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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduRover v2.45"
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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
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/*
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This is the APMrover2 firmware. It was originally derived from
ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
AP_HAL merge by Andrew Tridgell
Maintainer: Andrew Tridgell
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
Please contribute your ideas! See http://dev.ardupilot.com for details
*/
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// Radio setup:
// APM INPUT (Rec = receiver)
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// Rec ch1: Steering
// Rec ch2: not used
// Rec ch3: Throttle
// Rec ch4: not used
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// Rec ch5: not used
// Rec ch6: not used
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// Rec ch7: Option channel to 2 position switch
// Rec ch8: Mode channel to 6 position switch
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// APM OUTPUT
// Ch1: Wheel servo (direction)
// Ch2: not used
// Ch3: to the motor ESC
// Ch4: not used
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
#include <math.h>
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#include <stdarg.h>
#include <stdio.h>
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// Libraries
#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
#include <AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <AP_NavEKF.h>
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#include <PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library
#include <AP_RangeFinder.h> // Range finder library
#include <Filter.h> // Filter library
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#include <Butter.h> // Filter library - butterworth filter
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#include <AP_Buffer.h> // FIFO buffer library
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#include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_Relay.h> // APM relay
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#include <AP_ServoRelayEvents.h>
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <AP_Camera.h> // Camera triggering
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_Vehicle.h> // needed for AHRS build
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#include <DataFlash.h>
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#include <AP_RCMapper.h> // RC input mapping library
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#include <SITL.h>
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#include <AP_Scheduler.h> // main loop scheduler
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#include <stdarg.h>
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#include <AP_Navigation.h>
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#include <APM_Control.h>
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#include <AP_L1_Control.h>
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#include <AP_BoardConfig.h>
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#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_FLYMAPLE.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
#include "compat.h"
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#include <AP_Notify.h> // Notify library
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#include <AP_BattMonitor.h> // Battery monitor library
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// Configuration
#include "config.h"
// Local modules
#include "defines.h"
#include "Parameters.h"
#include "GCS.h"
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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AP_HAL::BetterStream* cliSerial;
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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// this sets up the parameter table, and sets the default values. This
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, WP_START_BYTE);
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////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
////////////////////////////////////////////////////////////////////////////////
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
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////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;
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// main loop scheduler
static AP_Scheduler scheduler;
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// mapping between input channels
static RCMapper rcmap;
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// board specific config
static AP_BoardConfig BoardConfig;
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// primary control channels
static RC_Channel *channel_steer;
static RC_Channel *channel_throttle;
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static RC_Channel *channel_learn;
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////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);
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void gcs_send_text_fmt(const prog_char_t *fmt, ...);
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static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
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////////////////////////////////////////////////////////////////////////////////
// DataFlash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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static DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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static DataFlash_File DataFlash("logs");
//static DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
static DataFlash_File DataFlash("logs");
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#else
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DataFlash_Empty DataFlash;
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#endif
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static bool in_log_download;
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////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
//
// There are three basic options related to flight sensor selection.
//
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// - Normal driving mode. Real sensors are used.
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// - 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.
//
// All GPS access should be through this pointer.
static GPS *g_gps;
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#if GPS2_ENABLE
static GPS *g_gps2;
#endif
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// flight modes convenience array
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static AP_Int8 *modes = &g.mode1;
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_COMPASS == AP_COMPASS_PX4
static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == AP_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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// GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&g_gps);
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#if GPS2_ENABLE
AP_GPS_UBLOX g_gps2_driver;
#endif
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
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AP_GPS_MTK19 g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver;
#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
AP_GPS_HIL g_gps_driver;
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
AP_InertialSensor_HIL ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
AP_InertialSensor_Flymaple ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D
AP_InertialSensor_L3G4200D ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
AP_InertialSensor_Oilpan ins( &adc );
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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#if CONFIG_BARO == AP_BARO_BMP085
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == AP_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == AP_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == AP_BARO_MS5611
#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
#else
#error Unrecognized CONFIG_MS5611_SERIAL setting.
#endif
#else
#error Unrecognized CONFIG_BARO setting
#endif
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, g_gps);
#else
AP_AHRS_DCM ahrs(ins, barometer, g_gps);
#endif
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static AP_L1_Control L1_controller(ahrs);
// selected navigation controller
static AP_Navigation *nav_controller = &L1_controller;
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// steering controller
static AP_SteerController steerController(ahrs);
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
SITL sitl;
#endif
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////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
//
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static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
AP_HAL::AnalogSource *rssi_analog_source;
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////////////////////////////////////////////////////////////////////////////////
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// SONAR selection
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////////////////////////////////////////////////////////////////////////////////
//
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static AP_RangeFinder_analog sonar;
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static AP_RangeFinder_analog sonar2;
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// relay support
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AP_Relay relay;
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AP_ServoRelayEvents ServoRelayEvents(relay);
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// Camera
#if CAMERA == ENABLED
static AP_Camera camera(&relay);
#endif
// The rover's current location
static struct Location current_loc;
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// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
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AP_Mount camera_mount(¤t_loc, g_gps, ahrs, 0);
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#endif
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////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////
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// if USB is connected
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static bool usb_connected;
/* Radio values
Channel assignments
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1 Steering
2 ---
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3 Throttle
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4 ---
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5 Aux5
6 Aux6
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7 Aux7/learn
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8 Aux8/Mode
Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
See libraries/RC_Channel/RC_Channel_aux.h for more information
*/
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
// This is the state of the flight control system
// There are multiple states defined such as MANUAL, FBW-A, AUTO
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enum mode control_mode = INITIALISING;
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// Used to maintain the state of the previous control switch position
// This is set to -1 when we need to re-read the switch
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uint8_t oldSwitchPosition;
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// These are values received from the GCS if the user is using GCS joystick
// control and are substituted for the values coming from the RC radio
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
// A flag if GCS joystick control is in use
static bool rc_override_active = false;
////////////////////////////////////////////////////////////////////////////////
// Failsafe
////////////////////////////////////////////////////////////////////////////////
// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal. See
// FAILSAFE_EVENT_*
static struct {
uint8_t bits;
uint32_t rc_override_timer;
uint32_t start_time;
uint8_t triggered;
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uint32_t last_valid_rc_ms;
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} failsafe;
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// notification object for LEDs, buzzers etc (parameter set to false disables external leds)
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static AP_Notify notify;
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////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
// This is used to scale GPS values for EEPROM storage
// 10^7 times Decimal GPS means 1 == 1cm
// This approximation makes calculations integer and it's easy to read
static const float t7 = 10000000.0;
// We use atan2 and other trig techniques to calaculate angles
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// A counter used to count down valid gps fixes to allow the gps estimate to settle
// before recording our home position (and executing a ground start if we booted with an air start)
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static uint8_t ground_start_count = 5;
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////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// Constants
const float radius_of_earth = 6378100; // meters
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// true if we have a position estimate from AHRS
static bool have_position;
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static bool rtl_complete = false;
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// There may be two active commands in Auto mode.
// This indicates the active navigation command by index number
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static uint8_t nav_command_index;
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// This indicates the active non-navigation command by index number
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static uint8_t non_nav_command_index;
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// This is the command type (eg navigate to waypoint) of the active navigation command
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static uint8_t nav_command_ID = NO_COMMAND;
static uint8_t non_nav_command_ID = NO_COMMAND;
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// ground speed error in m/s
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static float groundspeed_error;
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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static int16_t throttle_nudge = 0;
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// receiver RSSI
static uint8_t receiver_rssi;
// the time when the last HEARTBEAT message arrived from a GCS
static uint32_t last_heartbeat_ms;
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// obstacle detection information
static struct {
// have we detected an obstacle?
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uint8_t detected_count;
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float turn_angle;
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uint16_t sonar1_distance_cm;
uint16_t sonar2_distance_cm;
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// time when we last detected an obstacle, in milliseconds
uint32_t detected_time_ms;
} obstacle;
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// this is set to true when auto has been triggered to start
static bool auto_triggered;
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////////////////////////////////////////////////////////////////////////////////
// Ground speed
////////////////////////////////////////////////////////////////////////////////
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// The amount current ground speed is below min ground speed. meters per second
static float ground_speed = 0;
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static int16_t throttle_last = 0, throttle = 500;
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////////////////////////////////////////////////////////////////////////////////
// CH7 control
////////////////////////////////////////////////////////////////////////////////
// Used to track the CH7 toggle state.
// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
// This allows advanced functionality to know when to execute
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static bool ch7_flag;
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// This register tracks the current Mission Command index when writing
// a mission using CH7 in flight
static int8_t CH7_wp_index;
////////////////////////////////////////////////////////////////////////////////
// Battery Sensors
////////////////////////////////////////////////////////////////////////////////
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static AP_BattMonitor battery;
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////////////////////////////////////////////////////////////////////////////////
// Navigation control variables
////////////////////////////////////////////////////////////////////////////////
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// The instantaneous desired lateral acceleration in m/s/s
static float lateral_acceleration;
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////////////////////////////////////////////////////////////////////////////////
// Waypoint distances
////////////////////////////////////////////////////////////////////////////////
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// Distance between rover and next waypoint. Meters
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static float wp_distance;
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// Distance between previous and next waypoint. Meters
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static int32_t wp_totalDistance;
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////////////////////////////////////////////////////////////////////////////////
// Conditional command
////////////////////////////////////////////////////////////////////////////////
// A value used in condition commands (eg delay, change alt, etc.)
// For example in a change altitude command, it is the altitude to change to.
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static int32_t condition_value;
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// A starting value used to check the status of a conditional command.
// For example in a delay command the condition_start records that start time for the delay
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static int32_t condition_start;
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// A value used in condition commands. For example the rate at which to change altitude.
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static int16_t condition_rate;
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////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
// Location structure defined in AP_Common
////////////////////////////////////////////////////////////////////////////////
// The home location used for RTL. The location is set when we first get stable GPS lock
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static const struct Location &home = ahrs.get_home();
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// Flag for if we have g_gps lock and have set the home location
static bool home_is_set;
// The location of the previous waypoint. Used for track following and altitude ramp calculations
static struct Location prev_WP;
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// The location of the current/active waypoint. Used for track following
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static struct Location next_WP;
// The location of the active waypoint in Guided mode.
static struct Location guided_WP;
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// The location structure information from the Nav command being processed
static struct Location next_nav_command;
// The location structure information from the Non-Nav command being processed
static struct Location next_nonnav_command;
////////////////////////////////////////////////////////////////////////////////
// IMU variables
////////////////////////////////////////////////////////////////////////////////
// The main loop execution time. Seconds
//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
static float G_Dt = 0.02;
////////////////////////////////////////////////////////////////////////////////
// Performance monitoring
////////////////////////////////////////////////////////////////////////////////
// Timer used to accrue data and trigger recording of the performanc monitoring log message
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static int32_t perf_mon_timer;
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// The maximum main loop execution time recorded in the current performance monitoring interval
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static uint32_t G_Dt_max;
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////////////////////////////////////////////////////////////////////////////////
// System Timers
////////////////////////////////////////////////////////////////////////////////
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// Time in microseconds of start of main control loop.
static uint32_t fast_loopTimer_us;
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// Number of milliseconds used in last main loop cycle
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static uint32_t delta_us_fast_loop;
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// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
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// set if we are driving backwards
static bool in_reverse;
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////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
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/*
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scheduler table - all regular tasks should be listed here, along
with how often they should be called (in 20ms units) and the maximum
time they are expected to take (in microseconds)
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*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
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{ read_radio, 1, 1000 },
{ ahrs_update, 1, 6400 },
{ read_sonars, 1, 2000 },
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{ update_current_mode, 1, 1500 },
{ set_servos, 1, 1500 },
{ update_GPS_50Hz, 1, 2500 },
{ update_GPS_10Hz, 5, 2500 },
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{ update_alt, 5, 3400 },
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{ navigate, 5, 1600 },
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{ update_compass, 5, 2000 },
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{ update_commands, 5, 1000 },
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{ update_logging1, 5, 1000 },
{ update_logging2, 5, 1000 },
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{ gcs_retry_deferred, 1, 1000 },
{ gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 },
{ read_control_switch, 15, 1000 },
{ read_trim_switch, 5, 1000 },
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{ read_battery, 5, 1000 },
{ read_receiver_rssi, 5, 1000 },
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{ update_events, 1, 1000 },
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{ check_usb_mux, 15, 1000 },
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{ mount_update, 1, 600 },
{ gcs_failsafe_check, 5, 600 },
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{ compass_accumulate, 1, 900 },
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{ update_notify, 1, 300 },
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{ one_second_loop, 50, 3000 }
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};
/*
setup is called when the sketch starts
*/
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void setup() {
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cliSerial = hal.console;
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// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
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// rover does not use arming nor pre-arm checks
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AP_Notify::flags.armed = true;
AP_Notify::flags.pre_arm_check = true;
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AP_Notify::flags.failsafe_battery = false;
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notify.init(false);
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battery.init();
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rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
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init_ardupilot();
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// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
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}
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/*
loop() is called rapidly while the sketch is running
*/
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void loop()
{
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// wait for an INS sample
if (!ins.wait_for_sample(1000)) {
return;
}
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uint32_t timer = hal.scheduler->micros();
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delta_us_fast_loop = timer - fast_loopTimer_us;
G_Dt = delta_us_fast_loop * 1.0e-6f;
fast_loopTimer_us = timer;
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if (delta_us_fast_loop > G_Dt_max)
G_Dt_max = delta_us_fast_loop;
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mainLoop_count++;
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// tell the scheduler one tick has passed
scheduler.tick();
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scheduler.run(19500U);
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}
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// update AHRS system
static void ahrs_update()
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{
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ahrs.set_armed(hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
#endif
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// when in reverse we need to tell AHRS not to assume we are a
// 'fly forward' vehicle, otherwise it will see a large
// discrepancy between the mag and the GPS heading and will try to
// correct for it, leading to a large yaw error
ahrs.set_fly_forward(!in_reverse);
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ahrs.update();
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if (should_log(MASK_LOG_ATTITUDE_FAST))
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Log_Write_Attitude();
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if (should_log(MASK_LOG_IMU))
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DataFlash.Log_Write_IMU(ins);
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}
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/*
update camera mount - 50Hz
*/
static void mount_update(void)
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{
#if MOUNT == ENABLED
camera_mount.update_mount_position();
#endif
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#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
#endif
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}
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static void update_alt()
{
barometer.read();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
}
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/*
check for GCS failsafe - 10Hz
*/
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static void gcs_failsafe_check(void)
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{
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if (g.fs_gcs_enabled) {
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failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
}
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}
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/*
if the compass is enabled then try to accumulate a reading
*/
static void compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
}
}
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/*
check for new compass data - 10Hz
*/
static void update_compass(void)
{
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
// update offsets
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compass.learn_offsets();
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if (should_log(MASK_LOG_COMPASS)) {
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Log_Write_Compass();
}
} else {
ahrs.set_compass(NULL);
}
}
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/*
log some key data - 10Hz
*/
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static void update_logging1(void)
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{
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
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Log_Write_Attitude();
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if (should_log(MASK_LOG_CTUN))
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Log_Write_Control_Tuning();
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if (should_log(MASK_LOG_NTUN))
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Log_Write_Nav_Tuning();
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}
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/*
log some key data - 10Hz
*/
static void update_logging2(void)
{
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if (should_log(MASK_LOG_STEERING)) {
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if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) {
Log_Write_Steering();
}
}
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if (should_log(MASK_LOG_RC))
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Log_Write_RC();
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}
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/*
update aux servo mappings
*/
static void update_aux(void)
{
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RC_Channel_aux::enable_aux_servos();
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#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
}
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/*
once a second events
*/
static void one_second_loop(void)
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{
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if (should_log(MASK_LOG_CURRENT))
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Log_Write_Current();
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
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// allow orientation change at runtime to aid config
ahrs.set_orientation();
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set_control_channels();
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// cope with changes to aux functions
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update_aux();
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#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
// cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav;
static uint8_t counter;
counter++;
// write perf data every 20s
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if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
}
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if (should_log(MASK_LOG_PM))
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Log_Write_Performance();
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G_Dt_max = 0;
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resetPerfData();
}
// save compass offsets once a minute
if (counter >= 60) {
if (g.compass_enabled) {
compass.save_offsets();
}
counter = 0;
}
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}
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static void update_GPS_50Hz(void)
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{
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static uint32_t last_gps_reading;
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g_gps->update();
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#if GPS2_ENABLE
static uint32_t last_gps2_reading;
if (g_gps2 != NULL) {
g_gps2->update();
if (g_gps2->last_message_time_ms() != last_gps2_reading) {
last_gps2_reading = g_gps2->last_message_time_ms();
if (g.log_bitmask & MASK_LOG_GPS) {
DataFlash.Log_Write_GPS2(g_gps2);
}
}
}
#endif
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if (g_gps->last_message_time_ms() != last_gps_reading) {
last_gps_reading = g_gps->last_message_time_ms();
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if (should_log(MASK_LOG_GPS)) {
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DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
}
}
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}
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static void update_GPS_10Hz(void)
{
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have_position = ahrs.get_position(current_loc);
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if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
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if(ground_start_count > 1){
ground_start_count--;
} 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) {
ground_start_count = 5;
} else {
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init_home();
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// set system clock for log timestamps
hal.util->set_system_clock(g_gps->time_epoch_usec());
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if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
}
ground_start_count = 0;
}
}
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ground_speed = g_gps->ground_speed_cm * 0.01;
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#if CAMERA == ENABLED
if (camera.update_location(current_loc) == true) {
do_take_picture();
}
#endif
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}
}
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static void update_current_mode(void)
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{
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switch (control_mode){
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case AUTO:
case RTL:
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case GUIDED:
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set_reverse(false);
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calc_lateral_acceleration();
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calc_nav_steer();
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calc_throttle(g.speed_cruise);
break;
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case STEERING: {
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/*
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in steering mode we control lateral acceleration
directly. We first calculate the maximum lateral
acceleration at full steering lock for this speed. That is
V^2/R where R is the radius of turn. We get the radius of
turn from half the STEER2SRV_P.
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*/
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float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
// constrain to user set TURN_MAX_G
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f);
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calc_nav_steer();
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// and throttle gives speed in proportion to cruise speed, up
// to 50% throttle, then uses nudging above that.
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;
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set_reverse(target_speed < 0);
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if (in_reverse) {
target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
} else {
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
}
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calc_throttle(target_speed);
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break;
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}
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case LEARNING:
case MANUAL:
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/*
in both MANUAL and LEARNING we pass through the
controls. Setting servo_out here actually doesn't matter, as
we set the exact value in set_servos(), but it helps for
logging
*/
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channel_throttle->servo_out = channel_throttle->control_in;
channel_steer->servo_out = channel_steer->pwm_to_angle();
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// mark us as in_reverse when using a negative throttle to
// stop AHRS getting off
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set_reverse(channel_throttle->servo_out < 0);
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break;
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case HOLD:
// hold position - stop motors and center steering
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channel_throttle->servo_out = 0;
channel_steer->servo_out = 0;
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set_reverse(false);
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break;
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case INITIALISING:
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break;
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}
}
static void update_navigation()
{
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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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case INITIALISING:
break;
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case AUTO:
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verify_commands();
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break;
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case RTL:
case GUIDED:
// no loitering around the wp with the rover, goes direct to the wp position
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calc_lateral_acceleration();
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calc_nav_steer();
if (verify_RTL()) {
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channel_throttle->servo_out = g.throttle_min.get();
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set_mode(HOLD);
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}
break;
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}
}
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AP_HAL_MAIN();