2012-04-30 04:17:14 -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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The init_ardupilot function processes everything we need for an in - air restart
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2016-05-16 14:04:10 -03:00
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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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2012-04-30 04:17:14 -03:00
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*****************************************************************************/
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2015-05-13 00:16:45 -03:00
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#include "Rover.h"
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2016-05-05 19:10:08 -03:00
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#include "version.h"
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2015-05-13 00:16:45 -03:00
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2012-04-30 04:17:14 -03:00
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#if CLI_ENABLED == ENABLED
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// This is the help function
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2015-05-12 04:00:25 -03:00
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int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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2016-05-16 14:04:10 -03:00
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cliSerial->printf("Commands:\n"
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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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"\n"
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"Move the slide switch and reset to FLY.\n"
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"\n");
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return(0);
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2012-04-30 04:17:14 -03:00
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}
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// Command/function table for the top-level menu.
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2015-05-24 20:24:11 -03:00
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2015-10-25 14:03:46 -03:00
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static const struct Menu::command main_menu_commands[] = {
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2016-05-16 14:04:10 -03:00
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// command function called
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2012-04-30 04:17:14 -03:00
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// ======= ===============
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2016-05-16 14:04:10 -03:00
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{"logs", MENU_FUNC(process_logs)},
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{"setup", MENU_FUNC(setup_mode)},
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{"test", MENU_FUNC(test_mode)},
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2015-05-12 04:00:25 -03:00
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{"reboot", MENU_FUNC(reboot_board)},
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2016-05-16 14:04:10 -03:00
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{"help", MENU_FUNC(main_menu_help)}
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2012-04-30 04:17:14 -03:00
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};
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// Create the top-level menu object.
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MENU(main_menu, THISFIRMWARE, main_menu_commands);
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2015-05-12 02:03:23 -03:00
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int8_t Rover::reboot_board(uint8_t argc, const Menu::arg *argv)
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2013-02-21 16:49:07 -04:00
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{
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2013-09-03 22:58:41 -03:00
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hal.scheduler->reboot(false);
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2013-02-21 16:49:07 -04:00
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return 0;
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}
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2012-04-30 04:17:14 -03:00
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// the user wants the CLI. It never exits
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2015-05-12 02:03:23 -03:00
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void Rover::run_cli(AP_HAL::UARTDriver *port)
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2012-04-30 04:17:14 -03:00
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{
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// disable the failsafe code in the CLI
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2012-12-18 07:44:12 -04:00
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hal.scheduler->register_timer_failsafe(NULL,1);
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2012-04-30 04:17:14 -03:00
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2012-12-23 17:51:33 -04:00
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// disable the mavlink delay callback
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hal.scheduler->register_delay_callback(NULL, 5);
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2012-11-21 02:25:11 -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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2012-04-30 04:17:14 -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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#endif // CLI_ENABLED
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2015-05-13 00:16:45 -03:00
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static void mavlink_delay_cb_static()
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{
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rover.mavlink_delay_cb();
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}
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static void failsafe_check_static()
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{
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rover.failsafe_check();
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}
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2015-05-12 02:03:23 -03:00
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void Rover::init_ardupilot()
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2012-04-30 04:17:14 -03:00
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{
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2015-01-28 00:56:36 -04:00
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// initialise console serial port
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serial_manager.init_console();
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -03:00
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cliSerial->printf("\n\nInit " FIRMWARE_STRING
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"\n\nFree RAM: %u\n",
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hal.util->available_memory());
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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2012-04-30 04:17:14 -03:00
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load_parameters();
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2014-01-19 21:57:59 -04:00
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BoardConfig.init();
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2015-01-28 00:56:36 -04:00
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// initialise serial ports
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serial_manager.init();
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2014-01-20 01:05:23 -04:00
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ServoRelayEvents.set_channel_mask(0xFFF0);
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2013-06-03 06:33:59 -03:00
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set_control_channels();
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2015-02-11 12:17:19 -04:00
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battery.init();
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2012-04-30 04:17:14 -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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2014-02-23 18:25:50 -04:00
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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2013-09-20 20:21:02 -03:00
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// we start by assuming USB connected, as we initialed the serial
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2016-05-16 14:04:10 -03:00
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// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
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2013-09-20 20:21:02 -03:00
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usb_connected = true;
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check_usb_mux();
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2013-09-19 03:24:59 -03:00
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2016-05-16 00:33:43 -03:00
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// setup telem slots with serial ports
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for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
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gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
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}
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2015-05-15 01:24:59 -03:00
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2015-01-28 00:56:36 -04:00
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// setup frsky telemetry
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry.init(serial_manager);
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2013-11-25 19:21:30 -04:00
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#endif
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -03:00
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mavlink_system.sysid = g.sysid_this_mav;
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2012-04-30 04:17:14 -03:00
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#if LOGGING_ENABLED == ENABLED
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2015-05-13 00:16:45 -03:00
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log_init();
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2012-04-30 04:17:14 -03:00
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#endif
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2016-02-23 17:01:46 -04:00
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GCS_MAVLINK::set_dataflash(&DataFlash);
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2013-12-27 19:25:45 -04:00
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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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2015-05-12 04:00:25 -03:00
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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2013-12-27 19:25:45 -04:00
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2016-05-16 14:04:10 -03:00
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if (g.compass_enabled==true) {
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if (!compass.init()|| !compass.read()) {
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2015-10-25 16:50:51 -03:00
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cliSerial->println("Compass initialisation failed!");
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2012-04-30 04:17:14 -03:00
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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2016-05-16 14:04:10 -03:00
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//compass.get_offsets(); // load offsets to account for airframe magnetic interference
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2012-04-30 04:17:14 -03:00
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}
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2016-05-16 14:04:10 -03:00
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}
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2013-02-28 21:00:48 -04:00
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2016-05-16 14:04:10 -03:00
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// initialise sonar
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2013-02-28 21:00:48 -04:00
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init_sonar();
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2014-02-23 18:25:50 -04:00
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// and baro for EKF
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2016-05-23 22:31:27 -03:00
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init_barometer(true);
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2014-02-23 18:25:50 -04:00
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2016-05-16 14:04:10 -03:00
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// Do GPS init
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2015-01-28 00:56:36 -04:00
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gps.init(&DataFlash, serial_manager);
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2013-12-21 07:27:06 -04:00
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2012-12-18 07:44:12 -04:00
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rc_override_active = hal.rcin->set_overrides(rc_override, 8);
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -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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2012-04-30 04:17:14 -03:00
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2012-12-18 07:44:12 -04:00
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relay.init();
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2012-04-30 04:17:14 -03:00
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2015-01-28 00:56:36 -04:00
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#if MOUNT == ENABLED
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2015-01-08 16:12:18 -04:00
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// initialise camera mount
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2016-01-05 01:23:11 -04:00
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camera_mount.init(&DataFlash, serial_manager);
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2015-01-28 00:56:36 -04:00
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#endif
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2015-01-08 16:12:18 -04:00
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2012-04-30 04:17:14 -03:00
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/*
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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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*/
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2015-05-12 04:00:25 -03:00
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hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
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2012-04-30 04:17:14 -03:00
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2015-01-28 00:56:36 -04:00
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#if CLI_ENABLED == ENABLED
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2016-05-16 14:04:10 -03:00
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// If the switch is in 'menu' mode, run the main menu.
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//
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// Since we can't be sure that the setup or test mode won't leave
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// the system in an odd state, we don't let the user exit the top
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// menu; they must reset in order to fly.
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//
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2015-03-09 00:20:37 -03:00
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if (g.cli_enabled == 1) {
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2015-10-26 08:25:44 -03:00
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const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
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2015-10-25 16:50:51 -03:00
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cliSerial->println(msg);
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2015-03-09 00:20:37 -03:00
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if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
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2015-10-25 16:50:51 -03:00
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gcs[1].get_uart()->println(msg);
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2015-03-09 00:20:37 -03:00
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}
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if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
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2015-10-25 16:50:51 -03:00
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gcs[2].get_uart()->println(msg);
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2015-03-09 00:20:37 -03:00
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}
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2013-11-23 06:57:26 -04:00
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}
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2015-01-28 00:56:36 -04:00
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#endif
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -03:00
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init_capabilities();
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2015-07-31 18:14:51 -03:00
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2016-05-16 14:04:10 -03:00
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startup_ground();
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2012-11-17 02:45:20 -04:00
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2013-05-02 18:59:15 -03:00
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set_mode((enum mode)g.initial_mode.get());
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -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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2012-04-30 04:17:14 -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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2015-05-12 02:03:23 -03:00
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void Rover::startup_ground(void)
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2012-04-30 04:17:14 -03:00
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{
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set_mode(INITIALISING);
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2016-05-16 14:04:10 -03:00
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gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
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#if(GROUND_START_DELAY > 0)
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gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
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delay(GROUND_START_DELAY * 1000);
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#endif
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -03:00
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//IMU ground start
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//------------------------
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2012-04-30 04:17:14 -03:00
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//
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2016-05-16 14:04:10 -03:00
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startup_INS_ground();
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2012-11-17 02:45:20 -04:00
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2016-05-16 14:04:10 -03:00
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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2012-04-30 04:17:14 -03:00
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2014-03-11 01:07:15 -03:00
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// initialise mission library
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mission.init();
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2015-01-28 00:56:36 -04:00
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// we don't want writes to the serial port to cause us to pause
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// so set serial ports non-blocking once we are ready to drive
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serial_manager.set_blocking_writes_all(false);
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2013-06-03 21:37:05 -03:00
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2015-05-06 23:11:43 -03:00
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ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
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ins.set_dataflash(&DataFlash);
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2016-05-16 14:04:10 -03:00
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gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
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2012-04-30 04:17:14 -03:00
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}
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2013-11-24 20:21:15 -04:00
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/*
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set the in_reverse flag
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reset the throttle integrator if this changes in_reverse
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::set_reverse(bool reverse)
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2013-11-24 20:21:15 -04:00
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{
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if (in_reverse == reverse) {
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return;
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}
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2016-05-16 14:04:10 -03:00
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g.pidSpeedThrottle.reset_I();
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2013-11-24 20:21:15 -04:00
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in_reverse = reverse;
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}
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2015-05-12 02:03:23 -03:00
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void Rover::set_mode(enum mode mode)
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2016-05-16 14:04:10 -03:00
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{
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -03:00
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if (control_mode == mode){
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// don't switch modes if we are already in the correct mode.
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return;
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}
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2015-07-27 09:10:37 -03:00
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// If we are changing out of AUTO mode reset the loiter timer
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2016-05-16 14:04:10 -03:00
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if (control_mode == AUTO) {
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2015-07-27 09:10:37 -03:00
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loiter_time = 0;
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2016-05-16 14:04:10 -03:00
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}
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2015-07-27 09:10:37 -03:00
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2016-05-16 14:04:10 -03:00
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control_mode = mode;
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2012-11-27 06:47:30 -04:00
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throttle_last = 0;
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throttle = 500;
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2013-11-24 20:21:15 -04:00
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set_reverse(false);
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2013-11-17 19:58:22 -04:00
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g.pidSpeedThrottle.reset_I();
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2013-03-21 19:38:25 -03:00
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if (control_mode != AUTO) {
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auto_triggered = false;
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}
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2015-05-07 21:50:16 -03:00
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2016-05-16 14:04:10 -03:00
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switch(control_mode) {
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case MANUAL:
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case HOLD:
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case LEARNING:
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case STEERING:
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auto_throttle_mode = false;
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break;
|
|
|
|
|
|
|
|
case AUTO:
|
|
|
|
auto_throttle_mode = true;
|
|
|
|
rtl_complete = false;
|
|
|
|
restart_nav();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case RTL:
|
|
|
|
auto_throttle_mode = true;
|
|
|
|
do_RTL();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case GUIDED:
|
|
|
|
auto_throttle_mode = true;
|
|
|
|
rtl_complete = false;
|
|
|
|
/*
|
|
|
|
when entering guided mode we set the target as the current
|
|
|
|
location. This matches the behaviour of the copter code.
|
|
|
|
*/
|
|
|
|
guided_WP = current_loc;
|
|
|
|
set_guided_WP();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
auto_throttle_mode = true;
|
|
|
|
do_RTL();
|
|
|
|
break;
|
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2016-05-16 14:04:10 -03:00
|
|
|
if (should_log(MASK_LOG_MODE)) {
|
2015-01-16 16:40:26 -04:00
|
|
|
DataFlash.Log_Write_Mode(control_mode);
|
2014-03-18 23:42:02 -03:00
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2014-10-01 01:19:42 -03:00
|
|
|
/*
|
|
|
|
set_mode() wrapper for MAVLink SET_MODE
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
bool Rover::mavlink_set_mode(uint8_t mode)
|
2014-10-01 01:19:42 -03:00
|
|
|
{
|
|
|
|
switch (mode) {
|
|
|
|
case MANUAL:
|
|
|
|
case HOLD:
|
|
|
|
case LEARNING:
|
|
|
|
case STEERING:
|
2015-06-03 09:31:31 -03:00
|
|
|
case GUIDED:
|
2014-10-01 01:19:42 -03:00
|
|
|
case AUTO:
|
|
|
|
case RTL:
|
|
|
|
set_mode((enum mode)mode);
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2013-03-28 20:25:53 -03:00
|
|
|
/*
|
2016-05-16 14:04:10 -03:00
|
|
|
called to set/unset a failsafe event.
|
2013-03-28 20:25:53 -03:00
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2013-03-28 20:25:53 -03:00
|
|
|
uint8_t old_bits = failsafe.bits;
|
|
|
|
if (on) {
|
|
|
|
failsafe.bits |= failsafe_type;
|
|
|
|
} else {
|
|
|
|
failsafe.bits &= ~failsafe_type;
|
|
|
|
}
|
|
|
|
if (old_bits == 0 && failsafe.bits != 0) {
|
|
|
|
// a failsafe event has started
|
|
|
|
failsafe.start_time = millis();
|
|
|
|
}
|
|
|
|
if (failsafe.triggered != 0 && failsafe.bits == 0) {
|
|
|
|
// a failsafe event has ended
|
2015-11-03 01:19:03 -04:00
|
|
|
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Failsafe ended");
|
2013-03-28 20:25:53 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
failsafe.triggered &= failsafe.bits;
|
|
|
|
|
2016-05-16 14:04:10 -03:00
|
|
|
if (failsafe.triggered == 0 &&
|
|
|
|
failsafe.bits != 0 &&
|
2013-03-28 20:25:53 -03:00
|
|
|
millis() - failsafe.start_time > g.fs_timeout*1000 &&
|
|
|
|
control_mode != RTL &&
|
|
|
|
control_mode != HOLD) {
|
|
|
|
failsafe.triggered = failsafe.bits;
|
2015-11-03 01:19:03 -04:00
|
|
|
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
|
2013-03-28 20:25:53 -03:00
|
|
|
switch (g.fs_action) {
|
|
|
|
case 0:
|
|
|
|
break;
|
|
|
|
case 1:
|
|
|
|
set_mode(RTL);
|
|
|
|
break;
|
|
|
|
case 2:
|
|
|
|
set_mode(HOLD);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::startup_INS_ground(void)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2015-11-18 14:53:14 -04:00
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
|
2016-05-16 14:04:10 -03:00
|
|
|
mavlink_delay(500);
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2016-05-16 14:04:10 -03:00
|
|
|
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
|
|
|
|
// -----------------------
|
2015-11-18 14:53:14 -04:00
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
|
2016-05-16 14:04:10 -03:00
|
|
|
mavlink_delay(1000);
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2013-01-13 01:03:54 -04:00
|
|
|
ahrs.init();
|
2016-05-16 14:04:10 -03:00
|
|
|
ahrs.set_fly_forward(true);
|
2014-04-21 05:11:45 -03:00
|
|
|
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
|
2013-10-20 19:09:57 -03:00
|
|
|
|
2015-10-21 18:22:45 -03:00
|
|
|
ins.init(scheduler.get_loop_rate_hz());
|
2012-04-30 04:17:14 -03:00
|
|
|
ahrs.reset();
|
|
|
|
}
|
|
|
|
|
2013-08-29 00:14:16 -03:00
|
|
|
// updates the notify state
|
2013-08-24 06:05:18 -03:00
|
|
|
// should be called at 50hz
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::update_notify()
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2013-08-29 00:14:16 -03:00
|
|
|
notify.update();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::resetPerfData(void) {
|
2016-05-16 14:04:10 -03:00
|
|
|
mainLoop_count = 0;
|
|
|
|
G_Dt_max = 0;
|
|
|
|
perf_mon_timer = millis();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::check_usb_mux(void)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2013-09-19 03:24:59 -03:00
|
|
|
bool usb_check = hal.gpio->usb_connected();
|
2012-04-30 04:17:14 -03:00
|
|
|
if (usb_check == usb_connected) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
// the user has switched to/from the telemetry port
|
|
|
|
usb_connected = usb_check;
|
2013-04-19 04:53:07 -03:00
|
|
|
}
|
|
|
|
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2015-05-12 04:00:25 -03:00
|
|
|
void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
|
2012-11-28 07:44:03 -04:00
|
|
|
{
|
|
|
|
switch (mode) {
|
|
|
|
case MANUAL:
|
2015-10-25 16:22:31 -03:00
|
|
|
port->print("Manual");
|
2012-11-28 07:44:03 -04:00
|
|
|
break;
|
2013-03-28 18:53:20 -03:00
|
|
|
case HOLD:
|
2015-10-25 16:22:31 -03:00
|
|
|
port->print("HOLD");
|
2013-03-28 18:53:20 -03:00
|
|
|
break;
|
2012-11-28 07:44:03 -04:00
|
|
|
case LEARNING:
|
2015-10-25 16:22:31 -03:00
|
|
|
port->print("Learning");
|
2012-11-28 07:44:03 -04:00
|
|
|
break;
|
2013-03-01 07:32:57 -04:00
|
|
|
case STEERING:
|
2015-10-25 16:22:31 -03:00
|
|
|
port->print("Steering");
|
2013-03-01 07:32:57 -04:00
|
|
|
break;
|
2012-11-28 07:44:03 -04:00
|
|
|
case AUTO:
|
2015-10-25 16:22:31 -03:00
|
|
|
port->print("AUTO");
|
2012-11-28 07:44:03 -04:00
|
|
|
break;
|
|
|
|
case RTL:
|
2015-10-25 16:22:31 -03:00
|
|
|
port->print("RTL");
|
2012-11-28 07:44:03 -04:00
|
|
|
break;
|
|
|
|
default:
|
2015-10-25 17:10:41 -03:00
|
|
|
port->printf("Mode(%u)", (unsigned)mode);
|
2012-11-28 07:44:03 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
2012-12-18 15:30:42 -04:00
|
|
|
|
2013-05-02 20:19:20 -03:00
|
|
|
/*
|
|
|
|
check a digitial pin for high,low (1/0)
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
uint8_t Rover::check_digital_pin(uint8_t pin)
|
2013-05-02 20:19:20 -03:00
|
|
|
{
|
|
|
|
int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
|
|
|
|
if (dpin == -1) {
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
// ensure we are in input mode
|
2014-06-01 20:27:52 -03:00
|
|
|
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
|
2013-05-02 20:19:20 -03:00
|
|
|
|
|
|
|
// enable pullup
|
|
|
|
hal.gpio->write(dpin, 1);
|
|
|
|
|
|
|
|
return hal.gpio->read(dpin);
|
|
|
|
}
|
2013-07-14 20:57:00 -03:00
|
|
|
|
2014-01-14 00:10:13 -04:00
|
|
|
/*
|
|
|
|
should we log a message type now?
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
bool Rover::should_log(uint32_t mask)
|
2014-01-14 00:10:13 -04:00
|
|
|
{
|
|
|
|
if (!(mask & g.log_bitmask) || in_mavlink_delay) {
|
|
|
|
return false;
|
|
|
|
}
|
2016-05-08 23:06:00 -03:00
|
|
|
bool ret = hal.util->get_soft_armed() || DataFlash.log_while_disarmed();
|
2014-01-14 00:10:13 -04:00
|
|
|
if (ret && !DataFlash.logging_started() && !in_log_download) {
|
|
|
|
start_logging();
|
|
|
|
}
|
|
|
|
return ret;
|
|
|
|
}
|
2014-07-29 08:36:26 -03:00
|
|
|
|
|
|
|
/*
|
|
|
|
send FrSky telemetry. Should be called at 5Hz by scheduler
|
|
|
|
*/
|
|
|
|
#if FRSKY_TELEM_ENABLED == ENABLED
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::frsky_telemetry_send(void)
|
2015-04-24 02:09:05 -03:00
|
|
|
{
|
2015-01-20 12:13:08 -04:00
|
|
|
frsky_telemetry.send_frames((uint8_t)control_mode);
|
2014-07-29 08:36:26 -03:00
|
|
|
}
|
2015-04-24 02:09:05 -03:00
|
|
|
#endif
|
2015-10-30 02:56:41 -03:00
|
|
|
|
|
|
|
/*
|
|
|
|
update AHRS soft arm state and log as needed
|
|
|
|
*/
|
|
|
|
void Rover::change_arm_state(void)
|
|
|
|
{
|
|
|
|
Log_Arm_Disarm();
|
|
|
|
hal.util->set_soft_armed(arming.is_armed() &&
|
|
|
|
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
arm motors
|
|
|
|
*/
|
|
|
|
bool Rover::arm_motors(AP_Arming::ArmingMethod method)
|
|
|
|
{
|
|
|
|
if (!arming.arm(method)) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// only log if arming was successful
|
|
|
|
channel_throttle->enable_out();
|
|
|
|
|
|
|
|
change_arm_state();
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
disarm motors
|
|
|
|
*/
|
|
|
|
bool Rover::disarm_motors(void)
|
|
|
|
{
|
|
|
|
if (!arming.disarm()) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
|
|
|
|
channel_throttle->disable_out();
|
2016-05-31 21:12:02 -03:00
|
|
|
if (g.skid_steer_out) {
|
|
|
|
channel_steer->disable_out();
|
|
|
|
}
|
2015-10-30 02:56:41 -03:00
|
|
|
}
|
|
|
|
if (control_mode != AUTO) {
|
|
|
|
// reset the mission on disarm if we are not in auto
|
|
|
|
mission.reset();
|
|
|
|
}
|
|
|
|
|
|
|
|
//only log if disarming was successful
|
|
|
|
change_arm_state();
|
|
|
|
|
|
|
|
return true;
|
|
|
|
}
|