ardupilot/ArduPlane/system.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*****************************************************************************
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* The init_ardupilot function processes everything we need for an in - air restart
* We will determine later if we are actually on the ground and process a
* ground start in that case.
*
*****************************************************************************/
#if CLI_ENABLED == ENABLED
// Functions called from the top-level menu
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR("Commands:\n"
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" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
" reboot reboot to flight mode\n"
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"\n"));
return(0);
}
// Command/function table for the top-level menu.
static const struct Menu::command main_menu_commands[] PROGMEM = {
// command function called
// ======= ===============
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{"logs", process_logs},
{"setup", setup_mode},
{"test", test_mode},
{"reboot", reboot_board},
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{"help", main_menu_help},
};
// Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands);
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
{
reboot_apm();
return 0;
}
// the user wants the CLI. It never exits
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static void run_cli(AP_HAL::UARTDriver *port)
{
// disable the failsafe code in the CLI
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hal.scheduler->register_timer_failsafe(NULL,1);
cliSerial = port;
Menu::set_port(port);
port->set_blocking_writes(true);
while (1) {
main_menu.run();
}
}
#endif // CLI_ENABLED
static void init_ardupilot()
{
#if USB_MUX_PIN > 0
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// on the APM2 board we have a mux thet switches UART0 between
// USB and the board header. If the right ArduPPM firmware is
// installed we can detect if USB is connected using the
// USB_MUX_PIN
pinMode(USB_MUX_PIN, INPUT);
usb_connected = !digitalRead(USB_MUX_PIN);
if (!usb_connected) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
delay(1000);
}
#endif
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// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
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hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
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// GPS serial port.
//
// standard gps running
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hal.uartB->begin(38400, 256, 16);
cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n"),
memcheck_available_memory());
//
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// Check the EEPROM format version before loading any parameters from EEPROM
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//
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load_parameters();
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
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// init the GCS
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gcs0.init(hal.uartA);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
#if USB_MUX_PIN > 0
if (!usb_connected) {
// we are not connected via USB, re-init UART0 with right
// baud rate
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hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
}
#else
// we have a 2nd serial port for telemetry
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hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD),
128, SERIAL_BUFSIZE);
gcs3.init(hal.uartC);
#endif
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mavlink_system.sysid = g.sysid_this_mav;
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init();
if (!DataFlash.CardInserted()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
g.log_bitmask.set(0);
} else if (DataFlash.NeedErase()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
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do_erase_logs();
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gcs0.reset_cli_timeout();
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}
if (g.log_bitmask != 0) {
DataFlash.start_new_log();
}
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#endif
#if HIL_MODE != HIL_MODE_ATTITUDE
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#if CONFIG_ADC == ENABLED
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adc.Init(); // APM ADC library initialization
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#endif
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barometer.init();
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if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init() || !compass.read()) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
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}
#endif
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// give AHRS the airspeed sensor
ahrs.set_airspeed(&airspeed);
#if APM_CONTROL == ENABLED
// the axis controllers need access to the AHRS system
g.rollController.set_ahrs(&ahrs);
g.pitchController.set_ahrs(&ahrs);
g.yawController.set_ahrs(&ahrs);
#endif
// Do GPS init
g_gps = &g_gps_driver;
// GPS Initialization
g_gps->init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_4G);
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//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_TYPE_FIXED_WING;
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// Set initial values for no override
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
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init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
#if CONFIG_RELAY == ENABLED
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relay.init();
#endif
#if FENCE_TRIGGERED_PIN > 0
pinMode(FENCE_TRIGGERED_PIN, OUTPUT);
digitalWrite(FENCE_TRIGGERED_PIN, LOW);
#endif
/*
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* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
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hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
#if USB_MUX_PIN == 0
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hal.uartC->println_P(msg);
#endif
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if (ENABLE_AIR_START == 1) {
// Perform an air start and get back to flying
gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
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// Get necessary data from EEPROM
//----------------
//read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE
ins.init(AP_InertialSensor::WARM_START,
ins_sample_rate,
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flash_leds);
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ahrs.init();
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ahrs.set_fly_forward(true);
#endif
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// This delay is important for the APM_RC library to work.
// We need some time for the comm between the 328 and 1280 to be established.
int old_pulse = 0;
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while (millis()<=1000
&& (abs(old_pulse - hal.rcin->read(g.flight_mode_channel)) > 5
|| hal.rcin->read(g.flight_mode_channel) == 1000
|| hal.rcin->read(g.flight_mode_channel) == 1200))
{
old_pulse = hal.rcin->read(g.flight_mode_channel);
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delay(25);
}
g_gps->update();
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_AIRSTART_MSG);
reload_commands_airstart(); // Get set to resume AUTO from where we left off
}else {
startup_ground();
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
}
set_mode(MANUAL);
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// set the correct flight mode
// ---------------------------
reset_control_switch();
}
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
static void startup_ground(void)
{
set_mode(INITIALISING);
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
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#if (GROUND_START_DELAY > 0)
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
delay(GROUND_START_DELAY * 1000);
#endif
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// Makes the servos wiggle
// step 1 = 1 wiggle
// -----------------------
demo_servos(1);
//INS ground start
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//------------------------
//
startup_INS_ground(false);
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// read the radio to set trims
// ---------------------------
trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
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// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
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// initialize commands
// -------------------
init_commands();
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// Makes the servos wiggle - 3 times signals ready to fly
// -----------------------
demo_servos(3);
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
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hal.uartC->set_blocking_writes(false);
if (gcs3.initialised) {
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hal.uartC->set_blocking_writes(false);
}
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gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
static void set_mode(enum FlightMode mode)
{
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if(control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
control_mode = mode;
crash_timer = 0;
switch(control_mode)
{
case INITIALISING:
case MANUAL:
case CIRCLE:
case STABILIZE:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
break;
case AUTO:
update_auto();
break;
case RTL:
do_RTL();
break;
case LOITER:
do_loiter_at_location();
break;
case GUIDED:
set_guided_WP();
break;
default:
do_RTL();
break;
}
// if in an auto-throttle mode, start with throttle suppressed for
// safety. suppress_throttle() will unsupress it when appropriate
if (control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) {
throttle_suppressed = true;
}
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if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode);
}
static void check_long_failsafe()
{
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// only act on changes
// -------------------
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS) {
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(!rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_GCS);
}
} else {
// We do not change state but allow for user to change mode
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
}
}
static void check_short_failsafe()
{
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// only act on changes
// -------------------
if(failsafe == FAILSAFE_NONE) {
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
failsafe_short_on_event(FAILSAFE_SHORT);
}
}
if(failsafe == FAILSAFE_SHORT) {
if(!ch3_failsafe) {
failsafe_short_off_event();
}
}
}
static void startup_INS_ground(bool force_accel_level)
{
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
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mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
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// -----------------------
demo_servos(2);
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move plane"));
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mavlink_delay(1000);
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
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flash_leds);
#if HIL_MODE == HIL_MODE_DISABLED
if (force_accel_level || g.manual_level == 0) {
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
// levelling on each boot, and instead rely on the user to do
// it once via the ground station
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ins.init_accel(flash_leds);
}
#endif
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ahrs.set_fly_forward(true);
ahrs.reset();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground
//-----------------------------
init_barometer();
if (airspeed.enabled()) {
// initialize airspeed sensor
// --------------------------
zero_airspeed();
} else {
gcs_send_text_P(SEVERITY_LOW,PSTR("NO airspeed"));
}
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#endif
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate INS ready
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digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}
static void update_GPS_light(void)
{
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// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case (2):
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
break;
case (1):
if (g_gps->valid_read == true) {
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light) {
digitalWrite(C_LED_PIN, LED_OFF);
} else {
digitalWrite(C_LED_PIN, LED_ON);
}
g_gps->valid_read = false;
}
break;
default:
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
}
static void resetPerfData(void) {
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mainLoop_count = 0;
G_Dt_max = 0;
ahrs.renorm_range_count = 0;
ahrs.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
perf_mon_timer = millis();
}
/*
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* map from a 8 bit EEPROM baud rate to a real baud rate
*/
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
switch (rate) {
case 1: return 1200;
case 2: return 2400;
case 4: return 4800;
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;
case 57: return 57600;
case 111: return 111100;
case 115: return 115200;
}
cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
return default_baud;
}
#if USB_MUX_PIN > 0
static void check_usb_mux(void)
{
bool usb_check = !digitalRead(USB_MUX_PIN);
if (usb_check == usb_connected) {
return;
}
// the user has switched to/from the telemetry port
usb_connected = usb_check;
if (usb_connected) {
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hal.uartA->begin(SERIAL0_BAUD);
} else {
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hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
}
}
#endif
/*
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* called by gyro/accel init to flash LEDs so user
* has some mesmerising lights to watch while waiting
*/
void flash_leds(bool on)
{
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digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}
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/*
* Read Vcc vs 1.1v internal reference
*/
uint16_t board_voltage(void)
{
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return vcc_pin->read_latest();
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}
/*
force a software reset of the APM
*/
static void reboot_apm(void)
{
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hal.scheduler->reboot();
while (1);
}
static void
print_flight_mode(uint8_t mode)
{
switch (mode) {
case MANUAL:
cliSerial->println_P(PSTR("Manual"));
break;
case CIRCLE:
cliSerial->println_P(PSTR("Circle"));
break;
case STABILIZE:
cliSerial->println_P(PSTR("Stabilize"));
break;
case FLY_BY_WIRE_A:
cliSerial->println_P(PSTR("FBW_A"));
break;
case FLY_BY_WIRE_B:
cliSerial->println_P(PSTR("FBW_B"));
break;
case AUTO:
cliSerial->println_P(PSTR("AUTO"));
break;
case RTL:
cliSerial->println_P(PSTR("RTL"));
break;
case LOITER:
cliSerial->println_P(PSTR("Loiter"));
break;
default:
cliSerial->println_P(PSTR("---"));
break;
}
}
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static void print_comma(void)
{
cliSerial->print_P(PSTR(","));
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}
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