ardupilot/AntennaTracker/AntennaTracker.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
#include "Tracker.h"
#define SCHED_TASK(func) FUNCTOR_BIND(&tracker, &Tracker::func, void)
/*
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)
*/
const AP_Scheduler::Task Tracker::scheduler_tasks[] PROGMEM = {
{ SCHED_TASK(update_ahrs), 1, 1000 },
{ SCHED_TASK(read_radio), 1, 200 },
{ SCHED_TASK(update_tracking), 1, 1000 },
{ SCHED_TASK(update_GPS), 5, 4000 },
{ SCHED_TASK(update_compass), 5, 1500 },
{ SCHED_TASK(update_barometer), 5, 1500 },
{ SCHED_TASK(gcs_update), 1, 1700 },
{ SCHED_TASK(gcs_data_stream_send), 1, 3000 },
{ SCHED_TASK(compass_accumulate), 1, 1500 },
{ SCHED_TASK(barometer_accumulate), 1, 900 },
{ SCHED_TASK(update_notify), 1, 100 },
{ SCHED_TASK(check_usb_mux), 5, 300 },
{ SCHED_TASK(gcs_retry_deferred), 1, 1000 },
{ SCHED_TASK(one_second_loop), 50, 3900 }
};
/**
setup the sketch - called once on startup
*/
void Tracker::setup()
{
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
// initialise notify
notify.init(false);
// antenna tracker does not use pre-arm checks or battery failsafe
AP_Notify::flags.pre_arm_check = true;
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.failsafe_battery = 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 Tracker::loop()
{
// wait for an INS sample
ins.wait_for_sample();
// tell the scheduler one tick has passed
scheduler.tick();
scheduler.run(19900UL);
}
void Tracker::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;
// updated armed/disarmed status LEDs
update_armed_disarmed();
one_second_counter++;
if (one_second_counter >= 60) {
if(g.compass_enabled) {
compass.save_offsets();
}
one_second_counter = 0;
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
// needed for APM1 inertialsensor driver
AP_ADC_ADS7844 apm1_adc;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
Tracker::Tracker(void)
{
memset(&current_loc, 0, sizeof(current_loc));
memset(&vehicle, 0, sizeof(vehicle));
}
Tracker tracker;
/*
compatibility with old pde style build
*/
void setup(void);
void loop(void);
void setup(void)
{
tracker.setup();
}
void loop(void)
{
tracker.loop();
}
AP_HAL_MAIN();