ardupilot/AntennaTracker/Tracker.cpp

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/*
Lead developers: Matthew Ridley and Andrew Tridgell
Please contribute your ideas! See https://ardupilot.org/dev 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 FORCE_VERSION_H_INCLUDE
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE
#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _prio) SCHED_TASK_CLASS(Tracker, &tracker, func, _interval_ticks, _max_time_micros, _prio)
/*
All entries in this table must be ordered by priority.
This table is interleaved with the table in AP_Vehicle to determine
the order in which tasks are run. Convenience methods SCHED_TASK
and SCHED_TASK_CLASS are provided to build entries in this structure:
SCHED_TASK arguments:
- name of static function to call
- rate (in Hertz) at which the function should be called
- expected time (in MicroSeconds) that the function should take to run
- priority (0 through 255, lower number meaning higher priority)
SCHED_TASK_CLASS arguments:
- class name of method to be called
- instance on which to call the method
- method to call on that instance
- rate (in Hertz) at which the method should be called
- expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority)
*/
const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_ahrs, 50, 1000, 5),
SCHED_TASK(read_radio, 50, 200, 10),
SCHED_TASK(update_tracking, 50, 1000, 15),
SCHED_TASK(update_GPS, 10, 4000, 20),
SCHED_TASK(update_compass, 10, 1500, 25),
SCHED_TASK(compass_save, 0.02, 200, 30),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500, 35),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500, 40),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_send, 50, 3000, 50),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900, 55),
SCHED_TASK(ten_hz_logging_loop, 10, 300, 60),
#if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Logger, &tracker.logger, periodic_tasks, 50, 300, 65),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50, 70),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100, 75),
SCHED_TASK(one_second_loop, 1, 3900, 80),
SCHED_TASK(stats_update, 1, 200, 90),
};
void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit)
{
tasks = &scheduler_tasks[0];
task_count = ARRAY_SIZE(scheduler_tasks);
log_bit = (uint32_t)-1;
}
void Tracker::one_second_loop()
{
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
// updated armed/disarmed status LEDs
update_armed_disarmed();
if (!ahrs.home_is_set()) {
// set home to current location
Location temp_loc;
if (ahrs.get_location(temp_loc)) {
if (!set_home(temp_loc)){
// fail silently
}
}
}
// need to set "likely flying" when armed to allow for compass
// learning to run
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set_likely_flying(hal.util->get_soft_armed());
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AP_Notify::flags.flying = hal.util->get_soft_armed();
}
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void Tracker::ten_hz_logging_loop()
{
if (should_log(MASK_LOG_IMU)) {
AP::ins().Write_IMU();
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}
if (should_log(MASK_LOG_ATTITUDE)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_RCIN)) {
logger.Write_RCIN();
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}
if (should_log(MASK_LOG_RCOUT)) {
logger.Write_RCOUT();
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}
}
Mode *Tracker::mode_from_mode_num(const Mode::Number num)
{
Mode *ret = nullptr;
switch (num) {
case Mode::Number::MANUAL:
ret = &mode_manual;
break;
case Mode::Number::STOP:
ret = &mode_stop;
break;
case Mode::Number::SCAN:
ret = &mode_scan;
break;
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case Mode::Number::GUIDED:
ret = &mode_guided;
break;
case Mode::Number::SERVOTEST:
ret = &mode_servotest;
break;
case Mode::Number::AUTO:
ret = &mode_auto;
break;
case Mode::Number::INITIALISING:
ret = &mode_initialising;
break;
}
return ret;
}
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/*
update AP_Stats
*/
void Tracker::stats_update(void)
{
stats.set_flying(hal.util->get_soft_armed());
stats.update();
}
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Tracker::Tracker(void)
: logger(g.log_bitmask)
{
}
Tracker tracker;
AP_Vehicle& vehicle = tracker;
AP_HAL_MAIN_CALLBACKS(&tracker);