ardupilot/ArduPlane/ArduPlane.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#define THISFIRMWARE "ArduPlane V2.61"
/*
 *  Authors:    Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Amilcar Lucas, Gregory Fletcher
 *  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, Yury MonZon
 *  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 <avr/wdt.h>
#include <math.h>

// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h>         // ArduPilot Mega RC Library
#include <AP_GPS.h>         // ArduPilot GPS library
#include <I2C.h>                        // Wayne Truchsess I2C lib
#include <SPI.h>                        // Arduino SPI lib
#include <DataFlash.h>      // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h> // ArduPilot Mega polymorphic analog getter
#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess
#include <AP_Baro.h>        // ArduPilot barometer library
#include <AP_Compass.h>     // ArduPilot Mega Magnetometer Library
#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibrated IMU) Library
#include <AP_IMU.h>         // ArduPilot Mega IMU Library
#include <AP_AHRS.h>         // ArduPilot Mega DCM Library
#include <PID.h>            // PID library
#include <RC_Channel.h>     // RC Channel Library
#include <AP_RangeFinder.h>     // Range finder library
#include <Filter.h>                     // Filter library
#include <ModeFilter.h>         // Mode Filter from Filter library
#include <LowPassFilter.h>      // LowPassFilter class (inherits from Filter class)
#include <AP_Relay.h>       // APM relay
#include <AP_Camera.h>          // Photo or video camera
#include <AP_Airspeed.h>
#include <memcheck.h>

// optional new controller library
#if APM_CONTROL == ENABLED
#include <APM_Control.h>
#endif

// Configuration
#include "config.h"

#include <GCS_MAVLink.h>    // MAVLink GCS definitions

#include <AP_Mount.h>           // Camera/Antenna mount

// Local modules
#include "defines.h"
#include "Parameters.h"
#include "GCS.h"

#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library

////////////////////////////////////////////////////////////////////////////////
// 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
#if TELEMETRY_UART2 == ENABLED
// solder bridge set to enable UART2 instead of USB MUX
FastSerialPort2(Serial3);
#else
FastSerialPort3(Serial3);        // Telemetry port for APM1
#endif

// 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);

// Outback Challenge failsafe support
#if OBC_FAILSAFE == ENABLED
 #include <APM_OBC.h>
APM_OBC obc;
#endif


////////////////////////////////////////////////////////////////////////////////
// ISR Registry
////////////////////////////////////////////////////////////////////////////////
Arduino_Mega_ISR_Registry isr_registry;


////////////////////////////////////////////////////////////////////////////////
// APM_RC_Class Instance
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif

////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
DataFlash_APM2 DataFlash;
#else
DataFlash_APM1 DataFlash;
#endif


////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;


////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);


////////////////////////////////////////////////////////////////////////////////
// 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.
//

// All GPS access should be through this pointer.
static GPS         *g_gps;

// flight modes convenience array
static AP_Int8          *flight_modes = &g.flight_mode1;

#if HIL_MODE == HIL_MODE_DISABLED

// real sensors
 #if CONFIG_ADC == ENABLED
static AP_ADC_ADS7844 adc;
 #endif

 #ifdef DESKTOP_BUILD
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
  #include <SITL.h>
SITL sitl;
 #else

  #if CONFIG_BARO == AP_BARO_BMP085
   # if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
static AP_Baro_BMP085          barometer(true);
   # else
static AP_Baro_BMP085          barometer(false);
   # endif
  #elif CONFIG_BARO == AP_BARO_MS5611
static AP_Baro_MS5611 barometer;
  #endif

static AP_Compass_HMC5843 compass;
 #endif

// real GPS selection
 #if   GPS_PROTOCOL == GPS_PROTOCOL_AUTO
AP_GPS_Auto     g_gps_driver(&Serial1, &g_gps);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
AP_GPS_NMEA     g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
AP_GPS_SIRF     g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
AP_GPS_UBLOX    g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
AP_GPS_MTK      g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
AP_GPS_MTK16    g_gps_driver(&Serial1);

 #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_None     g_gps_driver(NULL);

 #else
  #error Unrecognised GPS_PROTOCOL setting.
 #endif // GPS PROTOCOL

 # if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
 # else
AP_InertialSensor_Oilpan ins( &adc );
 #endif // CONFIG_IMU_TYPE
AP_IMU_INS imu( &ins );

AP_AHRS_DCM ahrs(&imu, g_gps);

#elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators
AP_ADC_HIL adc;
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
AP_GPS_HIL              g_gps_driver(NULL);
AP_InertialSensor_Oilpan ins( &adc );
AP_IMU_Shim imu;
AP_AHRS_DCM  ahrs(&imu, g_gps);

#elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc;
AP_IMU_Shim imu;             // never used
AP_AHRS_HIL             ahrs(&imu, g_gps);
AP_GPS_HIL              g_gps_driver(NULL);
AP_Compass_HIL compass;          // never used
AP_Baro_BMP085_HIL barometer;
 #ifdef DESKTOP_BUILD
  #include <SITL.h>
SITL sitl;
AP_InertialSensor_Oilpan ins( &adc );
 #endif

#else
 #error Unrecognised HIL_MODE setting.
#endif // HIL MODE

// we always have a timer scheduler
AP_TimerProcess timer_scheduler;


////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
//
GCS_MAVLINK gcs0;
GCS_MAVLINK gcs3;

////////////////////////////////////////////////////////////////////////////////
// PITOT selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilterInt16_Size5 sonar_mode_filter(2);

#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
AP_AnalogSource_ADC pitot_analog_source( &adc,
                                         CONFIG_PITOT_SOURCE_ADC_CHANNEL, 1.0);
#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0);
#endif

#if SONAR_TYPE == MAX_SONAR_XL
AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
#elif SONAR_TYPE == MAX_SONAR_LV
// XXX honestly I think these output the same values
// If someone knows, can they confirm it?
AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
#endif

#if RECEIVER_RSSI_PIN != -1
AP_AnalogSource_Arduino RSSI_pin(RECEIVER_RSSI_PIN, 0.25);
#endif

AP_Relay relay;



////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////

// APM2 only
#if USB_MUX_PIN > 0
static bool usb_connected;
#endif

static const char *comma = ",";

static 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   Aux5
 *                       6   Aux6
 *                       7   Aux7
 *                       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
byte control_mode        = INITIALISING;
// Used to maintain the state of the previous control switch position
// This is set to -1 when we need to re-read the switch
byte oldSwitchPosition;
// This is used to enable the inverted flight feature
bool inverted_flight     = false;
// These are trim values used for elevon control
// For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon
static uint16_t elevon1_trim  = 1500;
static uint16_t elevon2_trim  = 1500;
// These are used in the calculation of elevon1_trim and elevon2_trim
static uint16_t ch1_temp      = 1500;
static uint16_t ch2_temp        = 1500;
// 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
// Used for failsafe based on loss of RC signal or GCS signal
static int16_t failsafe;
// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
// RC receiver should be set up to output a low throttle value when signal is lost
static bool ch3_failsafe;
// A timer used to help recovery from unusual attitudes.  If we enter an unusual attitude
// while in autonomous flight this variable is used  to hold roll at 0 for a recovery period
static byte crash_timer;
// A timer used to track how long since we have received the last GCS heartbeat or rc override message
static uint32_t rc_override_fs_timer = 0;

// the time when the last HEARTBEAT message arrived from a GCS
static uint32_t last_heartbeat_ms;

// A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
static uint32_t ch3_failsafe_timer = 0;

////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// state of the GPS light (on/off)
static bool GPS_light;

////////////////////////////////////////////////////////////////////////////////
// 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
// 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)
static byte ground_start_count      = 5;
// Used to compute a speed estimate from the first valid gps fixes to decide if we are
// on the ground or in the air.  Used to decide if a ground start is appropriate if we
// booted with an air start.
static int16_t ground_start_avg;

// true if we have a position estimate from AHRS
static bool have_position;

////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// Constants
const float radius_of_earth   = 6378100;        // meters
const float gravity                   = 9.81;           // meters/ sec^2

// This is the currently calculated direction to fly.
// deg * 100 : 0 to 360
static int32_t nav_bearing_cd;

// This is the direction to the next waypoint or loiter center
// deg * 100 : 0 to 360
static int32_t target_bearing_cd;

//This is the direction from the last waypoint to the next waypoint
// deg * 100 : 0 to 360
static int32_t crosstrack_bearing_cd;

// Direction held during phases of takeoff and landing
// deg * 100 dir of plane,  A value of -1 indicates the course has not been set/is not in use
static int32_t hold_course                   = -1;              // deg * 100 dir of plane

// There may be two active commands in Auto mode.
// This indicates the active navigation command by index number
static byte nav_command_index;
// This indicates the active non-navigation command by index number
static byte non_nav_command_index;
// This is the command type (eg navigate to waypoint) of the active navigation command
static byte nav_command_ID          = NO_COMMAND;
static byte non_nav_command_ID      = NO_COMMAND;

////////////////////////////////////////////////////////////////////////////////
// Airspeed
////////////////////////////////////////////////////////////////////////////////
// The calculated airspeed to use in FBW-B.  Also used in higher modes for insuring min ground speed is met.
// Also used for flap deployment criteria.  Centimeters per second.
static int32_t target_airspeed_cm;

// The difference between current and desired airspeed.  Used in the pitch controller.  Centimeters per second.
static float airspeed_error_cm;

// The calculated total energy error (kinetic (altitude) plus potential (airspeed)).
// Used by the throttle controller
static int32_t energy_error;

// kinetic portion of energy error (m^2/s^2)
static int32_t airspeed_energy_error;

// An amount that the airspeed should be increased in auto modes based on the user positioning the
// throttle stick in the top half of the range.  Centimeters per second.
static int16_t airspeed_nudge_cm;

// Similar to airspeed_nudge, but used when no airspeed sensor.
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
static int16_t throttle_nudge = 0;

// receiver RSSI
static uint8_t receiver_rssi;


////////////////////////////////////////////////////////////////////////////////
// Ground speed
////////////////////////////////////////////////////////////////////////////////
// The amount current ground speed is below min ground speed.  Centimeters per second
static int32_t groundspeed_undershoot = 0;

////////////////////////////////////////////////////////////////////////////////
// Location Errors
////////////////////////////////////////////////////////////////////////////////
// Difference between current bearing and desired bearing.  Hundredths of a degree
static int32_t bearing_error_cd;

// Difference between current altitude and desired altitude.  Centimeters
static int32_t altitude_error_cm;

// Distance perpandicular to the course line that we are off trackline.  Meters
static float crosstrack_error;

////////////////////////////////////////////////////////////////////////////////
// Battery Sensors
////////////////////////////////////////////////////////////////////////////////
// Battery pack 1 voltage.  Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup.
static float battery_voltage1        = LOW_VOLTAGE * 1.05;
// Battery pack 1 instantaneous currrent draw.  Amperes
static float current_amps1;
// Totalized current (Amp-hours) from battery 1
static float current_total1;

// To Do - Add support for second battery pack
//static float  battery_voltage2    = LOW_VOLTAGE * 1.05;		// Battery 2 Voltage, initialized above threshold for filter
//static float	current_amps2;									// Current (Amperes) draw from battery 2
//static float	current_total2;									// Totalized current (Amp-hours) from battery 2

////////////////////////////////////////////////////////////////////////////////
// Airspeed Sensors
////////////////////////////////////////////////////////////////////////////////
AP_Airspeed airspeed(&pitot_analog_source);

////////////////////////////////////////////////////////////////////////////////
// Altitude Sensor variables
////////////////////////////////////////////////////////////////////////////////
// Altitude from the sonar sensor.  Meters.  Not yet implemented.
static int16_t sonar_alt;

////////////////////////////////////////////////////////////////////////////////
// flight mode specific
////////////////////////////////////////////////////////////////////////////////
// Flag for using gps ground course instead of IMU yaw.  Set false when takeoff command in process.
static bool takeoff_complete    = true;
// Flag to indicate if we have landed.
//Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
static bool land_complete;
// Altitude threshold to complete a takeoff command in autonomous modes.  Centimeters
static int32_t takeoff_altitude;

// Minimum pitch to hold during takeoff command execution.  Hundredths of a degree
static int16_t takeoff_pitch_cd;

// this controls throttle suppression in auto modes
static bool throttle_suppressed;

////////////////////////////////////////////////////////////////////////////////
// Loiter management
////////////////////////////////////////////////////////////////////////////////
// Previous target bearing.  Used to calculate loiter rotations.  Hundredths of a degree
static int32_t old_target_bearing_cd;

// Total desired rotation in a loiter.  Used for Loiter Turns commands.  Degrees
static int32_t loiter_total;

// The amount in degrees we have turned since recording old_target_bearing
static int16_t loiter_delta;

// Total rotation in a loiter.  Used for Loiter Turns commands and to check for missed waypoints.  Degrees
static int32_t loiter_sum;

// The amount of time we have been in a Loiter.  Used for the Loiter Time command.  Milliseconds.
static uint32_t loiter_time_ms;

// The amount of time we should stay in a loiter for the Loiter Time command.  Milliseconds.
static uint32_t loiter_time_max_ms;

////////////////////////////////////////////////////////////////////////////////
// Navigation control variables
////////////////////////////////////////////////////////////////////////////////
// The instantaneous desired bank angle.  Hundredths of a degree
static int32_t nav_roll_cd;

// The instantaneous desired pitch angle.  Hundredths of a degree
static int32_t nav_pitch_cd;

////////////////////////////////////////////////////////////////////////////////
// Waypoint distances
////////////////////////////////////////////////////////////////////////////////
// Distance between plane and next waypoint.  Meters
// is not static because AP_Camera uses it
int32_t wp_distance;

// Distance between previous and next waypoint.  Meters
static int32_t wp_totalDistance;

////////////////////////////////////////////////////////////////////////////////
// repeating event control
////////////////////////////////////////////////////////////////////////////////
// Flag indicating current event type
static byte event_id;

// when the event was started in ms
static int32_t event_timer_ms;

// how long to delay the next firing of event in millis
static uint16_t event_delay_ms;

// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
static int16_t event_repeat = 0;
// per command value, such as PWM for servos
static int16_t event_value;
// the value used to cycle events (alternate value to event_value)
static int16_t event_undo_value;

////////////////////////////////////////////////////////////////////////////////
// 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.
static int32_t condition_value;
// 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
static uint32_t condition_start;
// A value used in condition commands.  For example the rate at which to change altitude.
static int16_t condition_rate;

////////////////////////////////////////////////////////////////////////////////
// 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
static struct   Location home;
// 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;
// The plane's current location
static struct   Location current_loc;
// The location of the current/active waypoint.  Used for altitude ramp, track following and loiter calculations.
static struct   Location next_WP;
// The location of the active waypoint in Guided mode.
static struct   Location guided_WP;
// 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;

////////////////////////////////////////////////////////////////////////////////
// Altitude / Climb rate control
////////////////////////////////////////////////////////////////////////////////
// The current desired altitude.  Altitude is linearly ramped between waypoints.  Centimeters
static int32_t target_altitude_cm;
// Altitude difference between previous and current waypoint.  Centimeters
static int32_t offset_altitude_cm;

////////////////////////////////////////////////////////////////////////////////
// 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
static int32_t perf_mon_timer;
// The maximum main loop execution time recorded in the current performance monitoring interval
static int16_t G_Dt_max = 0;
// The number of gps fixes recorded in the current performance monitoring interval
static int16_t gps_fix_count = 0;
// A variable used by developers to track performanc metrics.
// Currently used to record the number of GCS heartbeat messages received
static int16_t pmTest1 = 0;


////////////////////////////////////////////////////////////////////////////////
// System Timers
////////////////////////////////////////////////////////////////////////////////
// Time in miliseconds of start of main control loop.  Milliseconds
static uint32_t fast_loopTimer_ms;

// Time Stamp when fast loop was complete.  Milliseconds
static uint32_t fast_loopTimeStamp_ms;

// Number of milliseconds used in last main loop cycle
static uint8_t delta_ms_fast_loop;

// Counter of main loop executions.  Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;

// Time in miliseconds of start of medium control loop.  Milliseconds
static uint32_t medium_loopTimer_ms;

// Counters for branching from main control loop to slower loops
static byte medium_loopCounter;
// Number of milliseconds used in last medium loop cycle
static uint8_t delta_ms_medium_loop;

// Counters for branching from medium control loop to slower loops
static byte slow_loopCounter;
// Counter to trigger execution of very low rate processes
static byte superslow_loopCounter;
// Counter to trigger execution of 1 Hz processes
static byte counter_one_herz;

// % MCU cycles used
static float load;


// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
// 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?
AP_Mount camera_mount(&current_loc, g_gps, &ahrs, 0);
#endif

#if MOUNT2 == ENABLED
// 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?
AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
#endif

#if CAMERA == ENABLED
//pinMode(camtrig, OUTPUT);			// these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
#endif

////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////

void setup() {
    memcheck_init();
    init_ardupilot();
}

void loop()
{
    // We want this to execute at 50Hz, but synchronised with the gyro/accel
    uint16_t num_samples = imu.num_samples_available();
    if (num_samples >= NUM_IMU_SAMPLES_FOR_50HZ) {
        delta_ms_fast_loop      = millis() - fast_loopTimer_ms;
        load                = (float)(fast_loopTimeStamp_ms - fast_loopTimer_ms)/delta_ms_fast_loop;
        G_Dt                = (float)delta_ms_fast_loop / 1000.f;
        fast_loopTimer_ms   = millis();

        mainLoop_count++;

        // Execute the fast loop
        // ---------------------
        fast_loop();

        // Execute the medium loop
        // -----------------------
        medium_loop();

        counter_one_herz++;
        if(counter_one_herz == 50) {
            one_second_loop();
            counter_one_herz = 0;
        }

        if (millis() - perf_mon_timer > 20000) {
            if (mainLoop_count != 0) {
                if (g.log_bitmask & MASK_LOG_PM)
#if HIL_MODE != HIL_MODE_ATTITUDE
                    Log_Write_Performance();
#endif

                    resetPerfData();
            }
        }

        fast_loopTimeStamp_ms = millis();
    } else if (num_samples < NUM_IMU_SAMPLES_FOR_50HZ-1) {
        // less than 20ms has passed. We have at least one millisecond
        // of free time. The most useful thing to do with that time is
        // to accumulate some sensor readings, specifically the
        // compass, which is often very noisy but is not interrupt
        // driven, so it can't accumulate readings by itself
        if (g.compass_enabled) {
            compass.accumulate();
        }
    }
}

// Main loop 50Hz
static void fast_loop()
{
    // This is the fast loop - we want it to execute at 50Hz if possible
    // -----------------------------------------------------------------
    if (delta_ms_fast_loop > G_Dt_max)
        G_Dt_max = delta_ms_fast_loop;

    // Read radio
    // ----------
    read_radio();

    // try to send any deferred messages if the serial port now has
    // some space available
    gcs_send_message(MSG_RETRY_DEFERRED);

    // check for loss of control signal failsafe condition
    // ------------------------------------
    check_short_failsafe();

#if HIL_MODE == HIL_MODE_SENSORS
    // update hil before AHRS update
    gcs_update();
#endif

    ahrs.update();

    // uses the yaw from the DCM to give more accurate turns
    calc_bearing_error();

# if HIL_MODE == HIL_MODE_DISABLED
    if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
        Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);

    if (g.log_bitmask & MASK_LOG_RAW)
        Log_Write_Raw();
#endif

    // 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();

    gcs_update();
    gcs_data_stream_send();
}

static void medium_loop()
{
#if MOUNT == ENABLED
    camera_mount.update_mount_position();
#endif

#if MOUNT2 == ENABLED
    camera_mount2.update_mount_position();
#endif

#if CAMERA == ENABLED
    g.camera.trigger_pic_cleanup();
#endif

    // 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();
        calc_gndspeed_undershoot();

#if HIL_MODE != HIL_MODE_ATTITUDE
        if (g.compass_enabled && compass.read()) {
            ahrs.set_compass(&compass);
            compass.null_offsets();
        } else {
            ahrs.set_compass(NULL);
        }
#endif
/*{
 *  Serial.print(ahrs.roll_sensor, DEC);	Serial.printf_P(PSTR("\t"));
 *  Serial.print(ahrs.pitch_sensor, DEC);	Serial.printf_P(PSTR("\t"));
 *  Serial.print(ahrs.yaw_sensor, DEC);	Serial.printf_P(PSTR("\t"));
 *  Vector3f tempaccel = imu.get_accel();
 *  Serial.print(tempaccel.x, DEC);	Serial.printf_P(PSTR("\t"));
 *  Serial.print(tempaccel.y, DEC);	Serial.printf_P(PSTR("\t"));
 *  Serial.println(tempaccel.z, DEC);
 *  }*/

        break;

    // This case performs some navigation computations
    //------------------------------------------------
    case 1:
        medium_loopCounter++;

        // Read 6-position switch on radio
        // -------------------------------
        read_control_switch();

        // calculate the plane's desired bearing
        // -------------------------------------
        navigate();

        break;

    // command processing
    //------------------------------
    case 2:
        medium_loopCounter++;

        // Read Airspeed
        // -------------
#if HIL_MODE != HIL_MODE_ATTITUDE
        if (airspeed.enabled()) {
            read_airspeed();
        }
#endif

        read_receiver_rssi();

        // Read altitude from sensors
        // ------------------
        update_alt();
        if(g.sonar_enabled) sonar_alt = sonar.read();

        // altitude smoothing
        // ------------------
        if (control_mode != FLY_BY_WIRE_B)
            calc_altitude_error();

        // perform next command
        // --------------------
        update_commands();
        break;

    // This case deals with sending high rate telemetry
    //-------------------------------------------------
    case 3:
        medium_loopCounter++;

#if HIL_MODE != HIL_MODE_ATTITUDE
        if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
            Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);

        if (g.log_bitmask & MASK_LOG_CTUN)
            Log_Write_Control_Tuning();
#endif

        if (g.log_bitmask & MASK_LOG_NTUN)
            Log_Write_Nav_Tuning();

        if (g.log_bitmask & MASK_LOG_GPS)
            Log_Write_GPS(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, (long) g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats);
        break;

    // This case controls the slow loop
    //---------------------------------
    case 4:
        medium_loopCounter = 0;
        delta_ms_medium_loop    = millis() - medium_loopTimer_ms;
        medium_loopTimer_ms     = millis();

        if (g.battery_monitoring != 0) {
            read_battery();
        }

        slow_loop();

#if OBC_FAILSAFE == ENABLED
        // perform OBC failsafe checks
        obc.check(OBC_MODE(control_mode),
                  last_heartbeat_ms,
                  g_gps ? g_gps->last_fix_time : 0);
#endif

        break;
    }
}

static void slow_loop()
{
    // This is the slow (3 1/3 Hz) loop pieces
    //----------------------------------------
    switch (slow_loopCounter) {
    case 0:
        slow_loopCounter++;
        check_long_failsafe();
        superslow_loopCounter++;
        if(superslow_loopCounter >=200) {                                               //	200 = Execute every minute
#if HIL_MODE != HIL_MODE_ATTITUDE
            if(g.compass_enabled) {
                compass.save_offsets();
            }
#endif

            superslow_loopCounter = 0;
        }
        break;

    case 1:
        slow_loopCounter++;

#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
        update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
#else
        update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
#endif
        enable_aux_servos();

#if MOUNT == ENABLED
        camera_mount.update_mount_type();
#endif
#if MOUNT2 == ENABLED
        camera_mount2.update_mount_type();
#endif
        break;

    case 2:
        slow_loopCounter = 0;
        update_events();

        mavlink_system.sysid = g.sysid_this_mav;                // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter

#if USB_MUX_PIN > 0
        check_usb_mux();
#endif

        break;
    }
}

static void one_second_loop()
{
    if (g.log_bitmask & MASK_LOG_CUR)
        Log_Write_Current();

    // send a heartbeat
    gcs_send_message(MSG_HEARTBEAT);
}

static void update_GPS(void)
{
    g_gps->update();
    update_GPS_light();

    // get position from AHRS
    have_position = ahrs.get_position(&current_loc);

    if (g_gps->new_data && g_gps->fix) {
        g_gps->new_data = false;

        // for performance
        // ---------------
        gps_fix_count++;

        if(ground_start_count > 1) {
            ground_start_count--;
            ground_start_avg += g_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) {
                ground_start_count = 5;

            } else {
                if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT) {
                    startup_ground();

                    if (g.log_bitmask & MASK_LOG_CMD)
                        Log_Write_Startup(TYPE_GROUNDSTART_MSG);

                    init_home();
                } else if (ENABLE_AIR_START == 0) {
                    init_home();
                }

                if (g.compass_enabled) {
                    // Set compass declination automatically
                    compass.set_initial_location(g_gps->latitude, g_gps->longitude);
                }
                ground_start_count = 0;
            }
        }

        // see if we've breached the geo-fence
        geofence_check(false);
    }
}

static void update_current_flight_mode(void)
{
    if(control_mode == AUTO) {
        crash_checker();

        switch(nav_command_ID) {
        case MAV_CMD_NAV_TAKEOFF:
            if (hold_course != -1 && g.rudder_steer == 0) {
                calc_nav_roll();
            } else {
                nav_roll_cd = 0;
            }

            if (alt_control_airspeed()) {
                calc_nav_pitch();
                if (nav_pitch_cd < takeoff_pitch_cd)
                    nav_pitch_cd = takeoff_pitch_cd;
            } else {
                nav_pitch_cd = (g_gps->ground_speed / (float)g.airspeed_cruise_cm) * takeoff_pitch_cd;
                nav_pitch_cd = constrain(nav_pitch_cd, 500, takeoff_pitch_cd);
            }

#if APM_CONTROL == DISABLED
            float aspeed;
            if (ahrs.airspeed_estimate(&aspeed)) {
                // don't use a pitch/roll integrators during takeoff if we are
                // below minimum speed
                if (aspeed < g.flybywire_airspeed_min) {
                    g.pidServoPitch.reset_I();
                    g.pidServoRoll.reset_I();
                }
            }
#endif

            // max throttle for takeoff
            g.channel_throttle.servo_out = g.throttle_max;

            break;

        case MAV_CMD_NAV_LAND:
            if (g.rudder_steer == 0 || !land_complete) {
                calc_nav_roll();
            } else {
                nav_roll_cd = 0;
            }

            if (!alt_control_airspeed() || land_complete) {
                // hold pitch constant in final approach
                nav_pitch_cd = g.land_pitch_cd;
            } else {
                calc_nav_pitch();
            }
            calc_throttle();

            if (land_complete) {
                // we are in the final stage of a landing - force
                // zero throttle
                g.channel_throttle.servo_out = 0;
            }
            break;

        default:
            // we are doing normal AUTO flight, the special cases
            // are for takeoff and landing
            hold_course = -1;
            land_complete = false;
            calc_nav_roll();
            calc_nav_pitch();
            calc_throttle();
            break;
        }
    }else{
        // hold_course is only used in takeoff and landing
        hold_course = -1;

        switch(control_mode) {
        case RTL:
        case LOITER:
        case GUIDED:
            crash_checker();
            calc_nav_roll();
            calc_nav_pitch();
            calc_throttle();
            break;

        case FLY_BY_WIRE_A: {
            // set nav_roll and nav_pitch using sticks
            nav_roll_cd  = g.channel_roll.norm_input() * g.roll_limit_cd;
            float pitch_input = g.channel_pitch.norm_input();
            if (pitch_input > 0) {
                nav_pitch_cd = pitch_input * g.pitch_limit_max_cd;
            } else {
                nav_pitch_cd = -(pitch_input * g.pitch_limit_min_cd);
            }
            nav_pitch_cd = constrain(nav_pitch_cd, g.pitch_limit_min_cd.get(), g.pitch_limit_max_cd.get());
            if (inverted_flight) {
                nav_pitch_cd = -nav_pitch_cd;
            }
            break;
        }

        case FLY_BY_WIRE_B:
            // Substitute stick inputs for Navigation control output
            // We use g.pitch_limit_min because its magnitude is
            // normally greater than g.pitch_limit_max

            // Thanks to Yury MonZon for the altitude limit code!

            nav_roll_cd = g.channel_roll.norm_input() * g.roll_limit_cd;

            float elevator_input;
            elevator_input = g.channel_pitch.norm_input();

            if (g.flybywire_elev_reverse) {
                elevator_input = -elevator_input;
            }
            if ((current_loc.alt >= home.alt+g.FBWB_min_altitude_cm) || (g.FBWB_min_altitude_cm == 0)) {
                altitude_error_cm = elevator_input * g.pitch_limit_min_cd;
            } else {
                altitude_error_cm = (home.alt + g.FBWB_min_altitude_cm) - current_loc.alt;
                if (elevator_input < 0) {
                    altitude_error_cm += elevator_input * g.pitch_limit_min_cd;
                }
            }
            calc_throttle();
            calc_nav_pitch();
            break;

        case STABILIZE:
            nav_roll_cd        = 0;
            nav_pitch_cd       = 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_cd  = g.roll_limit_cd / 3;
            nav_pitch_cd = 0;

            if (failsafe != FAILSAFE_NONE) {
                g.channel_throttle.servo_out = g.throttle_cruise;
            }
            break;

        case MANUAL:
            // servo_out is for Sim control only
            // ---------------------------------
            g.channel_roll.servo_out = g.channel_roll.pwm_to_angle();
            g.channel_pitch.servo_out = g.channel_pitch.pwm_to_angle();
            g.channel_rudder.servo_out = g.channel_rudder.pwm_to_angle();
            break;
            //roll: -13788.000,  pitch: -13698.000,   thr: 0.000, rud: -13742.000

        }
    }
}

static void update_navigation()
{
    // wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
    // ------------------------------------------------------------------------

    // distance and bearing calcs only
    if(control_mode == AUTO) {
        verify_commands();
    }else{

        switch(control_mode) {
        case LOITER:
        case RTL:
        case GUIDED:
            update_loiter();
            calc_bearing_error();
            break;

        }
    }
}


static void update_alt()
{
#if HIL_MODE == HIL_MODE_ATTITUDE
    current_loc.alt = g_gps->altitude;
#else
    // this function is in place to potentially add a sonar sensor in the future
    //altitude_sensor = BARO;

    if (barometer.healthy) {
        current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude;                       // alt_MSL centimeters (meters * 100)
        current_loc.alt += g.altitude_mix * (read_barometer() + home.alt);
    } else if (g_gps->fix) {
        current_loc.alt = g_gps->altitude;     // alt_MSL centimeters (meters * 100)
    }
#endif

    geofence_check(true);

    // Calculate new climb rate
    //if(medium_loopCounter == 0 && slow_loopCounter == 0)
    //	add_altitude_data(millis() / 100, g_gps->altitude / 10);
}