ardupilot/Tools/AntennaTracker/AntennaTracker.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "AntennaTracker V0.1"
/*
Lead developers: Matthew Ridley and Andrew Tridgell
Please contribute your ideas! See http://dev.ardupilot.com for details
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/>.
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
#include <math.h>
#include <stdarg.h>
#include <stdio.h>
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_Param.h>
#include <AP_GPS.h> // ArduPilot GPS library
#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_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_InertialSensor.h> // Inertial Sensor Library
#include <AP_AHRS.h> // ArduPilot Mega DCM Library
#include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer
#include <memcheck.h>
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash.h>
#include <SITL.h>
#include <PID.h>
#include <AP_Scheduler.h> // main loop scheduler
#include <AP_NavEKF.h>
#include <AP_Vehicle.h>
#include <AP_Mission.h>
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#include <AP_Terrain.h>
#include <AP_Notify.h> // Notify library
#include <AP_BattMonitor.h> // Battery monitor library
#include <AP_Airspeed.h>
#include <RC_Channel.h>
#include <AP_BoardConfig.h>
// Configuration
#include "config.h"
// Local modules
#include "defines.h"
#include "Parameters.h"
#include "GCS.h"
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h>
AP_HAL::BetterStream* cliSerial;
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
////////////////////////////////////////////////////////////////////////////////
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;
// main loop scheduler
static AP_Scheduler scheduler;
// notification object for LEDs, buzzers etc
static AP_Notify notify;
// tracking status for MAVLink
static struct {
float bearing;
float distance;
float pitch;
float altitude_difference;
float altitude_offset;
bool manual_control_yaw:1;
bool manual_control_pitch:1;
bool need_altitude_calibration:1;
bool scan_reverse_pitch:1;
bool scan_reverse_yaw:1;
} nav_status;
static uint32_t start_time_ms;
static bool usb_connected;
////////////////////////////////////////////////////////////////////////////////
// prototypes
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
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static AP_GPS gps;
#if CONFIG_BARO == HAL_BARO_BMP085
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == HAL_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == HAL_BARO_VRBRAIN
static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == HAL_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == HAL_BARO_MS5611
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
#else
#error Unrecognized CONFIG_BARO setting
#endif
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HIL
static AP_Compass_HIL compass;
#else
#error Unrecognized CONFIG_COMPASS setting
#endif
#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
#if CONFIG_INS_TYPE == HAL_INS_MPU6000
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == HAL_INS_PX4
AP_InertialSensor_PX4 ins;
#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
AP_InertialSensor_VRBRAIN ins;
#elif CONFIG_INS_TYPE == HAL_INS_HIL
AP_InertialSensor_HIL ins;
#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
AP_InertialSensor_Oilpan ins( &apm1_adc );
#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
AP_InertialSensor_Flymaple ins;
#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
AP_InertialSensor_L3G4200D ins;
#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
AP_InertialSensor_MPU9250 ins;
#else
#error Unrecognised CONFIG_INS_TYPE setting.
#endif // CONFIG_INS_TYPE
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
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AP_AHRS_NavEKF ahrs(ins, barometer, gps);
#else
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AP_AHRS_DCM ahrs(ins, barometer, gps);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
SITL sitl;
#endif
/**
antenna control channels
*/
static RC_Channel channel_yaw(CH_1);
static RC_Channel channel_pitch(CH_2);
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
// If proxy_mode is enabled, uartC is connected to a remote vehicle,
// not gcs[1]
static GCS_MAVLINK proxy_vehicle;
// board specific config
static AP_BoardConfig BoardConfig;
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
// Location structure defined in AP_Common
////////////////////////////////////////////////////////////////////////////////
static struct Location current_loc;
// This is the state of the antenna control system
// There are multiple states defined such as MANUAL, FBW-A, AUTO
static enum ControlMode control_mode = INITIALISING;
/*
scheduler table - all regular tasks apart from the fast_loop()
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)
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_ahrs, 1, 1000 },
{ update_tracking, 1, 1000 },
{ update_GPS, 5, 4000 },
{ update_compass, 5, 1500 },
{ update_barometer, 5, 1500 },
{ gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 },
{ compass_accumulate, 1, 1500 },
{ barometer_accumulate, 1, 900 },
{ update_notify, 1, 100 },
{ check_usb_mux, 5, 300 },
{ gcs_retry_deferred, 1, 1000 },
{ one_second_loop, 50, 3900 }
};
// setup the var_info table
AP_Param param_loader(var_info, EEPROM_MAX_ADDR);
/**
setup the sketch - called once on startup
*/
void setup()
{
cliSerial = hal.console;
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
// arduplane does not use arming nor pre-arm checks
AP_Notify::flags.armed = true;
AP_Notify::flags.pre_arm_check = true;
AP_Notify::flags.failsafe_battery = false;
notify.init(false);
init_tracker();
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
}
/**
loop() is called continuously
*/
void loop()
{
// wait for an INS sample
if (!ins.wait_for_sample(1000)) {
return;
}
// tell the scheduler one tick has passed
scheduler.tick();
scheduler.run(19900UL);
}
static void one_second_loop()
{
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// make it possible to change orientation at runtime
ahrs.set_orientation();
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
static uint8_t counter;
counter++;
if (counter >= 60) {
if(g.compass_enabled) {
compass.save_offsets();
}
counter = 0;
}
}
AP_HAL_MAIN();