2015-06-01 02:04:25 -03:00
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#include "Tracker.h"
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2014-08-13 01:43:56 -03:00
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// mission storage
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static const StorageAccess wp_storage(StorageManager::StorageMission);
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2015-06-01 02:04:25 -03:00
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static void mavlink_delay_cb_static()
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{
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tracker.mavlink_delay_cb();
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}
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void Tracker::init_tracker()
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2013-10-13 04:14:13 -03:00
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{
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2015-01-28 01:27:03 -04:00
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// initialise console serial port
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serial_manager.init_console();
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2013-10-13 04:14:13 -03:00
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2017-09-12 15:28:42 -03:00
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hal.console->printf("\n\nInit %s\n\nFree RAM: %u\n",
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2018-06-13 08:31:50 -03:00
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AP::fwversion().fw_string,
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2018-05-03 22:20:46 -03:00
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(unsigned)hal.util->available_memory());
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2013-10-13 04:14:13 -03:00
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2018-11-02 23:57:11 -03:00
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init_capabilities();
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2013-10-13 04:14:13 -03:00
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// Check the EEPROM format version before loading any parameters from EEPROM
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load_parameters();
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2016-05-30 22:50:15 -03:00
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gcs().set_dataflash(&DataFlash);
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2014-03-26 18:06:50 -03:00
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2016-10-16 19:21:08 -03:00
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mavlink_system.sysid = g.sysid_this_mav;
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2015-01-28 01:27:03 -04:00
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// initialise serial ports
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serial_manager.init();
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2013-10-13 04:14:13 -03:00
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2016-08-03 04:17:24 -03:00
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// setup first port early to allow BoardConfig to report errors
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2017-02-13 21:30:32 -04:00
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gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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2016-08-03 04:17:24 -03:00
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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2018-09-05 05:48:10 -03:00
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2016-08-03 04:17:24 -03:00
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BoardConfig.init();
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2017-05-06 06:11:29 -03:00
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#if HAL_WITH_UAVCAN
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BoardConfig_CAN.init();
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#endif
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2016-08-03 04:17:24 -03:00
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2017-01-21 02:17:26 -04:00
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// initialise notify
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2018-07-25 22:11:00 -03:00
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notify.init();
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2017-01-21 02:17:26 -04:00
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AP_Notify::flags.pre_arm_check = true;
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AP_Notify::flags.pre_arm_gps_check = true;
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2013-10-13 04:14:13 -03:00
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// init baro before we start the GCS, so that the CLI baro test works
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2018-04-11 09:55:31 -03:00
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barometer.set_log_baro_bit(MASK_LOG_IMU);
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2013-10-13 04:14:13 -03:00
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barometer.init();
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2016-05-16 00:33:43 -03:00
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// setup telem slots with serial ports
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2017-02-13 21:30:32 -04:00
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gcs().setup_uarts(serial_manager);
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2015-05-02 09:38:58 -03:00
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2015-12-27 03:05:14 -04:00
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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2013-10-13 04:14:13 -03:00
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if (g.compass_enabled==true) {
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if (!compass.init() || !compass.read()) {
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2017-01-21 00:32:39 -04:00
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hal.console->printf("Compass initialisation failed!\n");
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2013-10-13 04:14:13 -03:00
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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}
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}
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// GPS Initialization
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2017-06-28 22:19:50 -03:00
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gps.set_log_gps_bit(MASK_LOG_GPS);
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2017-06-27 05:13:05 -03:00
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gps.init(serial_manager);
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2013-10-13 04:14:13 -03:00
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ahrs.init();
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ahrs.set_fly_forward(false);
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2015-12-26 00:08:38 -04:00
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ins.init(scheduler.get_loop_rate_hz());
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2013-10-13 04:14:13 -03:00
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ahrs.reset();
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2018-03-18 01:15:13 -03:00
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barometer.calibrate();
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2013-10-13 04:14:13 -03:00
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2017-05-01 03:22:35 -03:00
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// initialise DataFlash library
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DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
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2015-01-28 01:27:03 -04:00
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// set serial ports non-blocking
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serial_manager.set_blocking_writes_all(false);
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2013-10-13 04:14:13 -03:00
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2014-10-06 02:56:25 -03:00
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// initialise servos
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init_servos();
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2013-10-13 04:14:13 -03:00
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2014-03-22 05:09:01 -03:00
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// use given start positions - useful for indoor testing, and
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// while waiting for GPS lock
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2015-08-27 02:38:00 -03:00
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// sanity check location
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2015-10-27 00:50:29 -03:00
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if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
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2015-08-27 02:38:00 -03:00
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current_loc.lat = g.start_latitude * 1.0e7f;
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current_loc.lng = g.start_longitude * 1.0e7f;
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2016-07-05 23:03:33 -03:00
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} else {
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2017-07-08 21:28:33 -03:00
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gcs().send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
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2015-08-27 02:38:00 -03:00
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}
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2014-03-05 01:47:47 -04:00
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2014-03-22 05:09:01 -03:00
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// see if EEPROM has a default location as well
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2014-04-09 01:30:27 -03:00
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if (current_loc.lat == 0 && current_loc.lng == 0) {
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get_home_eeprom(current_loc);
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}
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2014-03-02 03:00:37 -04:00
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2017-07-08 21:28:33 -03:00
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gcs().send_text(MAV_SEVERITY_INFO,"Ready to track");
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2014-03-02 03:00:37 -04:00
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hal.scheduler->delay(1000); // Why????
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2014-03-06 18:13:53 -04:00
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2018-02-21 19:02:00 -04:00
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set_mode(AUTO, MODE_REASON_STARTUP); // tracking
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2014-03-22 05:09:01 -03:00
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if (g.startup_delay > 0) {
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// arm servos with trim value to allow them to start up (required
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// for some servos)
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prepare_servos();
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}
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2014-08-03 04:38:19 -03:00
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2017-04-29 21:48:00 -03:00
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// disable safety if requested
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BoardConfig.init_safety();
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2014-03-02 03:00:37 -04:00
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}
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/*
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fetch HOME from EEPROM
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*/
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2015-06-01 02:04:25 -03:00
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bool Tracker::get_home_eeprom(struct Location &loc)
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2014-03-02 03:00:37 -04:00
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{
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// Find out proper location in memory by using the start_byte position + the index
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// --------------------------------------------------------------------------------
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if (g.command_total.get() == 0) {
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2014-03-22 05:09:01 -03:00
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return false;
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2014-03-02 03:00:37 -04:00
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}
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2014-03-22 05:09:01 -03:00
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// read WP position
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2014-08-13 01:43:56 -03:00
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loc.options = wp_storage.read_byte(0);
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loc.alt = wp_storage.read_uint32(1);
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loc.lat = wp_storage.read_uint32(5);
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loc.lng = wp_storage.read_uint32(9);
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2014-03-22 05:09:01 -03:00
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return true;
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2014-03-02 03:00:37 -04:00
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}
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2015-06-01 02:04:25 -03:00
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void Tracker::set_home_eeprom(struct Location temp)
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2014-03-02 03:00:37 -04:00
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{
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2014-08-13 01:43:56 -03:00
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wp_storage.write_byte(0, temp.options);
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wp_storage.write_uint32(1, temp.alt);
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wp_storage.write_uint32(5, temp.lat);
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wp_storage.write_uint32(9, temp.lng);
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2014-03-02 03:00:37 -04:00
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// Now have a home location in EEPROM
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g.command_total.set_and_save(1); // At most 1 entry for HOME
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}
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2015-06-01 02:04:25 -03:00
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void Tracker::set_home(struct Location temp)
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2014-03-02 03:00:37 -04:00
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{
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set_home_eeprom(temp);
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2014-03-05 01:47:47 -04:00
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current_loc = temp;
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2018-05-16 01:49:01 -03:00
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// check EKF origin has been set
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2017-09-18 02:38:26 -03:00
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Location ekf_origin;
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if (ahrs.get_origin(ekf_origin)) {
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2018-05-16 01:49:01 -03:00
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ahrs.set_home(temp);
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2017-09-18 02:38:26 -03:00
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}
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}
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2015-06-01 02:04:25 -03:00
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void Tracker::arm_servos()
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2017-01-06 22:51:56 -04:00
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{
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hal.util->set_soft_armed(true);
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2017-06-16 10:22:54 -03:00
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DataFlash.set_vehicle_armed(true);
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2014-03-03 20:37:15 -04:00
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}
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2015-06-01 02:04:25 -03:00
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void Tracker::disarm_servos()
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2014-03-03 20:37:15 -04:00
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{
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2017-01-06 22:51:56 -04:00
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hal.util->set_soft_armed(false);
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2017-06-16 10:22:54 -03:00
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DataFlash.set_vehicle_armed(false);
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2014-03-03 20:37:15 -04:00
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}
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2014-03-06 18:13:53 -04:00
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2014-03-22 05:09:01 -03:00
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/*
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setup servos to trim value after initialising
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*/
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2015-06-01 02:04:25 -03:00
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void Tracker::prepare_servos()
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2014-03-22 05:09:01 -03:00
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{
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2015-11-19 23:04:37 -04:00
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start_time_ms = AP_HAL::millis();
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2017-01-08 18:30:37 -04:00
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SRV_Channels::set_output_limit(SRV_Channel::k_tracker_yaw, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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SRV_Channels::set_output_limit(SRV_Channel::k_tracker_pitch, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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2017-01-06 22:51:56 -04:00
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SRV_Channels::calc_pwm();
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SRV_Channels::output_ch_all();
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2014-03-22 05:09:01 -03:00
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}
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2018-02-21 19:02:00 -04:00
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void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
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2014-03-06 18:13:53 -04:00
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{
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2016-12-13 22:06:30 -04:00
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if (control_mode == mode) {
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2014-03-06 18:13:53 -04:00
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// don't switch modes if we are already in the correct mode.
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return;
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}
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control_mode = mode;
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2014-03-22 05:09:01 -03:00
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switch (control_mode) {
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case AUTO:
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case MANUAL:
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2014-04-09 02:27:56 -03:00
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case SCAN:
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2014-10-06 08:45:07 -03:00
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case SERVO_TEST:
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2014-03-22 05:09:01 -03:00
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arm_servos();
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break;
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case STOP:
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case INITIALISING:
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disarm_servos();
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break;
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}
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2016-02-09 04:00:18 -04:00
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// log mode change
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2018-02-21 19:02:00 -04:00
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DataFlash.Log_Write_Mode(control_mode, reason);
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2014-03-06 18:13:53 -04:00
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}
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2015-12-27 03:05:14 -04:00
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/*
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should we log a message type now?
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*/
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bool Tracker::should_log(uint32_t mask)
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{
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2017-06-27 03:51:54 -03:00
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if (!DataFlash.should_log(mask)) {
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2017-06-14 20:27:25 -03:00
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return false;
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}
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2015-12-27 03:05:14 -04:00
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return true;
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}
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