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import Tools directory
2011-09-08 22:31:32 -03:00
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduPilotMega (unstable development version)
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short
Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi
Please contribute your ideas!
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
// AVR runtime
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <math.h>
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_BinComm.h>
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <AP_GPS.h> // ArduPilot GPS library
#include <Wire.h>
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_IMU.h> // ArduPilot Mega IMU Library
#include <AP_DCM.h> // ArduPilot Mega DCM Library
#include <PID.h> // PID library
#include <GCS_MAVLink.h> // MAVLink GCS definitions
// Configuration
#include "config.h"
// Local modules
#include "defines.h"
#include "global_data.h"
#include "GCS.h"
#include "HIL.h"
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial); // FTDI/console
FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port
////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
//
// There are three basic options related to flight sensor selection.
//
// - Normal flight mode. Real sensors are used.
// - HIL Attitude mode. Most sensors are disabled, as the HIL
// protocol supplies attitude information directly.
// - HIL Sensors mode. Synthetic sensors are configured that
// supply data from the simulation.
//
#if HIL_MODE == HIL_MODE_NONE
// real sensors
AP_ADC_ADS7844 adc;
APM_BMP085_Class pitot; //TODO: 'pitot' is not an appropriate name for a static pressure sensor
AP_Compass_HMC5843 compass;
// real GPS selection
#if GPS_PROTOCOL == GPS_PROTOCOL_NMEA
AP_GPS_NMEA gps(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
AP_GPS_SIRF gps(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
AP_GPS_UBLOX gps(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
AP_GPS_MTK gps(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_NONE gps(NULL);
#else
#error Unrecognised GPS_PROTOCOL setting.
#endif // GPS PROTOCOL
#elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators
AP_ADC_HIL adc;
APM_BMP085_HIL_Class pitot;
AP_Compass_HIL compass;
AP_GPS_HIL gps(NULL);
#elif HIL_MODE == HIL_MODE_ATTITUDE
AP_DCM_HIL dcm;
AP_GPS_HIL gps(NULL);
#else
#error Unrecognised HIL_MODE setting.
#endif // HIL MODE
#if HIL_MODE != HIL_MODE_DISABLED
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK
HIL_MAVLINK hil;
#elif HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
HIL_XPLANE hil;
#endif // HIL PROTOCOL
#endif
#if HIL_MODE != HIL_MODE_ATTITUDE
AP_IMU imu(&adc,getAddress(PARAM_IMU_OFFSET_0));
AP_DCM dcm(&imu, &gps, &compass);
#endif
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
//
#if GCS_PROTOCOL == GCS_PROTOCOL_STANDARD
// create an instance of the standard GCS.
BinComm::MessageHandler GCS_MessageHandlers[] = {
{BinComm::MSG_ANY, receive_message, NULL},
{BinComm::MSG_NULL, NULL, NULL}
};
GCS_STANDARD gcs(GCS_MessageHandlers);
#elif GCS_PROTOCOL == GCS_PROTOCOL_LEGACY
GCS_LEGACY gcs;
#elif GCS_PROTOCOL == GCS_PROTOCOL_DEBUGTERMINAL
GCS_DEBUGTERMINAL gcs;
#elif GCS_PROTOCOL == GCS_PROTOCOL_XPLANE
GCS_XPLANE gcs; // Should become a HIL
#elif GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
GCS_MAVLINK gcs;
#else
// If we are not using a GCS, we need a stub that does nothing.
GCS_Class gcs;
#endif
////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////
byte control_mode = MANUAL;
boolean failsafe = false; // did our throttle dip below the failsafe value?
boolean ch3_failsafe = false;
byte crash_timer;
byte oldSwitchPosition; // for remembering the control mode switch
boolean reverse_switch = 1; // do we read the reversing switches after startup?
byte ground_start_count = 6; // have we achieved first lock and set Home?
int ground_start_avg; // 5 samples to avg speed for ground start
boolean ground_start = false; // have we started on the ground?
const char *comma = ",";
const char* flight_mode_strings[] = {
"Manual",
"Circle",
"Stabilize",
"",
"",
"FBW_A",
"FBW_B",
"",
"",
"",
"Auto",
"RTL",
"Loiter",
"Takeoff",
"Land"};
/* Radio values
Channel assignments
1 Ailerons (rudder if no ailerons)
2 Elevator
3 Throttle
4 Rudder (if we have ailerons)
5 Mode
6 TBD
7 TBD
8 TBD
*/
uint16_t radio_in[8]; // current values from the transmitter - microseconds
uint16_t radio_out[8]; // Send to the PWM library
int16_t servo_out[8]; // current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
uint16_t elevon1_trim = 1500; // TODO: handle in EEProm
uint16_t elevon2_trim = 1500;
uint16_t ch1_temp = 1500; // Used for elevon mixing
uint16_t ch2_temp = 1500;
int reverse_roll = 1;
int reverse_pitch = 1;
int reverse_rudder = 1;
byte mix_mode = 0; // 0 = normal , 1 = elevons
int reverse_elevons = 1;
int reverse_ch1_elevon = 1;
int reverse_ch2_elevon = 1;
// for elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon
float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1?
// PID controllers
PID pidServoRoll(getAddress(PARAM_RLL2SRV_P),PID::STORE_EEPROM_FLOAT);
PID pidServoPitch(getAddress(PARAM_PTCH2SRV_P),PID::STORE_EEPROM_FLOAT);
PID pidServoRudder(getAddress(PARAM_YW2SRV_P),PID::STORE_EEPROM_FLOAT);
PID pidNavRoll(getAddress(PARAM_HDNG2RLL_P),PID::STORE_EEPROM_FLOAT);
PID pidNavPitchAirspeed(getAddress(PARAM_ARSPD2PTCH_P),PID::STORE_EEPROM_FLOAT);
PID pidNavPitchAltitude(getAddress(PARAM_ALT2PTCH_P),PID::STORE_EEPROM_FLOAT);
PID pidTeThrottle(getAddress(PARAM_ENRGY2THR_P),PID::STORE_EEPROM_FLOAT);
PID pidAltitudeThrottle(getAddress(PARAM_ALT2THR_P),PID::STORE_EEPROM_FLOAT);
PID *pid_index[] = {
&pidServoRoll,
&pidServoPitch,
&pidServoRudder,
&pidNavRoll,
&pidNavPitchAirspeed,
&pidNavPitchAltitude,
&pidTeThrottle,
&pidAltitudeThrottle
};
// GPS variables
// -------------
const float t7 = 10000000.0; // used to scale values for EEPROM and flash memory storage
float scaleLongUp; // used to reverse longtitude scaling
float scaleLongDown; // used to reverse longtitude scaling
boolean GPS_light = false; // status of the GPS light
// Location & Navigation
// ---------------------
const float radius_of_earth = 6378100; // meters
const float gravity = 9.81; // meters/ sec^2
long hold_course = -1; // deg * 100 dir of plane
long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
byte command_must_index; // current command memory location
byte command_may_index; // current command memory location
byte command_must_ID; // current command ID
byte command_may_ID; // current command ID
//byte EEPROM_command // 1 = from the list, 0 = generated
// Airspeed
// --------
int airspeed; // m/s * 100
int airspeed_nudge = 0; // m/s * 100 : additional airspeed based on throttle stick position in top 1/2 of range
float airspeed_error; // m/s * 100
long energy_error; // energy state error (kinetic + potential) for altitude hold
long airspeed_energy_error; // kinetic portion of energy error
// Location Errors
// ---------------
long bearing_error; // deg * 100 : 0 to 36000
long altitude_error; // meters * 100 we are off in altitude
float crosstrack_error; // meters we are off trackline
// Sensors
// --------
float airpressure_raw; // Airspeed Sensor - is a float to better handle filtering
int airpressure_offset; // analog air pressure sensor while still
int airpressure; // airspeed as a pressure value
float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1+2, initialized above threshold for filter
float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1+2+3, initialized above threshold for filter
float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1+2+3+4, initialized above threshold for filter
// Pressure Sensor variables
unsigned long abs_press;
unsigned long abs_press_filt;
unsigned long abs_press_gnd;
int ground_temperature;
int temp_unfilt;
long ground_alt; // Ground altitude from gps at startup in centimeters
long press_alt; // Pressure altitude
// flight mode specific
// --------------------
boolean takeoff_complete = true; // Flag for using gps ground course instead of IMU yaw. Set false when takeoff command processes.
boolean land_complete = false;
int landing_pitch; // pitch for landing set by commands
int takeoff_pitch;
int takeoff_altitude;
int landing_distance; // meters;
// Loiter management
// -----------------
long old_target_bearing; // deg * 100
int loiter_total; // deg : how many times to loiter * 360
int loiter_delta; // deg : how far we just turned
int loiter_sum; // deg : how far we have turned around a waypoint
long loiter_time; // millis : when we started LOITER mode
int loiter_time_max; // millis : how long to stay in LOITER mode
// these are the values for navigation control functions
// ----------------------------------------------------
long nav_roll; // deg * 100 : target roll angle
long nav_pitch; // deg * 100 : target pitch angle
long altitude_estimate; // for smoothing GPS output
int throttle_nudge = 0; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
// Waypoints
// ---------
long wp_distance; // meters - distance between plane and next waypoint
long wp_totalDistance; // meters - distance between old and next waypoint
byte next_wp_index; // Current active command index
// repeating event control
// -----------------------
byte event_id; // what to do - see defines
long event_timer; // when the event was asked for in ms
int event_delay; // how long to delay the next firing of event in millis
int event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
int event_value; // per command value, such as PWM for servos
int event_undo_value; // the value used to undo commands
byte repeat_forever;
byte undo_event; // counter for timing the undo
// delay command
// --------------
int delay_timeout = 0; // used to delay commands
long delay_start = 0; // used to delay commands
// 3D Location vectors
// -------------------
struct Location home; // home location
struct Location prev_WP; // last waypoint
struct Location current_loc; // current location
struct Location next_WP; // next waypoint
struct Location tell_command; // command for telemetry
struct Location next_command; // command preloaded
long target_altitude; // used for
long offset_altitude; // used for
boolean home_is_set = false; // Flag for if we have gps lock and have set the home location
// patch antenna variables
struct Location trackVehicle_loc; // vehicle location to track with antenna
// IMU variables
// -------------
float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
float COGX; // Course overground X axis
float COGY = 1; // Course overground Y axis
// Performance monitoring
// ----------------------
long perf_mon_timer;
float imu_health; // Metric based on accel gain deweighting
int G_Dt_max; // Max main loop cycle time in milliseconds
byte gyro_sat_count;
byte adc_constraints;
byte renorm_sqrt_count;
byte renorm_blowup_count;
int gps_fix_count;
byte gcs_messages_sent;
// GCS
// ---
char GCS_buffer[53];
char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed
// System Timers
// --------------
unsigned long fast_loopTimer; // Time in miliseconds of main control loop
unsigned long fast_loopTimeStamp = 0; // Time Stamp when fast loop was complete
unsigned long medium_loopTimer; // Time in miliseconds of navigation control loop
byte medium_loopCounter = 0; // Counters for branching from main control loop to slower loops
byte slow_loopCounter = 0;
byte superslow_loopCounter = 0;
unsigned long deltaMiliSeconds; // Delta Time in miliseconds
unsigned long dTnav; // Delta Time in milliseconds for navigation computations
int mainLoop_count;
unsigned long elapsedTime; // for doing custom events
unsigned long GPS_timer;
float load; // % MCU cycles used
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
void setup() {
init_ardupilot();
}
void loop()
{
// We want this to execute at 50Hz if possible
// -------------------------------------------
if (millis()-fast_loopTimer > 19) {
deltaMiliSeconds = millis() - fast_loopTimer;
load = float(fast_loopTimeStamp - fast_loopTimer)/deltaMiliSeconds;
G_Dt = (float)deltaMiliSeconds / 1000.f;
fast_loopTimer = millis();
mainLoop_count++;
// Execute the fast loop
// ---------------------
fast_loop();
// Execute the medium loop
// -----------------------
medium_loop();
if (millis()- perf_mon_timer > 20000) {
if (mainLoop_count != 0) {
gcs.send_message(MSG_PERF_REPORT);
if (get(PARAM_LOG_BITMASK) & MASK_LOG_PM)
Log_Write_Performance();
resetPerfData();
}
}
fast_loopTimeStamp = millis();
}
}
void fast_loop()
{
// This is the fast loop - we want it to execute at 50Hz if possible
// -----------------------------------------------------------------
if (deltaMiliSeconds > G_Dt_max)
G_Dt_max = deltaMiliSeconds;
// Read radio
// ----------
read_radio();
// check for throtle failsafe condition
// ------------------------------------
//if (get(PARAM_THR_FAILSAFE))
//set_failsafe(ch3_failsafe);
// Read Airspeed
// -------------
# if AIRSPEED_SENSOR == 1 && HIL_MODE != HIL_MODE_ATTITUDE
//read_airspeed();
# endif
//dcm.update_DCM(G_Dt);
# if HIL_MODE == HIL_MODE_DISABLED
//if (get(PARAM_LOG_BITMASK) & MASK_LOG_ATTITUDE_FAST)
//Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
//if (get(PARAM_LOG_BITMASK) & MASK_LOG_RAW)
//Log_Write_Raw();
#endif // HIL_MODE
// altitude smoothing
// ------------------
//if (control_mode != FLY_BY_WIRE_B)
//calc_altitude_error();
// inertial navigation
// ------------------
#if INERTIAL_NAVIGATION == ENABLED
// TODO: implement inertial nav function
//inertialNavigation();
#endif
// custom code/exceptions for flight modes
// ---------------------------------------
//update_current_flight_mode();
// apply desired roll, pitch and yaw to the plane
// ----------------------------------------------
//if (control_mode > MANUAL)
//stabilize();
// write out the servo PWM values
// ------------------------------
set_servos_4();
// XXX is it appropriate to be doing the comms below on the fast loop?
#if HIL_MODE != HIL_MODE_DISABLED
// kick the HIL to process incoming sensor packets
hil.update();
// send out hil data
hil.send_message(MSG_SERVO_OUT);
//hil.send_message(MSG_ATTITUDE);
//hil.send_message(MSG_LOCATION);
//hil.send_message(MSG_AIRSPEED);
#endif
// kick the GCS to process uplink data
gcs.update();
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(45,1000);
#endif
// XXX this should be absorbed into the above,
// or be a "GCS fast loop" interface
}
void medium_loop()
{
// This is the start of the medium (10 Hz) loop pieces
// -----------------------------------------
switch(medium_loopCounter) {
// This case deals with the GPS
//-------------------------------
case 0:
medium_loopCounter++;
update_GPS();
#if HIL_MODE != HIL_MODE_ATTITUDE && MAGNETOMETER == 1
//compass.read(); // Read magnetometer
//compass.calculate(dcm.roll,dcm.pitch); // Calculate heading
#endif
break;
// This case performs some navigation computations
//------------------------------------------------
case 1:
medium_loopCounter++;
if(gps.new_data){
dTnav = millis() - medium_loopTimer;
medium_loopTimer = millis();
}
// calculate the plane's desired bearing
// -------------------------------------
//navigate();
break;
// command processing
//------------------------------
case 2:
medium_loopCounter++;
// perform next command
// --------------------
//update_commands();
break;
// This case deals with sending high rate telemetry
//-------------------------------------------------
case 3:
medium_loopCounter++;
//if ((get(PARAM_LOG_BITMASK) & MASK_LOG_ATTITUDE_MED) && !(get(PARAM_LOG_BITMASK) & MASK_LOG_ATTITUDE_FAST))
//Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
#if HIL_MODE != HIL_MODE_ATTITUDE
//if (get(PARAM_LOG_BITMASK) & MASK_LOG_CTUN)
//Log_Write_Control_Tuning();
#endif
//if (get(PARAM_LOG_BITMASK) & MASK_LOG_NTUN)
//Log_Write_Nav_Tuning();
//if (get(PARAM_LOG_BITMASK) & MASK_LOG_GPS)
//Log_Write_GPS(gps.time, current_loc.lat, current_loc.lng, gps.altitude, current_loc.alt, (long) gps.ground_speed, gps.ground_course, gps.fix, gps.num_sats);
// XXX this should be a "GCS medium loop" interface
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(5,45);
// send all requested output streams with rates requested
// between 5 and 45 Hz
#else
//gcs.send_message(MSG_ATTITUDE); // Sends attitude data
#endif
break;
// This case controls the slow loop
//---------------------------------
case 4:
medium_loopCounter=0;
slow_loop();
break;
}
}
void slow_loop()
{
// This is the slow (3 1/3 Hz) loop pieces
//----------------------------------------
switch (slow_loopCounter){
case 0:
slow_loopCounter++;
superslow_loopCounter++;
//if(superslow_loopCounter >=15) {
// keep track of what page is in use in the log
// *** We need to come up with a better scheme to handle this...
//eeprom_write_word((uint16_t *) EE_LAST_LOG_PAGE, DataFlash.GetWritePage());
//superslow_loopCounter = 0;
//}
break;
case 1:
slow_loopCounter++;
// Read 3-position switch on radio
// -------------------------------
read_control_switch();
// Read Control Surfaces/Mix switches
// ----------------------------------
if(reverse_switch){
update_servo_switches();
}
// Read main battery voltage if hooked up - does not read the 5v from radio
// ------------------------------------------------------------------------
#if BATTERY_EVENT == 1
read_battery();
#endif
#if HIL_MODE != HIL_MODE_ATTITUDE
// Read Baro pressure
// ------------------
//read_airpressure();
#endif
break;
case 2:
slow_loopCounter = 0;
//update_events();
// XXX this should be a "GCS slow loop" interface
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(1,5);
// send all requested output streams with rates requested
// between 1 and 5 Hz
#else
//gcs.send_message(MSG_LOCATION);
#endif
// send a heartbeat
gcs.send_message(MSG_HEARTBEAT); // XXX This is running at 3 1/3 Hz
//but should be at 1 Hz, new loop timer?
// display load
gcs.send_message(MSG_CPU_LOAD, load*100);
break;
}
}
void update_GPS(void)
{
if(gps.status() == 0)
{
gps.init(); // reinitialize dead connections
return; // let it warm up while other stuff is running
}
gps.update();
update_GPS_light();
if (gps.new_data && gps.fix) {
GPS_timer = millis();
// XXX We should be sending GPS data off one of the regular loops so that we send
// no-GPS-fix data too
#if GCS_PROTOCOL != GCS_PROTOCOL_MAVLINK
gcs.send_message(MSG_LOCATION);
#endif
// for performance
// ---------------
gps_fix_count++;
if(ground_start_count > 1){
ground_start_count--;
ground_start_avg += gps.ground_speed;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0) {
SendDebugln("!! bad loc");
ground_start_count = 5;
} else {
if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT){
startup_ground();
if (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD)
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
init_home();
} else if (ENABLE_AIR_START == 0) {
init_home();
}
ground_start_count = 0;
}
}
current_loc.lng = gps.longitude; // Lon * 10**7
current_loc.lat = gps.latitude; // Lat * 10**7
// XXX this is bogus; should just force get(PARAM_ALT_MIX) to zero for GPS_PROTOCOL_IMU
#if HIL_MODE == HIL_MODE_ATTITUDE
current_loc.alt = gps.altitude;
#else
current_loc.alt = ((1 - get(PARAM_ALT_MIX)) * gps.altitude) + (get(PARAM_ALT_MIX) * press_alt); // alt_MSL centimeters (meters * 100)
#endif
// Calculate new climb rate
add_altitude_data(millis()/100, gps.altitude/10);
COGX = cos(ToRad(gps.ground_course/100.0));
COGY = sin(ToRad(gps.ground_course/100.0));
}
}
void update_current_flight_mode(void)
{
if(control_mode == AUTO){
crash_checker();
switch(command_must_ID){
case CMD_TAKEOFF:
if (hold_course > -1) {
calc_nav_roll();
} else {
nav_roll = 0;
}
#if AIRSPEED_SENSOR == ENABLED
calc_nav_pitch();
if (nav_pitch < (long)takeoff_pitch) nav_pitch = (long)takeoff_pitch;
#else
nav_pitch = (long)((float)gps.ground_speed / (float)get(PARAM_TRIM_AIRSPEED) * (float)takeoff_pitch * 0.5);
nav_pitch = constrain(nav_pitch, 500l, (long)takeoff_pitch);
#endif
servo_out[CH_THROTTLE] = get(PARAM_THR_MAX); //TODO: Replace with THROTTLE_TAKEOFF or other method of controlling throttle
// What is the case for doing something else? Why wouldn't you want max throttle for TO?
// ******************************
break;
case CMD_LAND:
calc_nav_roll();
#if AIRSPEED_SENSOR == ENABLED
calc_nav_pitch();
calc_throttle();
#else
calc_nav_pitch(); // calculate nav_pitch just to use for calc_throttle
calc_throttle(); // throttle based on altitude error
nav_pitch = landing_pitch; // pitch held constant
#endif
if (land_complete) {
servo_out[CH_THROTTLE] = 0;
}
break;
default:
hold_course = -1;
calc_nav_roll();
calc_nav_pitch();
calc_throttle();
break;
}
}else{
switch(control_mode){
case RTL:
case LOITER:
hold_course = -1;
crash_checker();
calc_nav_roll();
calc_nav_pitch();
calc_throttle();
break;
case FLY_BY_WIRE_A:
// fake Navigation output using sticks
nav_roll = ((radio_in[CH_ROLL] - radio_trim(CH_ROLL)) *
get(PARAM_LIM_ROLL) * reverse_roll) / 350;
nav_pitch = ((radio_in[CH_PITCH] - radio_trim(CH_PITCH)) *
3500l * reverse_pitch) / 350;
nav_roll = constrain(nav_roll, -get(PARAM_LIM_ROLL), get(PARAM_LIM_ROLL));
nav_pitch = constrain(nav_pitch, -3000, 3000); // trying to give more pitch authority
break;
case FLY_BY_WIRE_B:
// fake Navigation output using sticks
// We use get(PARAM_PITCH_MIN) because its magnitude is
// normally greater than get(PARAM_get(PARAM_PITCH_MAX))
nav_roll = ((radio_in[CH_ROLL] - radio_trim(CH_ROLL))
* get(PARAM_LIM_ROLL) * reverse_roll) / 350;
altitude_error = ((radio_in[CH_PITCH] - radio_trim(CH_PITCH))
* get(PARAM_LIM_PITCH_MIN) * -reverse_pitch) / 350;
nav_roll = constrain(nav_roll, -get(PARAM_LIM_ROLL), get(PARAM_LIM_ROLL));
#if AIRSPEED_SENSOR == ENABLED
airspeed_error = ((int)(get(PARAM_ARSPD_FBW_MAX) -
get(PARAM_ARSPD_FBW_MIN)) *
servo_out[CH_THROTTLE]) +
((int)get(PARAM_ARSPD_FBW_MIN) * 100);
// Intermediate calculation - airspeed_error is just desired airspeed at this point
airspeed_energy_error = (long)(((long)airspeed_error *
(long)airspeed_error) -
((long)airspeed * (long)airspeed))/20000;
//Changed 0.00005f * to / 20000 to avoid floating point calculation
airspeed_error = (airspeed_error - airspeed);
#endif
calc_throttle();
calc_nav_pitch();
break;
case STABILIZE:
nav_roll = 0;
nav_pitch = 0;
// throttle is passthrough
break;
case CIRCLE:
// we have no GPS installed and have lost radio contact
// or we just want to fly around in a gentle circle w/o GPS
// ----------------------------------------------------
nav_roll = get(PARAM_LIM_ROLL) / 3;
nav_pitch = 0;
if (failsafe == true){
servo_out[CH_THROTTLE] = get(PARAM_TRIM_THROTTLE);
}
break;
case MANUAL:
// servo_out is for Sim control only
// ---------------------------------
servo_out[CH_ROLL] = reverse_roll * (radio_in[CH_ROLL] - radio_trim(CH_ROLL)) * 9;
servo_out[CH_PITCH] = reverse_pitch * (radio_in[CH_PITCH] - radio_trim(CH_PITCH)) * 9;
servo_out[CH_RUDDER] = reverse_rudder * (radio_in[CH_RUDDER] - radio_trim(CH_RUDDER)) * 9;
break;
//roll: -13788.000, pitch: -13698.000, thr: 0.000, rud: -13742.000
}
}
}