2013-08-26 03:52:24 -03:00
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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2012-04-30 04:17:14 -03:00
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2015-05-24 19:59:16 -03:00
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/*
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2013-08-26 03:52:24 -03:00
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This is the APMrover2 firmware. It was originally derived from
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ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
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AP_HAL merge by Andrew Tridgell
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2015-08-05 23:32:42 -03:00
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Maintainer: Grant Morphett
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2013-02-28 21:32:48 -04:00
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2015-08-05 23:32:42 -03:00
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin, Grant Morphett
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2013-02-28 21:32:48 -04:00
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2013-08-26 03:52:24 -03:00
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
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2012-05-14 12:47:08 -03:00
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2015-05-24 19:59:16 -03:00
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
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2013-08-26 03:52:24 -03:00
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2016-04-23 18:01:24 -03:00
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Please contribute your ideas! See http://dev.ardupilot.org for details
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2013-08-26 03:52:24 -03:00
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*/
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2013-02-28 21:32:48 -04:00
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2015-05-12 02:03:23 -03:00
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#include "Rover.h"
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2012-04-30 04:17:14 -03:00
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2015-10-16 17:22:11 -03:00
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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2012-11-21 02:25:11 -04:00
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2015-05-13 00:16:45 -03:00
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Rover rover;
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2013-06-03 21:37:05 -03:00
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2015-12-26 00:05:34 -04:00
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
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2015-05-12 04:00:25 -03:00
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/*
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scheduler table - all regular tasks should be listed here, along
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with how often they should be called (in 20ms units) and the maximum
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time they are expected to take (in microseconds)
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*/
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2015-10-25 14:03:46 -03:00
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const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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2017-06-19 12:55:14 -03:00
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// Function name, Hz, us,
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(read_radio, 50, 1000),
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SCHED_TASK(ahrs_update, 50, 6400),
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2017-07-13 08:36:44 -03:00
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SCHED_TASK(read_rangefinders, 50, 2000),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(update_current_mode, 50, 1500),
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SCHED_TASK(set_servos, 50, 1500),
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SCHED_TASK(update_GPS_50Hz, 50, 2500),
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SCHED_TASK(update_GPS_10Hz, 10, 2500),
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SCHED_TASK(update_alt, 10, 3400),
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2017-04-03 17:46:12 -03:00
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SCHED_TASK(update_beacon, 50, 50),
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2017-08-16 07:57:42 -03:00
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SCHED_TASK(update_proximity, 50, 50),
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2017-06-01 04:39:49 -03:00
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SCHED_TASK(update_visual_odom, 50, 50),
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2017-07-20 04:57:19 -03:00
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SCHED_TASK(update_wheel_encoder, 20, 50),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(update_compass, 10, 2000),
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2017-08-02 22:33:33 -03:00
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SCHED_TASK(update_mission, 10, 1000),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(update_logging1, 10, 1000),
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SCHED_TASK(update_logging2, 10, 1000),
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SCHED_TASK(gcs_retry_deferred, 50, 1000),
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SCHED_TASK(gcs_update, 50, 1700),
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SCHED_TASK(gcs_data_stream_send, 50, 3000),
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2015-07-28 11:02:31 -03:00
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SCHED_TASK(read_control_switch, 7, 1000),
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2017-08-22 04:06:23 -03:00
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SCHED_TASK(read_aux_switch, 10, 100),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(read_battery, 10, 1000),
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SCHED_TASK(read_receiver_rssi, 10, 1000),
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SCHED_TASK(update_events, 50, 1000),
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SCHED_TASK(check_usb_mux, 3, 1000),
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SCHED_TASK(mount_update, 50, 600),
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2016-01-19 01:26:14 -04:00
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SCHED_TASK(update_trigger, 50, 600),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(gcs_failsafe_check, 10, 600),
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2017-08-16 07:02:56 -03:00
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SCHED_TASK(fence_check, 10, 100),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(compass_accumulate, 50, 900),
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2017-11-29 21:58:11 -04:00
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SCHED_TASK(smart_rtl_update, 3, 100),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(update_notify, 50, 300),
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SCHED_TASK(one_second_loop, 1, 3000),
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2016-12-20 09:26:57 -04:00
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SCHED_TASK(compass_cal_update, 50, 100),
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2015-10-21 18:22:45 -03:00
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SCHED_TASK(accel_cal_update, 10, 100),
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2015-12-26 00:05:34 -04:00
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SCHED_TASK(dataflash_periodic, 50, 300),
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2017-10-03 21:12:49 -03:00
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SCHED_TASK(ins_periodic, 50, 50),
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2016-12-20 09:26:57 -04:00
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SCHED_TASK(button_update, 5, 100),
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SCHED_TASK(stats_update, 1, 100),
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SCHED_TASK(crash_check, 10, 1000),
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2017-08-22 08:53:36 -03:00
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SCHED_TASK(cruise_learn_update, 50, 50),
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2017-01-30 10:21:55 -04:00
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 100),
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#endif
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2015-05-12 04:00:25 -03:00
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};
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2016-10-25 23:19:28 -03:00
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/*
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update AP_Stats
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*/
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void Rover::stats_update(void)
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{
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g2.stats.set_flying(motor_active());
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g2.stats.update();
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}
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2013-06-03 21:37:05 -03:00
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/*
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setup is called when the sketch starts
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*/
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2016-12-20 09:26:57 -04:00
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void Rover::setup()
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2015-05-12 02:03:23 -03:00
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{
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2012-12-18 16:17:17 -04:00
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// load the default values of variables listed in var_info[]
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AP_Param::setup_sketch_defaults();
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2015-03-02 01:57:36 -04:00
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init_ardupilot();
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2013-06-03 21:37:05 -03:00
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// initialise the main loop scheduler
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2015-07-06 12:30:40 -03:00
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
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2012-04-30 04:17:14 -03:00
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}
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2013-06-03 21:37:05 -03:00
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/*
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loop() is called rapidly while the sketch is running
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::loop()
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2012-04-30 04:17:14 -03:00
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{
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2013-10-08 03:30:55 -03:00
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// wait for an INS sample
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2014-10-15 20:33:46 -03:00
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ins.wait_for_sample();
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2017-01-31 06:12:26 -04:00
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const uint32_t timer = AP_HAL::micros();
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2013-06-03 21:37:05 -03:00
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2015-05-24 19:59:16 -03:00
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delta_us_fast_loop = timer - fast_loopTimer_us;
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2013-10-28 03:21:35 -03:00
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G_Dt = delta_us_fast_loop * 1.0e-6f;
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fast_loopTimer_us = timer;
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2012-04-30 04:17:14 -03:00
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2016-12-20 09:26:57 -04:00
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if (delta_us_fast_loop > G_Dt_max) {
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2015-05-24 19:59:16 -03:00
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G_Dt_max = delta_us_fast_loop;
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2016-12-20 09:26:57 -04:00
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}
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2012-04-30 04:17:14 -03:00
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2013-10-27 20:33:52 -03:00
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mainLoop_count++;
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2012-04-30 04:17:14 -03:00
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2013-10-08 03:30:55 -03:00
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// tell the scheduler one tick has passed
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scheduler.tick();
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2015-08-05 00:12:42 -03:00
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// run all the tasks that are due to run. Note that we only
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// have to call this once per loop, as the tasks are scheduled
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// in multiples of the main loop tick. So if they don't run on
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// the first call to the scheduler they won't run on a later
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// call until scheduler.tick() is called again
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uint32_t remaining = (timer + 20000) - micros();
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if (remaining > 19500) {
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remaining = 19500;
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}
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scheduler.run(remaining);
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2012-04-30 04:17:14 -03:00
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}
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2016-07-28 04:31:58 -03:00
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void Rover::update_soft_armed()
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{
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hal.util->set_soft_armed(arming.is_armed() &&
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hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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DataFlash.set_vehicle_armed(hal.util->get_soft_armed());
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}
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2013-10-27 20:33:52 -03:00
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// update AHRS system
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2015-05-12 02:03:23 -03:00
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void Rover::ahrs_update()
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2012-04-30 04:17:14 -03:00
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{
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2016-07-28 04:31:58 -03:00
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update_soft_armed();
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2014-02-18 19:54:04 -04:00
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2013-10-27 20:33:52 -03:00
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before AHRS update
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gcs_update();
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#endif
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2013-02-28 16:40:47 -04:00
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2013-11-17 19:58:22 -04:00
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// when in reverse we need to tell AHRS not to assume we are a
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// 'fly forward' vehicle, otherwise it will see a large
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// discrepancy between the mag and the GPS heading and will try to
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// correct for it, leading to a large yaw error
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ahrs.set_fly_forward(!in_reverse);
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2013-10-27 20:33:52 -03:00
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ahrs.update();
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2012-04-30 04:17:14 -03:00
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2017-06-05 04:55:24 -03:00
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// update home from EKF if necessary
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update_home_from_EKF();
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2014-05-11 08:39:06 -03:00
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// if using the EKF get a speed update now (from accelerometers)
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Vector3f velocity;
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if (ahrs.get_velocity_NED(velocity)) {
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2016-04-16 06:58:46 -03:00
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ground_speed = norm(velocity.x, velocity.y);
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2017-08-02 23:06:39 -03:00
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} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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ground_speed = ahrs.groundspeed();
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2014-05-11 08:39:06 -03:00
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}
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2016-12-20 09:26:57 -04:00
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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2013-06-03 22:57:59 -03:00
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Log_Write_Attitude();
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2016-12-20 09:26:57 -04:00
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}
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2012-04-30 04:17:14 -03:00
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2015-07-13 08:34:58 -03:00
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if (should_log(MASK_LOG_IMU)) {
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2013-11-03 23:37:54 -04:00
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DataFlash.Log_Write_IMU(ins);
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2015-07-13 08:34:58 -03:00
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}
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2012-04-30 04:17:14 -03:00
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}
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2013-06-03 21:37:05 -03:00
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/*
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update camera mount - 50Hz
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::mount_update(void)
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2012-04-30 04:17:14 -03:00
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{
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#if MOUNT == ENABLED
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2015-05-24 19:59:16 -03:00
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camera_mount.update();
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2012-04-30 04:17:14 -03:00
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#endif
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2015-06-07 14:22:06 -03:00
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}
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/*
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update camera trigger - 50Hz
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*/
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void Rover::update_trigger(void)
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{
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2013-07-14 20:57:00 -03:00
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#if CAMERA == ENABLED
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2017-07-25 23:45:55 -03:00
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camera.update_trigger();
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2013-07-14 20:57:00 -03:00
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#endif
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2012-04-30 04:17:14 -03:00
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}
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2015-05-12 02:03:23 -03:00
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void Rover::update_alt()
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2014-02-23 18:25:50 -04:00
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{
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2015-01-05 07:27:45 -04:00
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barometer.update();
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2014-02-23 18:25:50 -04:00
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Baro();
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}
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}
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2013-06-03 21:37:05 -03:00
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/*
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check for GCS failsafe - 10Hz
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::gcs_failsafe_check(void)
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2012-04-30 04:17:14 -03:00
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{
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2015-05-24 19:59:16 -03:00
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if (g.fs_gcs_enabled) {
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2013-09-15 19:23:21 -03:00
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failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
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}
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2013-06-03 21:37:05 -03:00
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}
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2012-04-30 04:17:14 -03:00
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2013-06-03 21:37:05 -03:00
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/*
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check for new compass data - 10Hz
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::update_compass(void)
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2013-06-03 21:37:05 -03:00
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{
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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// update offsets
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2014-01-14 00:10:13 -04:00
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if (should_log(MASK_LOG_COMPASS)) {
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2015-01-16 18:42:14 -04:00
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DataFlash.Log_Write_Compass(compass);
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2013-06-03 21:37:05 -03:00
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}
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}
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}
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2012-04-30 04:17:14 -03:00
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2013-06-03 21:37:05 -03:00
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/*
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log some key data - 10Hz
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::update_logging1(void)
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2013-06-03 21:37:05 -03:00
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{
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2016-12-20 09:26:57 -04:00
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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2013-06-03 21:37:05 -03:00
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Log_Write_Attitude();
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2016-12-20 09:26:57 -04:00
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}
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2015-05-24 19:59:16 -03:00
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2017-12-07 08:42:06 -04:00
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if (should_log(MASK_LOG_THR)) {
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Log_Write_Throttle();
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2017-04-03 17:46:12 -03:00
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Log_Write_Beacon();
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2017-08-16 07:57:42 -03:00
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Log_Write_Proximity();
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2016-12-20 09:26:57 -04:00
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}
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2013-06-03 21:37:05 -03:00
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2016-12-20 09:26:57 -04:00
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|
if (should_log(MASK_LOG_NTUN)) {
|
2013-06-03 21:37:05 -03:00
|
|
|
Log_Write_Nav_Tuning();
|
2016-12-20 09:26:57 -04:00
|
|
|
}
|
2013-12-29 19:24:01 -04:00
|
|
|
}
|
2013-12-15 20:14:58 -04:00
|
|
|
|
2013-12-29 19:24:01 -04:00
|
|
|
/*
|
|
|
|
log some key data - 10Hz
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::update_logging2(void)
|
2013-12-29 19:24:01 -04:00
|
|
|
{
|
2014-01-14 00:10:13 -04:00
|
|
|
if (should_log(MASK_LOG_STEERING)) {
|
2017-12-07 21:59:52 -04:00
|
|
|
Log_Write_Steering();
|
2013-12-15 20:14:58 -04:00
|
|
|
}
|
2013-12-29 19:24:01 -04:00
|
|
|
|
2016-12-20 09:26:57 -04:00
|
|
|
if (should_log(MASK_LOG_RC)) {
|
2013-12-29 19:24:01 -04:00
|
|
|
Log_Write_RC();
|
2017-07-11 23:02:51 -03:00
|
|
|
Log_Write_WheelEncoder();
|
2016-12-20 09:26:57 -04:00
|
|
|
}
|
2016-04-04 20:59:09 -03:00
|
|
|
|
|
|
|
if (should_log(MASK_LOG_IMU)) {
|
|
|
|
DataFlash.Log_Write_Vibration(ins);
|
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2013-07-14 20:57:00 -03:00
|
|
|
|
|
|
|
/*
|
|
|
|
update aux servo mappings
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::update_aux(void)
|
2013-07-14 20:57:00 -03:00
|
|
|
{
|
2017-01-06 06:31:10 -04:00
|
|
|
SRV_Channels::enable_aux_servos();
|
2013-07-14 20:57:00 -03:00
|
|
|
}
|
|
|
|
|
2013-06-03 21:37:05 -03:00
|
|
|
/*
|
|
|
|
once a second events
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::one_second_loop(void)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2015-05-24 19:59:16 -03:00
|
|
|
// send a heartbeat
|
2017-07-07 22:16:56 -03:00
|
|
|
gcs().send_message(MSG_HEARTBEAT);
|
2013-06-03 03:53:10 -03:00
|
|
|
|
|
|
|
// allow orientation change at runtime to aid config
|
|
|
|
ahrs.set_orientation();
|
2013-06-03 06:33:59 -03:00
|
|
|
|
|
|
|
set_control_channels();
|
2013-06-03 21:37:05 -03:00
|
|
|
|
|
|
|
// cope with changes to aux functions
|
2013-07-14 20:57:00 -03:00
|
|
|
update_aux();
|
2013-06-03 21:37:05 -03:00
|
|
|
|
2015-10-30 02:56:41 -03:00
|
|
|
// update notify flags
|
|
|
|
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
|
|
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
|
|
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
|
|
|
|
|
2013-06-03 21:37:05 -03:00
|
|
|
// cope with changes to mavlink system ID
|
|
|
|
mavlink_system.sysid = g.sysid_this_mav;
|
|
|
|
|
2015-05-12 04:00:25 -03:00
|
|
|
static uint8_t counter;
|
2013-06-03 21:37:05 -03:00
|
|
|
|
|
|
|
counter++;
|
|
|
|
|
|
|
|
// write perf data every 20s
|
2013-10-28 03:21:35 -03:00
|
|
|
if (counter % 10 == 0) {
|
|
|
|
if (scheduler.debug() != 0) {
|
2017-02-20 09:26:00 -04:00
|
|
|
hal.console->printf("G_Dt_max=%u\n", G_Dt_max);
|
2013-10-28 03:21:35 -03:00
|
|
|
}
|
2016-12-20 09:26:57 -04:00
|
|
|
if (should_log(MASK_LOG_PM)) {
|
2013-06-03 21:37:05 -03:00
|
|
|
Log_Write_Performance();
|
2016-12-20 09:26:57 -04:00
|
|
|
}
|
2013-11-01 20:40:29 -03:00
|
|
|
G_Dt_max = 0;
|
2013-06-03 21:37:05 -03:00
|
|
|
resetPerfData();
|
|
|
|
}
|
|
|
|
|
|
|
|
// save compass offsets once a minute
|
2015-05-24 19:59:16 -03:00
|
|
|
if (counter >= 60) {
|
2013-06-03 21:37:05 -03:00
|
|
|
if (g.compass_enabled) {
|
|
|
|
compass.save_offsets();
|
|
|
|
}
|
|
|
|
counter = 0;
|
|
|
|
}
|
2015-05-06 23:11:43 -03:00
|
|
|
|
2017-05-04 06:10:05 -03:00
|
|
|
// update home position if not soft armed and gps position has
|
|
|
|
// changed. Update every 1s at most
|
|
|
|
if (!hal.util->get_soft_armed() &&
|
|
|
|
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
|
|
|
|
update_home();
|
|
|
|
}
|
|
|
|
|
2016-10-27 23:20:56 -03:00
|
|
|
// update error mask of sensors and subsystems. The mask uses the
|
|
|
|
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
|
|
|
|
// indicates that the sensor or subsystem is present but not
|
|
|
|
// functioning correctly
|
|
|
|
update_sensor_status_flags();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-08-06 09:50:52 -03:00
|
|
|
void Rover::dataflash_periodic(void)
|
|
|
|
{
|
|
|
|
DataFlash.periodic_tasks();
|
|
|
|
}
|
|
|
|
|
2017-10-03 21:12:49 -03:00
|
|
|
void Rover::ins_periodic()
|
|
|
|
{
|
|
|
|
ins.periodic();
|
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::update_GPS_50Hz(void)
|
2015-05-24 19:59:16 -03:00
|
|
|
{
|
2015-05-12 04:00:25 -03:00
|
|
|
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
|
2015-05-24 19:59:16 -03:00
|
|
|
gps.update();
|
2013-12-21 07:27:06 -04:00
|
|
|
|
2016-12-20 09:26:57 -04:00
|
|
|
for (uint8_t i=0; i < gps.num_sensors(); i++) {
|
2014-04-09 21:30:15 -03:00
|
|
|
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
|
|
|
|
last_gps_reading[i] = gps.last_message_time_ms(i);
|
|
|
|
if (should_log(MASK_LOG_GPS)) {
|
2016-05-03 19:26:20 -03:00
|
|
|
DataFlash.Log_Write_GPS(gps, i);
|
2014-04-09 21:30:15 -03:00
|
|
|
}
|
2013-04-28 01:57:19 -03:00
|
|
|
}
|
|
|
|
}
|
2013-12-29 19:33:32 -04:00
|
|
|
}
|
|
|
|
|
2013-04-28 01:57:19 -03:00
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::update_GPS_10Hz(void)
|
2015-05-24 19:59:16 -03:00
|
|
|
{
|
2014-01-02 22:10:52 -04:00
|
|
|
have_position = ahrs.get_position(current_loc);
|
2012-11-28 07:44:03 -04:00
|
|
|
|
2017-06-05 04:55:24 -03:00
|
|
|
if (gps.last_message_time_ms() != last_gps_msg_ms) {
|
2015-10-30 02:20:28 -03:00
|
|
|
last_gps_msg_ms = gps.last_message_time_ms();
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2017-06-05 04:55:24 -03:00
|
|
|
// set system time if necessary
|
|
|
|
set_system_time_from_GPS();
|
2013-07-14 20:57:00 -03:00
|
|
|
#if CAMERA == ENABLED
|
2017-08-03 06:41:21 -03:00
|
|
|
camera.update();
|
2015-05-24 19:59:16 -03:00
|
|
|
#endif
|
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::update_current_mode(void)
|
2015-05-24 19:59:16 -03:00
|
|
|
{
|
2017-07-18 23:19:08 -03:00
|
|
|
control_mode->update();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2016-01-19 01:26:14 -04:00
|
|
|
AP_HAL_MAIN_CALLBACKS(&rover);
|