2011-09-08 22:29:39 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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2012-08-21 23:19:51 -03:00
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* The init_ardupilot function processes everything we need for an in - air restart
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* We will determine later if we are actually on the ground and process a
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* ground start in that case.
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*
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2011-09-08 22:29:39 -03:00
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*****************************************************************************/
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#if CLI_ENABLED == ENABLED
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// Functions called from the top-level menu
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2012-08-21 23:19:51 -03:00
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
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static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
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static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
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2012-11-24 03:14:26 -04:00
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static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
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2011-09-08 22:29:39 -03:00
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of print_f that reads from flash memory
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2012-08-21 23:19:51 -03:00
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
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2011-09-08 22:29:39 -03:00
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{
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2012-11-21 01:19:16 -04:00
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cliSerial->printf_P(PSTR("Commands:\n"
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2012-08-21 23:19:51 -03:00
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" logs log readback/setup mode\n"
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" setup setup mode\n"
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" test test mode\n"
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2012-11-24 03:14:26 -04:00
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" reboot reboot to flight mode\n"
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2012-08-21 23:19:51 -03:00
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"\n"));
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return(0);
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2011-09-08 22:29:39 -03:00
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}
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// Command/function table for the top-level menu.
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static const struct Menu::command main_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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2012-08-21 23:19:51 -03:00
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{"logs", process_logs},
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{"setup", setup_mode},
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{"test", test_mode},
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2012-11-24 03:14:26 -04:00
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{"reboot", reboot_board},
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2012-08-21 23:19:51 -03:00
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{"help", main_menu_help},
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2011-09-08 22:29:39 -03:00
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};
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// Create the top-level menu object.
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2011-09-17 15:25:31 -03:00
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MENU(main_menu, THISFIRMWARE, main_menu_commands);
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2011-09-08 22:29:39 -03:00
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2012-11-24 03:14:26 -04:00
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static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
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{
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reboot_apm();
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return 0;
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}
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2011-10-27 04:35:25 -03:00
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// the user wants the CLI. It never exits
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2012-12-04 18:22:21 -04:00
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static void run_cli(AP_HAL::UARTDriver *port)
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2011-10-27 04:35:25 -03:00
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{
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2011-12-21 08:25:51 -04:00
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// disable the failsafe code in the CLI
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2012-12-04 18:22:21 -04:00
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hal.scheduler->register_timer_failsafe(NULL,1);
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2011-12-21 08:25:51 -04:00
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2012-11-21 01:19:16 -04:00
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cliSerial = port;
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Menu::set_port(port);
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port->set_blocking_writes(true);
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2011-10-27 04:35:25 -03:00
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while (1) {
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main_menu.run();
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}
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}
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2011-09-08 22:29:39 -03:00
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#endif // CLI_ENABLED
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static void init_ardupilot()
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{
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2011-11-20 05:31:45 -04:00
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#if USB_MUX_PIN > 0
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2011-11-25 19:11:36 -04:00
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// on the APM2 board we have a mux thet switches UART0 between
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2011-11-20 05:31:45 -04:00
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// USB and the board header. If the right ArduPPM firmware is
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// installed we can detect if USB is connected using the
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// USB_MUX_PIN
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pinMode(USB_MUX_PIN, INPUT);
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usb_connected = !digitalRead(USB_MUX_PIN);
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if (!usb_connected) {
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// USB is not connected, this means UART0 may be a Xbee, with
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// its darned bricking problem. We can't write to it for at
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// least one second after powering up. Simplest solution for
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// now is to delay for 1 second. Something more elegant may be
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// added later
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delay(1000);
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}
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#endif
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2012-08-21 23:19:51 -03:00
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// Console serial port
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//
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// The console port buffers are defined to be sufficiently large to support
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// the MAVLink protocol efficiently
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//
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2012-12-04 18:22:21 -04:00
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hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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// GPS serial port.
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//
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2011-09-17 23:15:23 -03:00
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// standard gps running
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2012-12-04 18:22:21 -04:00
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hal.uartB->begin(38400, 256, 16);
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2011-09-08 22:29:39 -03:00
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2012-11-21 01:19:16 -04:00
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cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
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2012-08-21 23:19:51 -03:00
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"\n\nFree RAM: %u\n"),
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2011-10-07 19:12:27 -03:00
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memcheck_available_memory());
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2011-09-08 22:29:39 -03:00
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2011-11-13 00:10:30 -04:00
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//
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2012-12-04 18:22:21 -04:00
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// Check the EEPROM format version before loading any parameters from EEPROM
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2012-08-21 23:19:51 -03:00
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//
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2012-02-12 04:20:56 -04:00
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load_parameters();
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2011-09-08 22:29:39 -03:00
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// keep a record of how many resets have happened. This can be
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// used to detect in-flight resets
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g.num_resets.set_and_save(g.num_resets+1);
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2012-08-21 23:19:51 -03:00
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// init the GCS
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2012-12-04 18:22:21 -04:00
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gcs0.init(hal.uartA);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
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2011-11-20 05:31:45 -04:00
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#if USB_MUX_PIN > 0
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if (!usb_connected) {
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// we are not connected via USB, re-init UART0 with right
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// baud rate
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2012-12-04 18:22:21 -04:00
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hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
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2011-11-20 05:31:45 -04:00
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}
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#else
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// we have a 2nd serial port for telemetry
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2012-12-04 18:22:21 -04:00
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hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD),
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128, SERIAL_BUFSIZE);
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gcs3.init(hal.uartC);
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2011-11-20 05:31:45 -04:00
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#endif
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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mavlink_system.sysid = g.sysid_this_mav;
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2011-09-08 22:29:39 -03:00
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2011-12-21 08:29:22 -04:00
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#if LOGGING_ENABLED == ENABLED
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2012-12-08 00:46:10 -04:00
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DataFlash.Init();
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2012-12-08 00:35:49 -04:00
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if (!DataFlash.CardInserted()) {
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2011-12-28 00:53:14 -04:00
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gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
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g.log_bitmask.set(0);
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2012-12-08 00:35:49 -04:00
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} else if (DataFlash.NeedErase()) {
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2011-12-17 19:19:52 -04:00
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gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
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2012-08-21 23:19:51 -03:00
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do_erase_logs();
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2012-12-04 18:22:21 -04:00
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gcs0.reset_cli_timeout();
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2012-08-21 23:19:51 -03:00
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}
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if (g.log_bitmask != 0) {
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2012-12-08 00:35:49 -04:00
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DataFlash.start_new_log();
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2011-12-17 19:19:52 -04:00
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}
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2011-12-21 08:29:22 -04:00
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#endif
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2011-09-08 22:29:39 -03:00
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#if HIL_MODE != HIL_MODE_ATTITUDE
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2011-11-12 22:47:54 -04:00
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2012-08-21 23:19:51 -03:00
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#if CONFIG_ADC == ENABLED
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2012-12-04 18:22:21 -04:00
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adc.Init(); // APM ADC library initialization
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2012-08-21 23:19:51 -03:00
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#endif
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2011-11-12 22:47:54 -04:00
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2012-12-04 18:22:21 -04:00
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barometer.init();
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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if (g.compass_enabled==true) {
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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if (!compass.init() || !compass.read()) {
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2012-11-21 01:19:16 -04:00
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cliSerial->println_P(PSTR("Compass initialisation failed!"));
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2011-09-08 22:29:39 -03:00
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g.compass_enabled = false;
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} else {
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2012-03-11 05:13:31 -03:00
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ahrs.set_compass(&compass);
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2011-09-08 22:29:39 -03:00
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}
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2012-08-21 23:19:51 -03:00
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}
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2011-09-08 22:29:39 -03:00
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#endif
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2012-08-10 19:57:44 -03:00
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// give AHRS the airspeed sensor
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ahrs.set_airspeed(&airspeed);
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2012-08-21 23:34:40 -03:00
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#if APM_CONTROL == ENABLED
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// the axis controllers need access to the AHRS system
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g.rollController.set_ahrs(&ahrs);
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g.pitchController.set_ahrs(&ahrs);
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g.yawController.set_ahrs(&ahrs);
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#endif
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// Do GPS init
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g_gps = &g_gps_driver;
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2012-06-10 03:36:18 -03:00
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// GPS Initialization
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2012-12-17 22:31:05 -04:00
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g_gps->init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_4G);
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
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mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
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mavlink_system.type = MAV_TYPE_FIXED_WING;
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2011-09-08 22:29:39 -03:00
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2012-12-04 18:22:21 -04:00
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// Set initial values for no override
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rc_override_active = hal.rcin->set_overrides(rc_override, 8);
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2011-11-13 00:10:30 -04:00
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2012-08-21 23:19:51 -03:00
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED
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pinMode(A_LED_PIN, OUTPUT); // GPS status LED
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pinMode(B_LED_PIN, OUTPUT); // GPS status LED
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2011-11-13 04:47:35 -04:00
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#if CONFIG_RELAY == ENABLED
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2012-12-04 18:22:21 -04:00
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relay.init();
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2011-11-13 04:47:35 -04:00
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#endif
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2011-12-16 15:28:25 -04:00
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#if FENCE_TRIGGERED_PIN > 0
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pinMode(FENCE_TRIGGERED_PIN, OUTPUT);
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digitalWrite(FENCE_TRIGGERED_PIN, LOW);
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#endif
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2011-12-22 20:11:59 -04:00
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/*
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2012-08-21 23:19:51 -03:00
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* setup the 'main loop is dead' check. Note that this relies on
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* the RC library being initialised.
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2011-12-22 20:11:59 -04:00
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*/
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2012-12-04 18:22:21 -04:00
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hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
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2011-12-22 20:11:59 -04:00
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2012-11-21 01:19:16 -04:00
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const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
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cliSerial->println_P(msg);
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#if USB_MUX_PIN == 0
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2012-12-04 18:22:21 -04:00
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hal.uartC->println_P(msg);
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2012-11-21 01:19:16 -04:00
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#endif
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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if (ENABLE_AIR_START == 1) {
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// Perform an air start and get back to flying
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gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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// Get necessary data from EEPROM
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//----------------
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//read_EEPROM_airstart_critical();
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2011-09-08 22:29:39 -03:00
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#if HIL_MODE != HIL_MODE_ATTITUDE
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2012-11-29 07:56:40 -04:00
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ins.init(AP_InertialSensor::WARM_START,
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ins_sample_rate,
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2012-12-04 18:22:21 -04:00
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flash_leds);
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2012-07-28 07:50:40 -03:00
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2012-12-04 18:22:21 -04:00
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ahrs.init();
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2012-08-21 23:19:51 -03:00
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ahrs.set_fly_forward(true);
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2011-09-08 22:29:39 -03:00
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#endif
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2012-08-21 23:19:51 -03:00
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// This delay is important for the APM_RC library to work.
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// We need some time for the comm between the 328 and 1280 to be established.
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int old_pulse = 0;
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2012-12-04 18:22:21 -04:00
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while (millis()<=1000
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&& (abs(old_pulse - hal.rcin->read(g.flight_mode_channel)) > 5
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|| hal.rcin->read(g.flight_mode_channel) == 1000
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|| hal.rcin->read(g.flight_mode_channel) == 1200))
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{
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old_pulse = hal.rcin->read(g.flight_mode_channel);
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2012-08-21 23:19:51 -03:00
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delay(25);
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}
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g_gps->update();
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Startup(TYPE_AIRSTART_MSG);
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reload_commands_airstart(); // Get set to resume AUTO from where we left off
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}else {
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startup_ground();
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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}
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2011-09-08 22:29:39 -03:00
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set_mode(MANUAL);
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2012-08-21 23:19:51 -03:00
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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2011-09-08 22:29:39 -03:00
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}
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//********************************************************************************
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//This function does all the calibrations, etc. that we need during a ground start
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//********************************************************************************
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static void startup_ground(void)
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{
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set_mode(INITIALISING);
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2012-08-21 23:19:51 -03:00
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
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2011-09-08 22:29:39 -03:00
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2012-08-21 23:19:51 -03:00
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#if (GROUND_START_DELAY > 0)
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
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|
delay(GROUND_START_DELAY * 1000);
|
|
|
|
#endif
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
// Makes the servos wiggle
|
|
|
|
// step 1 = 1 wiggle
|
|
|
|
// -----------------------
|
|
|
|
demo_servos(1);
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-11-05 00:32:13 -04:00
|
|
|
//INS ground start
|
2012-08-21 23:19:51 -03:00
|
|
|
//------------------------
|
2011-09-08 22:29:39 -03:00
|
|
|
//
|
2012-11-05 00:32:13 -04:00
|
|
|
startup_INS_ground(false);
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
// read the radio to set trims
|
|
|
|
// ---------------------------
|
|
|
|
trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
// Save the settings for in-air restart
|
|
|
|
// ------------------------------------
|
|
|
|
//save_EEPROM_groundstart();
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
// initialize commands
|
|
|
|
// -------------------
|
|
|
|
init_commands();
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
// Makes the servos wiggle - 3 times signals ready to fly
|
|
|
|
// -----------------------
|
|
|
|
demo_servos(3);
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-03-30 03:06:03 -03:00
|
|
|
// 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
|
2012-12-04 18:22:21 -04:00
|
|
|
hal.uartC->set_blocking_writes(false);
|
2012-03-30 03:06:03 -03:00
|
|
|
if (gcs3.initialised) {
|
2012-12-04 18:22:21 -04:00
|
|
|
hal.uartC->set_blocking_writes(false);
|
2012-03-30 03:06:03 -03:00
|
|
|
}
|
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
2012-11-30 17:15:48 -04:00
|
|
|
static void set_mode(enum FlightMode mode)
|
2011-09-08 22:29:39 -03:00
|
|
|
{
|
2012-08-21 23:19:51 -03:00
|
|
|
if(control_mode == mode) {
|
|
|
|
// don't switch modes if we are already in the correct mode.
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
if(g.auto_trim > 0 && control_mode == MANUAL)
|
|
|
|
trim_control_surfaces();
|
|
|
|
|
|
|
|
control_mode = mode;
|
|
|
|
crash_timer = 0;
|
|
|
|
|
|
|
|
switch(control_mode)
|
|
|
|
{
|
|
|
|
case INITIALISING:
|
|
|
|
case MANUAL:
|
|
|
|
case CIRCLE:
|
|
|
|
case STABILIZE:
|
|
|
|
case FLY_BY_WIRE_A:
|
|
|
|
case FLY_BY_WIRE_B:
|
|
|
|
break;
|
|
|
|
|
|
|
|
case AUTO:
|
|
|
|
update_auto();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case RTL:
|
|
|
|
do_RTL();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case LOITER:
|
|
|
|
do_loiter_at_location();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case GUIDED:
|
|
|
|
set_guided_WP();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
do_RTL();
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2012-08-27 03:26:53 -03:00
|
|
|
// if in an auto-throttle mode, start with throttle suppressed for
|
|
|
|
// safety. suppress_throttle() will unsupress it when appropriate
|
|
|
|
if (control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) {
|
|
|
|
throttle_suppressed = true;
|
|
|
|
}
|
|
|
|
|
2012-08-21 23:19:51 -03:00
|
|
|
if (g.log_bitmask & MASK_LOG_MODE)
|
|
|
|
Log_Write_Mode(control_mode);
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static void check_long_failsafe()
|
|
|
|
{
|
2012-08-21 23:19:51 -03:00
|
|
|
// only act on changes
|
|
|
|
// -------------------
|
|
|
|
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS) {
|
|
|
|
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
|
|
|
|
failsafe_long_on_event(FAILSAFE_LONG);
|
|
|
|
}
|
|
|
|
if(!rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
|
|
|
|
failsafe_long_on_event(FAILSAFE_LONG);
|
|
|
|
}
|
|
|
|
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
|
|
|
|
failsafe_long_on_event(FAILSAFE_GCS);
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
// We do not change state but allow for user to change mode
|
|
|
|
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
|
|
|
|
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
|
|
|
|
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
|
|
|
|
}
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static void check_short_failsafe()
|
|
|
|
{
|
2012-08-21 23:19:51 -03:00
|
|
|
// only act on changes
|
|
|
|
// -------------------
|
|
|
|
if(failsafe == FAILSAFE_NONE) {
|
|
|
|
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
|
|
|
|
failsafe_short_on_event(FAILSAFE_SHORT);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if(failsafe == FAILSAFE_SHORT) {
|
|
|
|
if(!ch3_failsafe) {
|
|
|
|
failsafe_short_off_event();
|
|
|
|
}
|
|
|
|
}
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
2012-11-05 00:32:13 -04:00
|
|
|
static void startup_INS_ground(bool force_accel_level)
|
2011-09-08 22:29:39 -03:00
|
|
|
{
|
2011-09-18 01:00:49 -03:00
|
|
|
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
|
2012-08-21 23:19:51 -03:00
|
|
|
mavlink_delay(500);
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-11-05 00:32:13 -04:00
|
|
|
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
|
2012-08-21 23:19:51 -03:00
|
|
|
// -----------------------
|
|
|
|
demo_servos(2);
|
2012-11-05 00:32:13 -04:00
|
|
|
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move plane"));
|
2012-08-21 23:19:51 -03:00
|
|
|
mavlink_delay(1000);
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-11-29 07:56:40 -04:00
|
|
|
ins.init(AP_InertialSensor::COLD_START,
|
|
|
|
ins_sample_rate,
|
2012-12-04 18:22:21 -04:00
|
|
|
flash_leds);
|
2012-11-25 06:53:27 -04:00
|
|
|
#if HIL_MODE == HIL_MODE_DISABLED
|
2012-03-28 22:39:28 -03:00
|
|
|
if (force_accel_level || g.manual_level == 0) {
|
|
|
|
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
|
|
|
|
// levelling on each boot, and instead rely on the user to do
|
|
|
|
// it once via the ground station
|
2012-12-04 18:22:21 -04:00
|
|
|
ins.init_accel(flash_leds);
|
2012-03-28 22:39:28 -03:00
|
|
|
}
|
2012-11-25 06:53:27 -04:00
|
|
|
#endif
|
2012-08-21 23:19:51 -03:00
|
|
|
ahrs.set_fly_forward(true);
|
2012-03-11 05:13:31 -03:00
|
|
|
ahrs.reset();
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-09-15 05:47:18 -03:00
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
2012-08-21 23:19:51 -03:00
|
|
|
// read Baro pressure at ground
|
|
|
|
//-----------------------------
|
|
|
|
init_barometer();
|
2011-09-08 22:29:39 -03:00
|
|
|
|
2012-07-15 22:21:50 -03:00
|
|
|
if (airspeed.enabled()) {
|
2011-11-20 21:05:43 -04:00
|
|
|
// initialize airspeed sensor
|
|
|
|
// --------------------------
|
|
|
|
zero_airspeed();
|
|
|
|
} else {
|
2012-07-15 22:21:50 -03:00
|
|
|
gcs_send_text_P(SEVERITY_LOW,PSTR("NO airspeed"));
|
2011-11-20 21:05:43 -04:00
|
|
|
}
|
|
|
|
|
2012-09-15 05:47:18 -03:00
|
|
|
#endif
|
2012-11-05 00:32:13 -04:00
|
|
|
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate INS ready
|
2012-08-21 23:19:51 -03:00
|
|
|
digitalWrite(A_LED_PIN, LED_OFF);
|
|
|
|
digitalWrite(C_LED_PIN, LED_OFF);
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
static void update_GPS_light(void)
|
|
|
|
{
|
2012-08-21 23:19:51 -03:00
|
|
|
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
|
|
|
|
// ---------------------------------------------------------------------
|
|
|
|
switch (g_gps->status()) {
|
|
|
|
case (2):
|
|
|
|
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
|
|
|
|
break;
|
|
|
|
|
|
|
|
case (1):
|
|
|
|
if (g_gps->valid_read == true) {
|
|
|
|
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
|
|
|
|
if (GPS_light) {
|
|
|
|
digitalWrite(C_LED_PIN, LED_OFF);
|
|
|
|
} else {
|
|
|
|
digitalWrite(C_LED_PIN, LED_ON);
|
|
|
|
}
|
|
|
|
g_gps->valid_read = false;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
digitalWrite(C_LED_PIN, LED_OFF);
|
|
|
|
break;
|
|
|
|
}
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
static void resetPerfData(void) {
|
2012-08-21 23:19:51 -03:00
|
|
|
mainLoop_count = 0;
|
|
|
|
G_Dt_max = 0;
|
|
|
|
ahrs.renorm_range_count = 0;
|
|
|
|
ahrs.renorm_blowup_count = 0;
|
|
|
|
gps_fix_count = 0;
|
|
|
|
pmTest1 = 0;
|
|
|
|
perf_mon_timer = millis();
|
2011-09-08 22:29:39 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
2012-08-21 23:19:51 -03:00
|
|
|
* map from a 8 bit EEPROM baud rate to a real baud rate
|
2011-09-08 22:29:39 -03:00
|
|
|
*/
|
|
|
|
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
|
|
|
|
{
|
|
|
|
switch (rate) {
|
2012-02-04 04:06:22 -04:00
|
|
|
case 1: return 1200;
|
|
|
|
case 2: return 2400;
|
|
|
|
case 4: return 4800;
|
2011-09-08 22:29:39 -03:00
|
|
|
case 9: return 9600;
|
|
|
|
case 19: return 19200;
|
|
|
|
case 38: return 38400;
|
|
|
|
case 57: return 57600;
|
|
|
|
case 111: return 111100;
|
|
|
|
case 115: return 115200;
|
|
|
|
}
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
|
2011-09-08 22:29:39 -03:00
|
|
|
return default_baud;
|
|
|
|
}
|
2011-11-20 05:31:45 -04:00
|
|
|
|
|
|
|
|
|
|
|
#if USB_MUX_PIN > 0
|
|
|
|
static void check_usb_mux(void)
|
|
|
|
{
|
|
|
|
bool usb_check = !digitalRead(USB_MUX_PIN);
|
|
|
|
if (usb_check == usb_connected) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
// the user has switched to/from the telemetry port
|
|
|
|
usb_connected = usb_check;
|
|
|
|
if (usb_connected) {
|
2012-12-04 18:22:21 -04:00
|
|
|
hal.uartA->begin(SERIAL0_BAUD);
|
2011-11-20 05:31:45 -04:00
|
|
|
} else {
|
2012-12-04 18:22:21 -04:00
|
|
|
hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
|
2011-11-20 05:31:45 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
2011-12-13 03:19:41 -04:00
|
|
|
|
|
|
|
|
|
|
|
/*
|
2012-08-21 23:19:51 -03:00
|
|
|
* called by gyro/accel init to flash LEDs so user
|
|
|
|
* has some mesmerising lights to watch while waiting
|
2011-12-13 03:19:41 -04:00
|
|
|
*/
|
|
|
|
void flash_leds(bool on)
|
|
|
|
{
|
2012-08-21 23:19:51 -03:00
|
|
|
digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
|
|
|
|
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
|
2011-12-13 03:19:41 -04:00
|
|
|
}
|
2012-03-01 00:21:32 -04:00
|
|
|
|
|
|
|
/*
|
|
|
|
* Read Vcc vs 1.1v internal reference
|
|
|
|
*/
|
|
|
|
uint16_t board_voltage(void)
|
|
|
|
{
|
2012-12-04 18:22:21 -04:00
|
|
|
return vcc_pin->read_latest();
|
2012-03-01 00:21:32 -04:00
|
|
|
}
|
2012-07-06 06:22:19 -03:00
|
|
|
|
2012-09-09 22:42:30 -03:00
|
|
|
|
|
|
|
/*
|
|
|
|
force a software reset of the APM
|
|
|
|
*/
|
|
|
|
static void reboot_apm(void)
|
|
|
|
{
|
2012-12-04 18:22:21 -04:00
|
|
|
hal.scheduler->reboot();
|
2012-09-09 22:42:30 -03:00
|
|
|
while (1);
|
|
|
|
}
|
2012-09-18 00:38:56 -03:00
|
|
|
|
|
|
|
|
|
|
|
static void
|
|
|
|
print_flight_mode(uint8_t mode)
|
|
|
|
{
|
|
|
|
switch (mode) {
|
|
|
|
case MANUAL:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("Manual"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case CIRCLE:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("Circle"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case STABILIZE:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("Stabilize"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case FLY_BY_WIRE_A:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("FBW_A"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case FLY_BY_WIRE_B:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("FBW_B"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case AUTO:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("AUTO"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case RTL:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("RTL"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
case LOITER:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("Loiter"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
default:
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->println_P(PSTR("---"));
|
2012-09-18 00:38:56 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
2012-09-18 00:48:08 -03:00
|
|
|
|
|
|
|
static void print_comma(void)
|
|
|
|
{
|
2012-11-21 01:19:16 -04:00
|
|
|
cliSerial->print_P(PSTR(","));
|
2012-09-18 00:48:08 -03:00
|
|
|
}
|
2012-12-04 18:22:21 -04:00
|
|
|
|
|
|
|
|