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);

    // we start by assuming USB connected, as we initialed the serial
    // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
    ap.usb_connected = true;
    check_usb_mux();

#if CONFIG_HAL_BOARD != HAL_BOARD_APM2
    // we have a 2nd serial port for telemetry on all boards except
    // APM2. We actually do have one on APM2 but it isn't necessary as
    // a MUX is used
    gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
#endif

#if MAVLINK_COMM_NUM_BUFFERS > 2
    // setup serial port for telem2
    gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
#endif

#if FRSKY_TELEM_ENABLED == ENABLED
    // setup frsky
    frsky_telemetry.init(serial_manager);
#endif

    // identify ourselves correctly with the ground station
    mavlink_system.sysid = g.sysid_this_mav;

#if LOGGING_ENABLED == ENABLED
    DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
    if (!DataFlash.CardInserted()) {
        gcs_send_text_P(SEVERITY_HIGH, PSTR("No dataflash inserted"));
        g.log_bitmask.set(0);
    } else if (DataFlash.NeedErase()) {
        gcs_send_text_P(SEVERITY_HIGH, PSTR("ERASING LOGS"));
        do_erase_logs();
        gcs[0].reset_cli_timeout();
    }
#endif

    init_rc_in();               // sets up rc channels from radio
    init_rc_out();              // sets up motors and output to escs

    // initialise which outputs Servo and Relay events can use
    ServoRelayEvents.set_channel_mask(~motors.get_motor_mask());

    relay.init();

    /*
     *  setup the 'main loop is dead' check. Note that this relies on
     *  the RC library being initialised.
     */
    hal.scheduler->register_timer_failsafe(failsafe_check, 1000);

 #if CONFIG_ADC == ENABLED
    // begin filtering the ADC Gyros
    apm1_adc.Init();           // APM ADC library initialization
 #endif // CONFIG_ADC

    // Do GPS init
    gps.init(&DataFlash, serial_manager);

    if(g.compass_enabled)
        init_compass();

#if OPTFLOW == ENABLED
    // make optflow available to AHRS
    ahrs.set_optflow(&optflow);
#endif

    // initialise attitude and position controllers
    attitude_control.set_dt(MAIN_LOOP_SECONDS);
    pos_control.set_dt(MAIN_LOOP_SECONDS);

    // init the optical flow sensor
    init_optflow();

    // initialise inertial nav
    inertial_nav.init();

    // initialise camera mount
    camera_mount.init(serial_manager);

#ifdef USERHOOK_INIT
    USERHOOK_INIT
#endif

#if CLI_ENABLED == ENABLED
    const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
    cliSerial->println_P(msg);
    if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
        gcs[1].get_uart()->println_P(msg);
    }
    if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
        gcs[2].get_uart()->println_P(msg);
    }
#endif // CLI_ENABLED

#if HIL_MODE != HIL_MODE_DISABLED
    while (barometer.get_last_update() == 0) {
        // the barometer begins updating when we get the first
        // HIL_STATE message
        gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
        delay(1000);
    }

    // set INS to HIL mode
    ins.set_hil_mode();
#endif

    // read Baro pressure at ground
    //-----------------------------
    init_barometer(true);

    // initialise sonar
#if CONFIG_SONAR == ENABLED
    init_sonar();
#endif

    // initialise mission library
    mission.init();

    // initialise the flight mode and aux switch
    // ---------------------------
    reset_control_switch();
    init_aux_switches();

#if FRAME_CONFIG == HELI_FRAME
    // trad heli specific initialisation
    heli_init();
#endif

    startup_ground(true);

#if LOGGING_ENABLED == ENABLED
    Log_Write_Startup();
#endif

    // we don't want writes to the serial port to cause us to pause
    // mid-flight, so set the serial ports non-blocking once we are
    // ready to fly
    serial_manager.set_blocking_writes_all(false);

    cliSerial->print_P(PSTR("\nReady to FLY "));

    // flag that initialisation has completed
    ap.initialised = true;
}


//******************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//******************************************************************************
static void startup_ground(bool force_gyro_cal)
{
    gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));

    // initialise ahrs (may push imu calibration into the mpu6000 if using that device).
    ahrs.init();
    ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);

    // Warm up and read Gyro offsets
    // -----------------------------
    ins.init(force_gyro_cal?AP_InertialSensor::COLD_START:AP_InertialSensor::WARM_START,
             ins_sample_rate);
 #if CLI_ENABLED == ENABLED
    report_ins();
 #endif

    // reset ahrs gyro bias
    if (force_gyro_cal) {
        ahrs.reset_gyro_drift();
    }

    // setup fast AHRS gains to get right attitude
    ahrs.set_fast_gains(true);

    // set landed flag
    set_land_complete(true);
    set_land_complete_maybe(true);
}

// position_ok - returns true if the horizontal absolute position is ok and home position is set
static bool position_ok()
{
    if (ahrs.have_inertial_nav()) {
        // return false if ekf failsafe has triggered
        if (failsafe.ekf) {
            return false;
        }

        // with EKF use filter status and ekf check
        nav_filter_status filt_status = inertial_nav.get_filter_status();

        // if disarmed we accept a predicted horizontal position
        if (!motors.armed()) {
            return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
        } else {
            // once armed we require a good absolute position and EKF must not be in const_pos_mode
            return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
        }
    } else {
        // with interial nav use GPS based checks
        return (ap.home_is_set && gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
                !gps_glitch.glitching() && !failsafe.gps &&
                !ekf_check_state.bad_compass && !failsafe.ekf);
    }
}

// optflow_position_ok - returns true if optical flow based position estimate is ok
static bool optflow_position_ok()
{
#if OPTFLOW != ENABLED
    return false;
#else
    // return immediately if optflow is not enabled or EKF not used
    if (!optflow.enabled() || !ahrs.have_inertial_nav()) {
        return false;
    }

    // get filter status from EKF
    nav_filter_status filt_status = inertial_nav.get_filter_status();
    return (filt_status.flags.horiz_pos_rel || filt_status.flags.pred_horiz_pos_rel);
#endif
}

// update_auto_armed - update status of auto_armed flag
static void update_auto_armed()
{
    // disarm checks
    if(ap.auto_armed){
        // if motors are disarmed, auto_armed should also be false
        if(!motors.armed()) {
            set_auto_armed(false);
            return;
        }
        // if in stabilize or acro flight mode and throttle is zero, auto-armed should become false
        if(manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio) {
            set_auto_armed(false);
        }
    }else{
        // arm checks
        
#if FRAME_CONFIG == HELI_FRAME
        // for tradheli if motors are armed and throttle is above zero and the motor is started, auto_armed should be true
        if(motors.armed() && !ap.throttle_zero && motors.motor_runup_complete()) {
            set_auto_armed(true);
        }
#else
        // if motors are armed and throttle is above zero auto_armed should be true
        if(motors.armed() && !ap.throttle_zero) {
            set_auto_armed(true);
        }
#endif // HELI_FRAME
    }
}

static void check_usb_mux(void)
{
    bool usb_check = hal.gpio->usb_connected();
    if (usb_check == ap.usb_connected) {
        return;
    }

    // the user has switched to/from the telemetry port
    ap.usb_connected = usb_check;

#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
    // the APM2 has a MUX setup where the first serial port switches
    // between USB and a TTL serial connection. When on USB we use
    // SERIAL0_BAUD, but when connected as a TTL serial port we run it
    // at SERIAL1_BAUD.
    if (usb_connected) {
        serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
    } else {
        serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1);
    }
#endif
}

// frsky_telemetry_send - sends telemetry data using frsky telemetry
//  should be called at 5Hz by scheduler
static void frsky_telemetry_send(void)
{
#if FRSKY_TELEM_ENABLED == ENABLED
    frsky_telemetry.send_frames((uint8_t)control_mode);
#endif
}

/*
  should we log a message type now?
 */
static bool should_log(uint32_t mask)
{
#if LOGGING_ENABLED == ENABLED
    if (!(mask & g.log_bitmask) || in_mavlink_delay) {
        return false;
    }
    bool ret = motors.armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
    if (ret && !DataFlash.logging_started() && !in_log_download) {
        // we have to set in_mavlink_delay to prevent logging while
        // writing headers
        start_logging();
    }
    return ret;
#else
    return false;
#endif
}